Intelligent empty bottle detection robot bottle bottom positioning method

Abstract

The invention discloses an intelligent empty bottle detection robot bottle bottom positioning method. The method comprises the following steps of (1) preprocessing the image of a bottle bottom; (2) acquiring the approximate position of the circle center of the bottle bottom through the gravity method; (3) conducting the radial scanning with the center of gravity as the circle center, according to the geometric characteristics of anti-skid patterns on the bottle bottom, acquiring the position information of anti-skid lines in the image of the bottle bottom, introducing a weighting operator and removing interfering points; (4) grouping the edge points of anti-skid lines, optionally selecting edge points of Nc groups, and conducting the circle fitting through the variable-weight least squares method. The method overcomes the defect that the positioning effect is not accurate due to the uneven light transmittance of the bottle bottom. Meanwhile, when a glass bottle bottom is blocked by foreign matters or continuous interfering points exist on the glass bottle bottom, the center of the bottle bottom can be accurately and rapidly positioned. Therefore, the method is suitable for the quality automatic detection of glass bottle bottoms on a high-speed automatic production line.

Description

technical field [0001] The invention relates to the technical field of industrial automation visual detection, in particular to a bottle bottom positioning method of an intelligent empty bottle detection robot. Background technique [0002] In beer production, in order to reduce production costs, about 80% of empty beer bottles are recycled, and the quality of recycled bottles varies. It is easy to cause damage to the empty bottle during the transportation and on-line process of the empty bottle. Simultaneously, if there are foreign objects attached to the bottom of the empty bottle, the quality of the liquid in the bottle will be seriously affected due to the existence of these foreign objects after filling, resulting in food safety hazards. In addition, beer bottles are prone to friction and collision during transportation, and cracks may occur. Using such empty bottles for filling will lead to leakage or even explosion. Therefore, empty bottle quality inspection must be...

AI Technical Summary

Problems solved by technology

[0004] There are still two common problems in the above-mentioned glass beer bottle bottom defect detection method: 1) When the gray value distribution in the bottom image of the bottle is uneven, the defect gray value has a large variation range, and there is a lot of interference in the anti-slip area, high speed and high precision cannot be achieved. Bottle bottom positioning; 2) The traditional bottle inspection method does not use the characteristic information of the anti-slip pattern, and it is easy to miss the defect in the anti-slip area

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