A method and device for detecting foreign matter in bulk materials, and X-ray foreign matter detection equipment

Abstract

The present invention discloses a method and device for detecting foreign matter in bulk materials, and an X-ray foreign matter detection device. The method is applied to an X-ray foreign matter detection device, which is provided with a flap removal device and an air blowing removal device. The method comprises: obtaining an X-ray image of the bulk material being detected by the X-ray foreign matter detection device; identifying the X-ray image to determine the location and quantity of foreign matter in the bulk material; determining whether the number of identified foreign matter exceeds a preset threshold; when it is determined that the number of foreign matter exceeds the preset threshold, removing the foreign matter from the bulk material by means of the flap removal device; and when it is determined that the number of foreign matter does not exceed the preset threshold, removing the foreign matter from the bulk material by means of the corresponding air nozzle in the air blowing removal device based on the location of the foreign matter. The present invention enables accurate and complete removal of foreign matter.

Description

Technical Field

[0001] The present invention relates to the field of foreign matter detection, and in particular to a bulk material foreign matter detection method and device, and X-ray machine foreign matter detection equipment. Background Art

[0002] X-ray technology is currently widely used in online inspections of industrial production lines. X-ray transmission images can clearly reveal the internal structure and condition of products, allowing the identification of possible foreign matter or defects. For example, in food production lines, if metal, ceramic, glass, or stone particles are mixed into bagged or bulk food, X-ray scanning is used to generate an image. An image processing program then identifies the image, and if a foreign object is detected, the equipment automatically removes the product.

[0003] For bagged products, the rejection device can use a swing arm or flap to reject the entire bag. For bulk granular products, the rejection device generally uses air blowing. The air blowing rejection device is a set of exhaust nozzles installed at the conveyor belt outlet. When foreign matter moves with the belt to the air nozzle position, if the solenoid valve does not operate, the bulk material falls forward and downward due to gravity and inertia, falling into the good product collection device. If the solenoid valve operates, high-pressure air is ejected, and the air pressure changes the trajectory of the bulk material, causing it to fall into the foreign matter collection device.

[0004] However, there are certain shortcomings in air blowing. In order to remove foreign matter, air blowing requires the use of high-pressure gas. The fewer air nozzles that are in action at the same time, the higher the pressure of the gas. On the contrary, if multiple air nozzles are in action at the same time, the pressure of the gas will become lower. At this time, a problem will arise. When the pressure of the gas is too low, the falling trajectory of the bulk material cannot be changed, and foreign matter cannot be removed normally.

[0005] In order to ensure that the air blowing can correctly remove foreign objects, we usually open multiple adjacent air nozzles at the same time when we find a foreign object that needs to be removed, and spray high-pressure gas at the same time to prevent it from being unable to be removed due to position deviation. However, this will result in fewer air nozzles that can be opened at the same time to remove foreign objects. If multiple foreign objects are removed at the same time, too many air nozzles will be opened and all foreign objects will not be removed.

[0006] At present, in order to open more air nozzles at the same time for air blowing, the method generally adopted is to increase the capacity of the air compressor. This is relatively costly. At the same time, using a large-capacity air compressor will take up a large space and consume more electricity. Summary of the Invention

[0007] In order to solve the above technical problems, the present invention provides a bulk material foreign body detection method and device, and X-ray machine foreign body detection equipment.

[0008] On the one hand, the present application discloses a bulk material foreign body detection method, which is applied to an X-ray machine foreign body detection device, wherein the X-ray machine foreign body detection device is provided with a flap removal device and an air blowing removal device; the bulk material foreign body detection method comprises:

[0009] Acquiring an X-ray image of the bulk material under inspection by the X-ray foreign body detection device;

[0010] Identifying the X-ray image to determine the location and quantity of foreign matter in the bulk material;

[0011] Determining whether the number of the identified foreign objects exceeds a preset number threshold;

[0012] When it is determined that the amount of the foreign matter exceeds a preset threshold, the foreign matter in the bulk material is removed by a flap removal device;

[0013] When it is determined that the quantity of the foreign matter does not exceed a preset quantity threshold, the foreign matter in the bulk material is removed through a corresponding air nozzle in an air blowing removal device based on the location of the foreign matter.

[0014] In some embodiments, when it is determined that the amount of the foreign matter does not exceed a preset threshold, the foreign matter in the bulk material is removed through a corresponding air nozzle in an air removal device based on the location of the foreign matter; specifically, the method includes:

[0015] Identify and obtain the size and grayscale value of each foreign body in the X-ray image;

[0016] Determine whether there is a target foreign object with a grayscale value greater than a first set grayscale value;

[0017] When the target foreign object exists, determining whether the grayscale value of the target foreign object is greater than a second set grayscale value; the second set grayscale value is greater than the first set grayscale value;

[0018] When the grayscale value of the target foreign object is greater than the second set grayscale value, the target foreign object is removed by the flap removal device;

[0019] When the grayscale value of the target foreign object is not greater than the second set grayscale value, determining whether the size of the target foreign object exceeds the set size;

[0020] When it is determined that the size of the target foreign object exceeds the set size, the target object is removed by the flap removal device;

[0021] When it is determined that the size of the first target foreign object does not exceed the set size, the target foreign object is removed by the air blowing removal device.

[0022] In some embodiments, when it is determined that the amount of the foreign matter does not exceed a preset threshold, the foreign matter in the bulk material is removed through a corresponding air nozzle in an air removal device based on the location of the foreign matter; specifically, the method includes:

[0023] When it is determined that the number of the foreign objects does not exceed the preset number threshold, further determining whether there are adjacent foreign objects with a spacing distance less than a preset distance based on the positions of the foreign objects;

[0024] When it is determined that there are adjacent foreign objects with a spacing distance less than a preset distance, the flap removal device is used to remove the foreign objects;

[0025] When it is determined that there are no adjacent foreign objects with a spacing distance less than a preset distance, the foreign objects are removed through the corresponding air nozzles in the air blowing removal device.

[0026] In some embodiments, the flap removal device is composed of a plurality of sub-flaps, each of which can be used independently under the control of the foreign matter removal module; when it is determined that the amount of the foreign matter exceeds a preset threshold, the foreign matter in the bulk material is removed by the flap removal device; specifically, the method includes:

[0027] When it is determined that the number of the foreign objects exceeds a preset number threshold, determining a target sub-flip for removing the foreign objects according to the positions of the foreign objects;

[0028] When the foreign matter reaches the exclusion zone of the transmission channel, the target sub-flip plate is controlled to flip to exclude the foreign matter.

[0029] In some embodiments, the bulk material foreign matter detection method further comprises:

[0030] Monitoring whether the foreign matter box corresponding to the flap removal device is full of bulk foreign matter;

[0031] When it is detected that the foreign matter box is full of bulk foreign matter, an alarm is issued or according to the received reflux detection instruction, the bulk foreign matter is returned to the feed bin through the reflux transport channel, and the output flow of the bulk foreign matter in the feed bin to the transmission detection channel is controlled so that the X-ray machine foreign matter detection equipment can re-perform foreign matter detection on the bulk foreign matter.

[0032] In some embodiments, the flap removal device is a four-flap device, wherein the use of the flap removal device to remove the foreign matter specifically includes:

[0033] Determining a target sub-flip panel among the four flip panels based on the position of the foreign object;

[0034] When the foreign matter reaches the exclusion zone of the output channel, the corresponding target sub-flip plates among the four flip plates are controlled to flip to exclude the foreign matter.

[0035] On the other hand, the present application discloses a bulk material foreign body detection device, which is integrated into an X-ray machine foreign body detection device, wherein the X-ray machine foreign body detection device is provided with a flap removal device and an air blowing removal device; the bulk material foreign body detection device comprises:

[0036] an image acquisition module, configured to acquire an X-ray image of the bulk material under inspection via the X-ray foreign body detection device;

[0037] a foreign body identification module, configured to identify the X-ray image and determine the location and quantity of foreign bodies in the bulk material;

[0038] A quantity determination module is used to determine whether the number of the identified foreign objects exceeds a preset quantity threshold;

[0039] The control processing module is used to remove the foreign objects in the bulk material through the flap removal device when it is determined that the number of the foreign objects exceeds the preset number threshold; when it is determined that the number of the foreign objects does not exceed the preset number threshold, based on the position of the foreign objects, remove the foreign objects in the bulk material through the corresponding air nozzle in the air blowing removal device.

[0040] In some embodiments, the bulk material foreign matter detection device further includes:

[0041] An acquisition module, configured to identify and acquire the size and grayscale value of each foreign body in the X-ray image;

[0042] A grayscale judgment module is used to judge whether there is a target foreign object with a grayscale value greater than a first set grayscale value; when the target foreign object exists, judge whether the grayscale value of the target foreign object is greater than a second set grayscale value; the second set grayscale value is greater than the first set grayscale value;

[0043] The control processing module is further configured to remove the target foreign object through the flap removal device when the grayscale value of the target foreign object is greater than the second set grayscale value;

[0044] a size judgment module, configured to judge whether the size of the target foreign object exceeds a set size when the grayscale value of the target foreign object is not greater than the second set grayscale value;

[0045] The control processing module is further configured to remove the target foreign object through the flap removal device when it is determined that the size of the target foreign object exceeds the set size; and to remove the target foreign object through the air blowing removal device when it is determined that the size of the target foreign object does not exceed the set size.

[0046] In some embodiments, the bulk material foreign matter detection device further comprises:

[0047] a position determination module configured to, after the number determination module determines that the number of the identified foreign objects does not exceed a preset threshold, further determine, based on the positions of the foreign objects, whether there are adjacent foreign objects separated by a distance less than a preset distance;

[0048] The control processing module is further configured to, when it is determined that there are adjacent foreign objects with a spacing distance less than a preset distance, remove the foreign objects using the flap removal device; and when it is determined that there are no adjacent foreign objects with a spacing distance less than the preset distance, remove the foreign objects using the corresponding air nozzle in the air blowing removal device;

[0049] The position judgment module is also used to determine the target sub-flip in the flip removal device for removing the foreign object based on the position of the foreign object when the foreign object is to be removed by the flip removal device, and to remove the foreign object by controlling the flipping of the target sub-flip in the flip removal device.

[0050] On the other hand, the present application also discloses an X-ray machine foreign body detection device, including: any of the bulk material foreign body detection devices described above.

[0051] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0052] (1) Compared with the traditional single removal method, this application adopts two removal methods: flap removal + air blowing removal. When the number of foreign objects is small, the air blowing removal device can be used for accurate removal. When the number of foreign objects is large, in order to avoid omissions caused by insufficient air blowing removal, the flap removal device can be used for removal. The flexible selection of the removal method based on the number of foreign objects improves the accuracy of foreign object removal and avoids omissions.

[0053] (2) In this application, when the number of foreign objects is small, the size and grayscale value of the foreign objects will be further identified. The denser the object, the stronger the X-ray energy absorption, so the grayscale value is relatively higher during imaging. The greater the density, the heavier the weight of the object of the same size. Therefore, based on the proportional relationship between the grayscale value of the identified foreign object and the density of the foreign object, it can be preliminarily determined whether the foreign object is a foreign object with high density. In this application, two stages of grayscale values ​​are set, and the density range of the foreign object can be divided into three density ranges. If the grayscale value of the foreign object is greater than the second set grayscale value, it means that the density of the foreign object exceeds the set maximum value. In this case, this type of object is generally difficult to blow out with an air nozzle. Therefore, in order to avoid leakage, a flap is used to remove it. If the grayscale value of the foreign object is greater than the first set grayscale value and less than the second set grayscale value, it means that the density of the foreign object is in the second range. At this time, it is necessary to further determine whether air blowing can be used to remove it based on the size of the foreign object. If the foreign object is small, air blowing can be used to remove it. If the foreign object is large and the density of the foreign object is in the second range, the corresponding foreign object is also heavy and may be difficult to remove with air blowing. In this case, flap removal is used. Conversely, if the foreign object is small, air blowing is directly used for removal. If the grayscale value of the foreign object is less than the first set grayscale value, it means that the density of the foreign object is small. Foreign objects with small density in bulk materials are generally relatively light and can be accurately removed by air blowing.

[0054] (3) In the present application, when using air blowing to remove foreign objects, if the distance between adjacent foreign objects is very close, it is very likely that the air blowing removal device will not have time to remove them. Therefore, in order to avoid missing foreign objects, a flap can be used to remove them when the distance between adjacent foreign objects is less than a preset distance.

[0055] (4) The flap removal device in this application is composed of several sub-flaps, such as two flaps or four flaps. Since the take-out ratio of the flap is relatively large, in order to reduce the take-out ratio of good products, we use a flap removal device comprising several sub-flaps. When the flap is needed to remove foreign matter, based on the distribution location of the foreign matter, the corresponding sub-flaps are activated to flip and remove the corresponding foreign matter, which can greatly reduce the take-out ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The following will explain the preferred implementation mode in a clear and understandable manner with reference to the accompanying drawings, and further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of an adaptive fault-tolerant control method, system, electronic device and storage medium.

[0057] Figure 1 is a flow chart of an embodiment of a method for detecting foreign matter in bulk materials according to the present invention;

[0058] Figure 2 is a flow chart of another embodiment of the bulk material foreign matter detection method of the present invention;

[0059] Figure 3 is a flow chart of another embodiment of the bulk material foreign matter detection method of the present invention;

[0060] Figure 4 It is a structural block diagram of an embodiment of a bulk material foreign body detection device of the present invention;

[0061] Figure 5 It is a structural block diagram of another embodiment of the bulk material foreign matter detection device of the present invention. DETAILED DESCRIPTION

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0063] To simplify the drawings, only portions relevant to the invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0064] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0065] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0066] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0067] In one embodiment, the reference Figure 1 The present invention provides a bulk material foreign body detection method, which is applied to an X-ray machine foreign body detection device, wherein the X-ray machine foreign body detection device is provided with a flap removal device and an air blowing removal device; the bulk material foreign body detection method comprises:

[0068] S101, obtaining an X-ray image of the bulk material under inspection by the X-ray foreign body detection device;

[0069] Specifically, X-ray foreign body detection equipment uses X-rays to detect and image the object to be tested in the detection channel. Since different objects absorb X-ray energy differently, if foreign matter is mixed into the object to be tested, the foreign matter and other objects absorb X-ray energy differently, and the imaging grayscale value corresponding to the foreign matter after imaging is also different. Therefore, an X-ray image of the object to be tested can generally be generated by detecting the energy value of the X-ray passing through the object to be tested.

[0070] S102, identifying the X-ray image and determining the location and quantity of foreign matter in the bulk material;

[0071] Specifically, based on the X-ray image of the bulk material generated during the inspection, image recognition and processing are performed to identify whether there are foreign objects in the inspected bulk material. If there are foreign objects, the location and quantity of the foreign objects can also be basically identified and determined.

[0072] S103, determining whether the number of the identified foreign objects exceeds a preset number threshold;

[0073] S104, when it is determined that the number of the foreign objects does not exceed a preset number threshold, based on the location of the foreign objects, the foreign objects in the bulk material are removed by using corresponding air nozzles in an air removal device;

[0074] S105 , when it is determined that the amount of the foreign matter exceeds a preset threshold, the foreign matter in the bulk material is removed by a flap removal device.

[0075] Traditional bulk material removal typically uses air blowing. However, if a large number of foreign objects need to be removed, multiple air nozzles must be opened at short intervals or simultaneously. Opening multiple air nozzles can reduce the pressure of the air ejected, as air is required from each nozzle, making it impossible to remove the foreign objects. The solution of this embodiment completely avoids this situation. The X-ray foreign object detection device of this application integrates two foreign object removal devices, air blowing and flap removal. When inspecting bulk materials, the corresponding foreign object removal device can be used to remove the foreign objects based on the number and location of the detected foreign objects. Specifically, if the number of detected foreign objects is large and exceeds a preset threshold, the flap removal device is used to remove the foreign objects, thereby preventing unsuccessful or missed foreign object removal. If the number of detected foreign objects is small and does not exceed the preset threshold, the air blowing device can be used to remove them. Specifically, the corresponding air nozzle can be used based on the location of the foreign objects, thereby achieving precise foreign object removal.

[0076] Another embodiment of the present application, such as Figure 2 As shown, based on the above embodiment, when there are a small number of foreign objects, it is not necessary to directly use air blowing to remove them. Instead, it is necessary to further determine whether there are foreign objects with high density and thus heavy weight among these small amounts of foreign objects, so as to avoid the situation where the foreign objects fail to be removed by air blowing due to their high density and heavy weight. Specifically, the bulk material foreign object detection method of this embodiment includes:

[0077] S201, obtaining an X-ray image of the bulk material under inspection by the X-ray foreign body detection device;

[0078] S202, identifying the X-ray image and determining the location and quantity of foreign matter in the bulk material;

[0079] S203, determining whether the number of the identified foreign objects exceeds a preset threshold; if so, proceeding to step S208, otherwise proceeding to step S204;

[0080] S204, identifying and obtaining the size and grayscale value of each foreign body in the X-ray image;

[0081] S205, determining whether there is a target foreign object with a grayscale value greater than a first set grayscale value; if so, proceeding to step S206; otherwise, proceeding to step S209;

[0082] S206, determining whether the grayscale value of the target foreign object is greater than a second set grayscale value; the second set grayscale value is greater than the first set grayscale value; if so, proceeding to step S208; otherwise, proceeding to step S207;

[0083] S207, determining whether the size of the target foreign object exceeds the set size; if so, proceeding to step S208; otherwise, proceeding to step S209;

[0084] S208, removing foreign matter from the bulk material by a flap removal device;

[0085] S209, removing the target foreign matter through the air blowing removal device.

[0086] Compared to the previous embodiment, this embodiment further determines the appropriate removal device for situations where the number of foreign objects is small based on the foreign object's grayscale value (corresponding density) and size. Since the grayscale value of the foreign object during imaging is proportional to its density, the density can be inferred from the grayscale value. For foreign objects with particularly high density, that is, those with grayscale values ​​exceeding the second set grayscale value, a flap can be directly used for removal. For foreign objects with grayscale values ​​between the first set grayscale value and the second set grayscale value, the weight of the foreign object is further comprehensively determined based on its size. If the size exceeds the set size, it also indicates that the foreign object is likely heavy and air blowing may not be able to remove it, so a flap is used for removal. If it does not exceed the set size, the air nozzle in the air blowing device can completely remove it. For foreign objects with grayscale values ​​below the first set grayscale value, air blowing can be directly used for removal. The first set grayscale value, the second set grayscale value, and the set size in this embodiment can all be set based on the strength of the air blowing removal.

[0087] For example, let's take coffee bean inspection. If a large screw falls among the beans, the X-ray foreign body detection equipment can detect the screw. However, since the foreign body is small in number, using an air blower directly will not be able to remove the foreign body. Therefore, in this case, we can use the above solution to comprehensively determine the removal method based on the density or size of the screw. In other words, if a foreign body is very dense or heavy, the flap will be activated to remove it.

[0088] Another embodiment of the present application, such as Figure 3 As shown, if the number of foreign objects does not exceed the preset number threshold, the position distance of adjacent foreign objects will be further considered, and the elimination method will be further determined based on their position distance. Specifically, the bulk material foreign object detection method of this embodiment includes:

[0089] S301, obtaining an X-ray image of the bulk material under inspection by the X-ray foreign body detection device;

[0090] S302, identifying the X-ray image and determining the location and quantity of foreign matter in the bulk material;

[0091] S303, determining whether the number of the identified foreign objects exceeds a preset threshold; if so, proceeding to step S305, otherwise proceeding to step S304;

[0092] S304, based on the position of the foreign object, further determine whether there are adjacent foreign objects with a spacing distance less than a preset distance; if so, proceed to step S305; otherwise, proceed to step S306;

[0093] S305, using the flap removal device to remove the foreign matter;

[0094] S306, removing the foreign matter through the corresponding air nozzle in the air blowing removal device.

[0095] Specifically, in this embodiment, when the number does not exceed the preset threshold, it will further determine whether there are adjacent foreign objects with a spacing distance less than the preset distance based on the position of each foreign object. If so, when using the air nozzle to remove them, it may be too late to remove them. Therefore, for adjacent foreign objects with a spacing distance less than the preset distance, a flap can be used to avoid omissions.

[0096] More preferably, on the basis of the above, after further determining whether there are adjacent foreign objects with a spacing distance less than a preset distance, determine whether the line connecting the position coordinate points of the adjacent foreign objects is perpendicular to the transmission direction of the transmission detection channel. If so, the foreign objects are removed through the corresponding air nozzle in the air blowing removal device; otherwise, the foreign objects are removed through the flap removal device.

[0097] In some embodiments, the flap removal device is composed of a plurality of sub-flaps, each of which can be used independently under the control of the foreign matter removal module; the steps in any of the above embodiments remove foreign matter from the bulk material through the flap removal device; specifically include:

[0098] When it is determined that the number of the foreign objects exceeds a preset number threshold, determining a target sub-flip for removing the foreign objects according to the positions of the foreign objects;

[0099] When the foreign matter reaches the exclusion zone of the transmission channel, the target sub-flip plate is controlled to flip to exclude the foreign matter.

[0100] Specifically, for example, two, three, or four flaps are used. Since the flap has a certain carry-out ratio, and if the flap is composed of several sub-flaps, the target sub-flap can be selected to remove the foreign object based on the location of the foreign object, without the need for all sub-flaps to flip together. In this way, not only can the foreign object be removed in a timely and accurate manner, but the carry-out ratio can also be greatly reduced.

[0101] Another embodiment of the present application, based on any of the above embodiments, further includes the following steps:

[0102] Monitoring whether the foreign matter box corresponding to the flap removal device is full of bulk foreign matter;

[0103] When it is detected that the foreign matter box is full of bulk foreign matter, an alarm is issued or according to the received reflux detection instruction, the bulk foreign matter is returned to the feed bin through the reflux transport channel, and the output flow of the bulk foreign matter in the feed bin to the transmission detection channel is controlled so that the X-ray machine foreign matter detection equipment can re-perform foreign matter detection on the bulk foreign matter.

[0104] When the flap is rejected, there is a certain carry-out ratio, especially if the flap is not composed of sub-flaps, the carry-out ratio may be relatively large. When rejecting defective products, some good products will be rejected together. Therefore, a set of waste reflow re-inspection functions has been added to address this shortcoming. After receiving the user's reflow inspection instruction, the flap is used to remove the foreign matter bulk materials in the corresponding foreign matter box and then return them to the transmission inspection channel for re-inspection. Because the products of the secondary inspection contain a large number of defective products, the speed of the reflow conveyor will be relatively slow, so that each inspection product is kept as far apart as possible. The elevator will also separate the products. In this way, air blowing can be used as much as possible during inspection to reduce the carry-out ratio. Of course, when the foreign matter bulk material in the foreign matter box is full (for example, by using a photoelectric switch to detect whether the foreign matter bulk material in a drop is full), an alarm prompt will be directly issued to let the user know and deal with it in time.

[0105] Based on the same technical concept, the present application discloses a bulk material foreign body detection device, which is integrated into an X-ray machine foreign body detection device, and the X-ray machine foreign body detection device is provided with a flap removal device and an air blowing removal device; Figure 4 As shown, the bulk material foreign body detection device includes:

[0106] An image acquisition module 10 is used to acquire an X-ray image of the bulk material under inspection through the X-ray foreign body detection device;

[0107] a foreign body identification module 20 for identifying the X-ray image and determining the location and quantity of foreign bodies in the bulk material;

[0108] The quantity determination module 30 is used to determine whether the quantity of the identified foreign objects exceeds a preset quantity threshold;

[0109] The control processing module 40 is used to remove the foreign objects in the bulk material through the flap removal device when it is determined that the number of the foreign objects exceeds the preset number threshold; when it is determined that the number of the foreign objects does not exceed the preset number threshold, based on the position of the foreign objects, remove the foreign objects in the bulk material through the corresponding air nozzle in the air blowing removal device.

[0110] Specifically, compared to the traditional single removal method, this application adopts two removal methods: flap removal and air blowing. When the number of foreign objects is small, the air blowing device can be used for precise removal. When the number of foreign objects is large, to avoid missing objects due to insufficient air blowing, the flap removal device can be used for removal. The flexible selection of the removal method based on the number of foreign objects improves the accuracy of foreign object removal and avoids omissions.

[0111] Another device embodiment of the present application, based on the above device embodiment, the bulk material foreign body detection device, such as Figure 5 As shown, it also includes:

[0112] An acquisition module 50 is configured to identify and acquire the size and grayscale value of each foreign body in the X-ray image;

[0113] Grayscale judgment module 60, used to judge whether there is a target foreign object with a grayscale value greater than a first set grayscale value; when the target foreign object exists, judge whether the grayscale value of the target foreign object is greater than a second set grayscale value; the second set grayscale value is greater than the first set grayscale value;

[0114] The control processing module 40 is further configured to remove the target foreign object through the flap removal device when the grayscale value of the target foreign object is greater than the second set grayscale value;

[0115] a size judgment module 70, for judging whether the size of the target foreign object exceeds a set size when the grayscale value of the target foreign object is not greater than the second set grayscale value;

[0116] The control processing module 40 is further configured to remove the target foreign object through the flap removal device when it is determined that the size of the target foreign object exceeds the set size; and to remove the target foreign object through the air blowing removal device when it is determined that the size of the target foreign object does not exceed the set size.

[0117] In this embodiment, not only the number of foreign objects is simply considered, but on the basis of the number of foreign objects, the density of the foreign objects (because the density is proportional to the grayscale value, it can be judged based on the grayscale value) and the size of the foreign objects (which can be judged by the pixel size of the foreign objects in the X-ray image) are further judged to comprehensively determine the selection of the removal device, thereby avoiding the situation where dense and heavy objects cannot be removed by blowing and are missed, thereby improving the accuracy of foreign object removal.

[0118] Based on any of the above embodiments, the bulk material foreign matter detection device further includes:

[0119] a position determination module configured to, after the number determination module determines that the number of the identified foreign objects does not exceed a preset threshold, further determine, based on the positions of the foreign objects, whether there are adjacent foreign objects separated by a distance less than a preset distance;

[0120] The control processing module is further configured to, when it is determined that there are adjacent foreign objects with a spacing distance less than a preset distance, remove the foreign objects using the flap removal device; and when it is determined that there are no adjacent foreign objects with a spacing distance less than the preset distance, remove the foreign objects using the corresponding air nozzle in the air blowing removal device;

[0121] The position judgment module is also used to determine the target sub-flip in the flip removal device for removing the foreign object based on the position of the foreign object when the foreign object is to be removed by the flip removal device, and to remove the foreign object by controlling the flipping of the target sub-flip in the flip removal device.

[0122] In this embodiment, the flap removal device is composed of several sub-flaps, such as two or four flaps. Since the carry-out ratio of flaps is relatively high, in order to reduce the carry-out ratio of good products, we use a flap removal device with several sub-flaps. When the flaps are needed to remove foreign objects, the corresponding sub-flaps are activated based on the distribution of the foreign objects to flip and remove the corresponding foreign objects, which can greatly reduce the carry-out ratio.

[0123] Finally, the present application also discloses an X-ray machine foreign body detection device, comprising: the bulk material foreign body detection device described in any of the above device embodiments.

[0124] The device embodiments or equipment embodiments of the present application correspond to the method embodiments of the present application. The technical details of the method embodiments of the present application are also applicable to the device embodiments of the present application. For specific effects, please refer to the above-mentioned method embodiments and will not be repeated here.

[0125] In one embodiment, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a control program, and the control program is loaded and executed by the processor to implement the adaptive fault-tolerant control method as described above. The processor may be a CPU, a controller, a microcontroller, a microprocessor, or other data processing chip.

[0126] In one embodiment, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a control program, and the control program is used to implement the adaptive fault-tolerant control method described above when executed by a processor. The technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each method embodiment of the present invention. The computer-readable storage medium includes various media that can carry computer program codes, such as a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), and the like.

[0127] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0128] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0129] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0130] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0131] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for detecting foreign matter in bulk materials, characterized in that: Applicable to X-ray machine foreign body detection equipment, the X-ray machine foreign body detection equipment is provided with a flap removal device and a blow removal device; the bulk material foreign body detection method includes: Acquiring an X-ray image of the bulk material under inspection by the X-ray foreign body detection device; Identifying the X-ray image to determine the location and quantity of foreign matter in the bulk material; Determining whether the number of the identified foreign objects exceeds a preset number threshold; When it is determined that the amount of the foreign matter exceeds a preset threshold, the foreign matter in the bulk material is removed by a flap removal device; When it is determined that the quantity of the foreign matter does not exceed a preset quantity threshold, the foreign matter in the bulk material is removed through a corresponding air nozzle in an air blowing removal device based on the location of the foreign matter.

2. The method for detecting foreign matter in bulk materials according to claim 1, characterized in that: When it is determined that the number of the foreign objects does not exceed a preset number threshold, the foreign objects in the bulk material are removed through corresponding air nozzles in the air blowing removal device based on the location of the foreign objects; specifically, the method includes: Identify and obtain the size and grayscale value of each foreign body in the X-ray image; Determine whether there is a target foreign object with a grayscale value greater than a first set grayscale value; When the target foreign object exists, determining whether the grayscale value of the target foreign object is greater than a second set grayscale value; the second set grayscale value is greater than the first set grayscale value; When the grayscale value of the target foreign object is greater than the second set grayscale value, the target foreign object is removed by the flap removal device; When the grayscale value of the target foreign object is not greater than the second set grayscale value, determining whether the size of the target foreign object exceeds the set size; When it is determined that the size of the target foreign object exceeds the set size, the target foreign object is removed by the flap removal device; When it is determined that the size of the target foreign matter does not exceed the set size, the target foreign matter is removed by the air blowing removal device.

3. The method for detecting foreign matter in bulk materials according to claim 1, wherein: When it is determined that the number of the foreign objects does not exceed a preset number threshold, the foreign objects in the bulk material are removed through corresponding air nozzles in the air blowing removal device based on the location of the foreign objects; specifically, the method includes: When it is determined that the number of the foreign objects does not exceed the preset number threshold, further determining whether there are adjacent foreign objects with a spacing distance less than a preset distance based on the positions of the foreign objects; When it is determined that there are adjacent foreign objects with a spacing distance less than a preset distance, the flap removal device is used to remove the foreign objects; When it is determined that there are no adjacent foreign objects with a spacing distance less than a preset distance, the foreign objects are removed through the corresponding air nozzles in the air blowing removal device.

4. The method for detecting foreign matter in bulk materials according to claim 1, wherein: The flap removal device is composed of a plurality of sub-flaps, each of which can be used independently under the control of the foreign matter removal module; when it is determined that the number of the foreign matter exceeds a preset number threshold, the foreign matter in the bulk material is removed by the flap removal device; specifically, the following steps are included: When it is determined that the number of the foreign objects exceeds a preset threshold, according to the location of the foreign objects, determining a target sub-flap for removing the foreign matter; When the foreign matter reaches the exclusion zone of the transmission channel, the target sub-flip plate is controlled to flip to exclude the foreign matter.

5. The method for detecting foreign matter in bulk materials according to any one of claims 1 to 4, characterized in that: Also includes: Monitoring whether the foreign matter box corresponding to the flap removal device is full of bulk foreign matter; When it is detected that the foreign matter box is full of bulk foreign matter, an alarm is issued or according to the received reflux detection instruction, the bulk foreign matter is returned to the feed bin through the reflux transport channel, and the output flow of the bulk foreign matter in the feed bin to the transmission detection channel is controlled so that the X-ray machine foreign matter detection equipment can re-perform foreign matter detection on the bulk foreign matter.

6. The method for detecting foreign matter in bulk materials according to claim 3, characterized in that: The flap removal device has four flaps, wherein the use of the flap removal device to remove the foreign matter specifically includes: Determining a target sub-flip panel among the four flip panels based on the position of the foreign object; When the foreign matter reaches the exclusion zone of the output channel, the corresponding target sub-flip plates among the four flip plates are controlled to flip to exclude the foreign matter.

7. A bulk material foreign body detection device, characterized in that: Integrated in an X-ray foreign body detection device, the X-ray foreign body detection device is provided with a flap removal device and an air blowing removal device; the bulk foreign body detection device includes: an image acquisition module, configured to acquire an X-ray image of the bulk material under inspection via the X-ray foreign body detection device; a foreign body identification module, configured to identify the X-ray image and determine the location and quantity of foreign bodies in the bulk material; A quantity determination module is used to determine whether the number of the identified foreign objects exceeds a preset quantity threshold; The control processing module is used to remove the foreign objects in the bulk material through the flap removal device when it is determined that the number of the foreign objects exceeds the preset number threshold; when it is determined that the number of the foreign objects does not exceed the preset number threshold, based on the position of the foreign objects, remove the foreign objects in the bulk material through the corresponding air nozzle in the air blowing removal device.

8. The device for detecting foreign matter in bulk materials according to claim 7, characterized in that: Also includes: An acquisition module, configured to identify and acquire the size and grayscale value of each foreign body in the X-ray image; A grayscale judgment module is used to judge whether there is a target foreign object with a grayscale value greater than a first set grayscale value; when the target foreign object exists, judge whether the grayscale value of the target foreign object is greater than a second set grayscale value; the second set grayscale value is greater than the first set grayscale value; The control processing module is further configured to remove the target foreign object through the flap removal device when the grayscale value of the target foreign object is greater than the second set grayscale value; a size judgment module, configured to judge whether the size of the target foreign object exceeds a set size when the grayscale value of the target foreign object is not greater than the second set grayscale value; The control processing module is further configured to remove the target foreign object through the flap removal device when it is determined that the size of the target foreign object exceeds the set size; and to remove the target foreign object through the air blowing removal device when it is determined that the size of the target foreign object does not exceed the set size.

9. The device for detecting foreign matter in bulk materials according to claim 7, characterized in that: Also includes: a position determination module configured to, after the number determination module determines that the number of the identified foreign objects does not exceed a preset threshold, further determine, based on the positions of the foreign objects, whether there are adjacent foreign objects separated by a distance less than a preset distance; The control processing module is further configured to, when it is determined that there are adjacent foreign objects with a spacing distance less than a preset distance, remove the foreign objects using the flap removal device; and when it is determined that there are no adjacent foreign objects with a spacing distance less than the preset distance, remove the foreign objects using the corresponding air nozzle in the air blowing removal device; The position judgment module is also used to determine the target sub-flip in the flip removal device for removing the foreign object based on the position of the foreign object when the foreign object is to be removed by the flip removal device, and to remove the foreign object by controlling the flipping of the target sub-flip in the flip removal device.

10. An X-ray foreign body detection device, characterized in that: include: The bulk material foreign matter detection device according to any one of claims 7 to 9.

Images