A vision-based automatic detection device and method for foreign matter in liquor bottles

Abstract

The present invention relates to the field of foreign matter detection technology, and specifically to a vision-based automatic foreign matter detection device and method in a liquor bottle, the device comprising: a pre-detection component for driving a liquor bottle that is not filled with liquor to rotate, and continuously collecting a number of first detection images of the inner wall of the liquor bottle during the rotation process; a detection component for driving a liquor bottle that is filled with liquor to rotate, and continuously collecting a number of second detection images of the inner wall of the liquor bottle during the rotation process; a data processing unit for identifying mobile items and fixed items based on a number of first detection images, outputting liquid foreign matter and solid foreign matter; recording the first position of the fixed item, and extracting the fixed item at the first position in the second detection image, if the fixed item is extracted, then outputting the fixed item as a foreign matter outside the bottle, if the fixed item is not extracted, then outputting the fixed item as a foreign matter inside the bottle. The present invention performs pre-detection before liquor filling, and can accurately detect solid and liquid foreign matter in the liquor bottle.

Description

Technical Field

[0001] The present invention relates to the technical field of foreign matter detection, and in particular to a vision-based automatic foreign matter detection device and method in a liquor bottle. Background Art

[0002] In the process of liquor production, it is usually necessary to clean and disinfect the liquor bottles. After the cleaning and disinfection steps are completed, the liquor bottles are usually transported to the filling and capping positions to complete the filling and capping steps of the liquor. On the one hand, after the cleaning and disinfection steps, it is not possible to ensure that the liquor bottles are completely clean, and foreign matter may remain in the liquor bottles; on the other hand, during the transportation of the liquor bottles that have completed the cleaning and disinfection steps, foreign matter may enter the liquor bottles; therefore, in order to ensure the quality of the liquor produced, it is usually necessary to detect foreign matter in the liquor bottles.

[0003] Foreign objects that may be present in liquor bottles include glass fragments, metal shavings, hair, dust, etc. These foreign objects not only affect the sensory quality of liquor, but also pose a potential threat to consumers' health. The traditional way to detect these foreign objects is through human eye detection, which is limited by the low efficiency, strong subjectivity, and high labor costs of human eye detection, resulting in poor results for foreign object detection.

[0004] With the development of machine vision detection technology, foreign body detection technology in liquor bottles based on machine vision has been widely used in recent years. This technology can realize rapid and accurate detection of foreign bodies in liquor bottles through image acquisition, processing and analysis. However, the existing detection technology mostly stays on the detection of solid foreign bodies, namely glass fragments, metal shavings, hair, dust, etc. If there are liquid foreign bodies in the liquor bottle, it is difficult to detect accurately, especially for transparent liquor bottles. It is even more difficult to detect liquid foreign bodies remaining on the side wall of transparent liquor bottles. In addition, the existing foreign body detection technology in liquor bottles is mostly concentrated after the liquor is filled. The liquor in the liquor bottle is driven to rotate at high speed, so that the foreign bodies in the liquor bottle float up with the rotation of the liquid, and then detected by machine vision detection technology. Even if the foreign bodies can be accurately detected, the liquor has been contaminated by contact with the foreign bodies. For some foreign bodies that can be detected in advance, they are not detected before the liquor is filled, resulting in waste of liquor.

[0005] In summary, the existing machine vision detection technology is difficult to accurately detect the presence of liquid foreign matter in liquor bottles, especially transparent liquor bottles, and the detection is mostly performed after the liquor is filled. Some foreign matter that can be detected in advance is not detected before the liquor is filled, resulting in waste of liquor. There is an urgent need for a vision-based automatic detection device and method for foreign matter in liquor bottles that can accurately detect solid and liquid foreign matter in liquor bottles and can perform pre-detection before liquor is filled. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a vision-based automatic detection device and method for foreign matter in liquor bottles, which are used to accurately detect solid and liquid foreign matter in liquor bottles and perform pre-detection before liquor filling.

[0007] In order to achieve the above object, the technical solution of the present invention is as follows:

[0008] On the one hand, a vision-based automatic detection device for foreign matter in a liquor bottle is provided, comprising:

[0009] A front detection component is used to drive the unfilled liquor bottle to rotate, and continuously collect a plurality of first detection images of the inner wall of the liquor bottle during the rotation process;

[0010] A detection component, used for driving a liquor bottle filled with liquor to rotate, and continuously collecting a plurality of second detection images of the inner wall of the liquor bottle during the rotation process;

[0011] The data processing unit is used to identify mobile items and fixed items based on a number of first detection images, output the mobile items as liquid foreign matter, and output the fixed items as solid foreign matter; record the first position of the fixed items, and extract the fixed items at the first position in the second detection image, if the fixed items are extracted, then output the fixed items as foreign matter outside the bottle, if not extracted, then output the fixed items as foreign matter inside the bottle.

[0012] Further, the data processing unit is used to obtain the rotation direction of the liquor bottle that is not filled with liquor;

[0013] Identify and compare the items on the first detection pictures before and after in sequence. When the items on the first detection pictures before and after are displaced relative to the wine bottle, determine that the displaced items are dynamic items. Obtain the activity trajectory of the dynamic items. When the direction of the activity trajectory of the dynamic items is opposite to the rotation direction of the wine bottle that is not filled with wine, determine that the dynamic items are flowing items.

[0014] Furthermore, the front detection component is used to extend into the liquor bottle to collect a first detection image, and emit a directional light source to the inner wall of the liquor bottle at a preset time interval when collecting the first detection image, and collect a projection image of the inner wall of the liquor bottle in the area covered by the directional light source outside the liquor bottle;

[0015] The data processing unit is used to identify dark spots on the projected image, obtain the second position projected from the first position on the projected image, and verify the validity of the fixed item based on the first position and the second position: if there is a dark spot at the second position, the corresponding fixed item is verified to be valid; if there is no dark spot at the second position, the corresponding fixed item is verified to be invalid.

[0016] Furthermore, the pre-detection component is used to capture the overall appearance of the liquor bottle before capturing the first detection image, identify occluded items on the liquor bottle, obtain the projection of the occluded items to a third position on the projection image, and ignore the dark spots at the third position on the projection image.

[0017] Furthermore, the data processing unit is used to perform exposure adjustment and white balance correction on the projected image, receive a preset grayscale threshold, and mark areas in the projected image where the pixel grayscale value is lower than the preset grayscale threshold as dark spots.

[0018] Furthermore, the pre-detection component includes a first support frame installed at the front end of the filling equipment, the first support frame is provided with a pre-detection unit for driving the liquor bottle to rotate, and the first support frame is provided with a first circulation unit for extracting the liquor bottle that has not been filled with liquor to the pre-detection unit.

[0019] Further, the front detection unit includes a first driving mechanism and a first fixed base arranged on the first support frame, the output shaft of the first driving mechanism extends into the first fixed base and is coaxially fixedly connected with a first central gear, the inner side wall of the first fixed base is fixedly connected with a first gear ring, a plurality of first travel gears are arranged between the first central gear and the first gear ring, the first travel gear is meshed with the first central gear and the first gear ring, the first travel gear is coaxially fixedly connected with a first rotating disk, the top of the first fixed base is rotatably connected with a first cover body, the first cover body is provided with a plurality of first rotating holes, and the first rotating disk is rotatably connected with the first rotating holes;

[0020] The first rotating disk is coaxially fixedly connected to the first supporting shaft, the first supporting shaft is coaxially fixedly connected to the first supporting platform, a plurality of first cylinders are arranged on the top of the first supporting platform corresponding to the first rotating disk, and the output shaft of the first cylinder extends to the bottom of the first supporting platform and is fixedly connected to the first detection cover;

[0021] A first main detection axis and a first secondary detection axis are arranged in the first detection cover, a plurality of first main image sensors and a first controllable light source are arranged on the first main detection axis, a plurality of first secondary image sensors are arranged on the first secondary detection axis, and the first main image sensor, the first controllable light source and the first secondary image sensor are all connected to the data processing unit signal.

[0022] Furthermore, the detection component includes a second support frame installed at the rear end of the filling equipment, the second support frame is provided with a detection unit for driving the white wine bottle to rotate, and the second support frame is provided with a second circulation unit for extracting the white wine bottle that has not been filled with white wine to the front detection unit.

[0023] Further, the detection unit includes a second driving mechanism and a second fixed base arranged on the second supporting frame, the output shaft of the second driving mechanism extends into the second fixed base and is coaxially fixedly connected with a second central gear, a second gear ring is fixedly connected with an inner side wall of the second fixed base, a plurality of second travel gears are arranged between the second central gear and the second gear ring, the second travel gear is meshed with the second central gear and the second gear ring, the second travel gear is coaxially fixedly connected with a second rotating disk, a second cover body is rotatably connected with the top of the second fixed base, a plurality of second rotating holes are opened in the second cover body, and the second rotating disk is rotatably connected with the second rotating holes;

[0024] The second rotating disk is coaxially fixedly connected to the second supporting shaft, the second supporting shaft is coaxially fixedly connected to the second supporting platform, a plurality of second cylinders are arranged on the top of the second supporting platform corresponding to the second rotating disk, and the output shaft of the second cylinder extends to the bottom of the second supporting platform and is fixedly connected to the second detection cover;

[0025] A second main detection axis and a second secondary detection axis are arranged in the second detection cover, a plurality of second main image sensors and a second controllable light source are arranged on the second main detection axis, a plurality of second secondary image sensors are arranged on the second secondary detection axis, and the second main image sensor, the second controllable light source and the second secondary image sensor are all connected to the data processing unit signal.

[0026] On the other hand, a vision-based automatic detection method for foreign matter in a liquor bottle is provided, which is performed by the vision-based automatic detection device for foreign matter in a liquor bottle, and comprises the following steps:

[0027] Driving a liquor bottle that is not filled with liquor to rotate, and continuously collecting a plurality of first detection images of the inner wall of the liquor bottle during the rotation process;

[0028] driving a liquor bottle filled with liquor to rotate, and continuously collecting a plurality of second detection images of the inner wall of the liquor bottle during the rotation process;

[0029] Based on the identification of mobile items and fixed items in several first detection images, the mobile items are output as liquid foreign matter, and the fixed items are output as solid foreign matter; the first position of the fixed item is recorded, and the fixed item is extracted at the first position in the second detection image. If the fixed item is extracted, the fixed item is output as a foreign matter outside the bottle. If the fixed item is not extracted, the fixed item is output as a foreign matter inside the bottle.

[0030] The technical principles of the above scheme are as follows:

[0031] The image of the inside of the liquor bottle is collected when the liquor bottle is rotating. Since the liquid foreign matter inside the liquor bottle will produce relative displacement when the liquor bottle rotates, the liquid foreign matter and solid foreign matter are identified based on whether there is displacement in the items in the collected image, which makes up for the current defect of not being able to accurately detect liquid foreign matter. For solid foreign matter in a transparent liquor bottle, by emitting a directional light source, the light source in the transparent liquor bottle without solid foreign matter area can pass normally, and the light source in the transparent liquor bottle with solid foreign matter area cannot pass normally. Therefore, the projection image of the inner wall of the liquor bottle in the area covered by the directional light source is collected, and the effectiveness of the solid foreign matter is auxiliary verified by identifying the dark spots in the projection image. By comparing the presence of foreign matter in the same position before and after filling, due to the filling of liquor and the rotation of liquor in the liquor bottle, the solid foreign matter with weak viscosity will fall off from the side wall of the liquor bottle and change its position, while the solid foreign matter outside the liquor bottle will not change its position, thereby verifying whether the solid foreign matter belongs to the liquor bottle or outside the liquor bottle.

[0032] For the pre-detection component and the detection component, a planetary gear structure composed of a center gear, a ring gear and a travel gear is used. The liquor bottles can be transported while being rotated, thereby realizing simultaneous detection during transportation and reducing the impact of foreign body detection on liquor production efficiency.

[0033] The above scheme has the following beneficial effects:

[0034] 1. The present invention detects solid foreign matter and liquid foreign matter based on their own characteristics. Compared with the foreign matter detection technology of simple image recognition, it can effectively identify liquid foreign matter in the liquor bottle. Moreover, since the detection is based on the flow of liquid foreign matter, it can realize the detection of colored or colorless liquids, and the detection accuracy is equivalent to that of solid foreign matter.

[0035] 2. The present invention introduces a pre-detection component and a detection component to detect foreign matter in the liquor bottle before and after filling. The pre-detection component can make a preliminary judgment on the foreign matter in the liquor bottle and effectively identify solid foreign matter and liquid foreign matter. For solid foreign matter that is difficult to distinguish between inside and outside the transparent liquor bottle, the position of the solid foreign matter can be judged by comparing before and after. Compared with foreign matter detection after filling, simple foreign matter can be preliminarily detected by pre-detection to avoid unnecessary waste of liquor, and the location of foreign matter can be further identified after filling, and the situation where the foreign matter is located in the liquor bottle can be identified to ensure the quality of liquor production.

[0036] 3. The present invention collects dark spots through light source illumination to assist in detecting foreign matter. Compared with simple image acquisition and recognition detection, it can further improve detection accuracy and reduce the interference of image acquisition quality on detection accuracy.

[0037] 4. The present invention extracts liquor bottles on the production line for foreign body detection through the circulation unit, and drives the liquor bottles to rotate while maintaining the conveyance of the liquor bottles through the planetary gear structure composed of the central gear, the ring gear and the traveling gear. Compared with the technology of pausing the conveyance of liquor bottles for foreign body detection, the influence of foreign body detection on liquor production efficiency can be reduced, and the liquor production efficiency can be maintained.

[0038] 5. The present invention detects foreign matter after covering the liquor bottle with a detection cover. Compared with the open liquor bottle foreign matter detection technology, it can effectively reduce the interference of the external environment on the foreign matter detection result.

[0039] 6. The present invention continuously collects detection images during the rotation of the liquor bottle, allowing for comprehensive and continuous detection of the inner wall of the liquor bottle, thereby improving the efficiency and accuracy of foreign matter detection in the liquor bottle.

[0040] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the installation position of an embodiment of the automatic foreign body detection device in a liquor bottle based on vision of the present invention;

[0042] Figure 2 It is a schematic diagram of the structure of the pre-detection component of an embodiment of the automatic detection device for foreign matter in a liquor bottle based on vision of the present invention;

[0043] Figure 3 It is a schematic structural diagram of the front detection component of the auxiliary platform for removing foreign bodies in the white wine bottle according to an embodiment of the vision-based automatic detection device of the present invention;

[0044] Figure 4 It is a structural schematic diagram of a pre-detection unit of an embodiment of a vision-based automatic detection device for foreign matter in a liquor bottle of the present invention;

[0045] Figure 5 It is a schematic diagram of the internal structure of the first fixed base of an embodiment of the vision-based automatic detection device for foreign matter in a liquor bottle of the present invention;

[0046] Figure 6 It is a schematic diagram of the internal structure of the first detection cover of an embodiment of the automatic detection device for foreign matter in a liquor bottle based on vision of the present invention;

[0047] Figure 7 It is a schematic diagram of the internal structure of the first detection cover in the running state of the embodiment of the automatic detection device for foreign matter in a liquor bottle based on vision of the present invention;

[0048] Figure 8The figure is a flow chart of an embodiment of the vision-based automatic detection method for foreign matter in a liquor bottle of the present invention.

[0049] The figure marks in the drawings of the specification include: 100, front detection component; 101, first support frame; 102, auxiliary platform; 103, flow plate; 104, first fixed base; 105, first rotating plate; 106, first support platform; 107, first cylinder; 108, first detection cover; 109, first cover body; 110, driving gear; 111, driven gear; 112, telescopic hole; 113, first ring gear; 114, first traveling gear; 115, first central gear; 116, first main detection axis; 117, first sub-detection axis; 118, first main image sensor; 119, first controllable light source; 120, first sub-image sensor; 200, detection component; 300, filling equipment; 301, conveyor belt. DETAILED DESCRIPTION

[0050] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] The following is further described in detail through specific implementation methods:

[0054] Embodiment 1:

[0055] As attached Figure 1-Attached Figure 7 As shown: A vision-based automatic detection device for foreign bodies in liquor bottles, mainly comprising a pre-detection component 100, a detection component 200 and a data processing unit, combined with the attached Figure 1 As shown, it can clearly reflect the setting positions of the pre-detection component 100 and the detection component 200 on the liquor filling production line, wherein the liquor filling production line is mainly composed of a filling device 300 and a conveyor belt 301. In this embodiment, the pre-detection component 100 is set at the front end of the filling device 300, that is, it is used to detect foreign matter in a wine bottle that is not filled with liquor; the detection component 200 is set at the rear end of the filling device 300, that is, it is used to detect foreign matter in a wine bottle filled with liquor. By performing double inspections on the liquor bottles before and after filling, the quality and safety of the final product can be ensured. The data processing unit is mainly responsible for data processing tasks. Its setting position is not restricted, it can be connected to the corresponding component signals, and it is easy for technicians to operate. It can be an industrial PC, PLC or industrial Internet of Things equipment, etc.

[0056] The front detection component 100 is used to drive the unfilled liquor bottle to rotate, and continuously collect a number of first detection images of the inner wall of the liquor bottle during the rotation process (extending to the inside of the liquor bottle to collect the first detection image). In addition, it is also used to emit a directional light source to the inner wall of the liquor bottle at a preset time interval when collecting the first detection image, and collect the projection image of the inner wall of the liquor bottle in the area covered by the directional light source outside the liquor bottle. The first detection image acquisition is used as the basic basis for the subsequent identification of solid foreign matter and liquid foreign matter, and the projection image is used for the subsequent verification of the effectiveness of the solid foreign matter detection results.

[0057] In terms of specific structure, the pre-detection assembly 100 includes a first support frame 101 installed at the front end of the filling device 300, the first support frame 101 is provided with a pre-detection unit for driving the white wine bottle to rotate, and the first support frame 101 is provided with a first transfer unit for extracting the white wine bottle that is not filled with white wine to the pre-detection unit. Figure 1 and attached Figure 2 As shown, in order to ensure that unfilled liquor bottles can be stably extracted to the pre-inspection unit, an auxiliary platform 102 is arranged on the first support frame 101, so that the height of the pre-inspection unit is flush with the height of the conveyor belt 301, and the first circulation unit does not interfere with the normal operation of the conveyor belt 301.

[0058] Specifically, the first flow unit includes a flow disk 103 rotatably connected to the auxiliary platform 102, the flow disk 103 extends above the conveyor belt 301, and a stepper motor is arranged in the first support frame 101. The output shaft of the stepper motor is coaxially fixedly connected to the flow disk 103, and the stepper motor is controlled by the data processing unit to operate. Figure 1As shown, the conveying direction of the conveyor belt 301 is from left to right. When the liquor bottle is conveyed to the left turntable 103, the stepper motor drives it to rotate clockwise, thereby conveying the liquor bottle to the detection unit; when the liquor bottle that has completed the detection is conveyed to the right turntable 103, the stepper motor drives it to rotate counterclockwise, thereby conveying the liquor bottle back to the conveyor belt 301 to continue to complete the subsequent filling process.

[0059] Specifically, the front detection unit includes a first driving mechanism and a first fixed base 104 disposed on the first support frame 101, and the first driving mechanism mainly plays the role of providing driving force. Figure 3 As shown, in this embodiment, a stepper motor is arranged in the first support frame 101, and the output shaft of the stepper motor extends out of the first support frame 101 and is coaxially fixedly connected with a driving gear 110, and a driven gear 111 is rotatably connected to the first support frame 101, and the driven gear 111 is meshed with the driving gear 110, and the driven gear 111 is coaxially fixedly connected with an output shaft, and the output shaft extends into the first fixed base 104, thereby realizing the provision of driving force.

[0060] Combined with Figure 4 and attached Figure 5 As shown, the output shaft extends to the first fixed base 104 and is coaxially fixedly connected to the first central gear 115. The inner wall of the first fixed base 104 is fixedly connected to the first ring gear 113 (since the first fixed base 104 is fixed to the first support frame 101, the first ring gear 113 is in a fixed state and cannot rotate). Six groups of first traveling gears 114 are arranged between the first central gear 115 and the first ring gear 113. The first traveling gear 114 is meshed with the first central gear 115 and the first ring gear 113. The first traveling gear 114 is coaxially fixedly connected to the first rotating disk 105. The top of the first fixed base 104 is rotatably connected to the first cover body 109. The first cover body 109 is provided with a plurality of first rotating holes, and the first rotating disk 105 is rotatably connected to the first rotating holes. The driving force is transmitted to the first central gear 115 through the output shaft. Due to the planetary gear structure composed of the first central gear 115, the first gear ring 113 and the first traveling gear 114, when the first central gear 115 rotates, the first traveling gear 114 can be driven to rotate in the opposite direction to the first central gear 115, while the first cover 109 rotates in the same direction as the first central gear 115. If a liquor bottle is placed on the surface of the first rotating disk 105, it can be driven to rotate while keeping the liquor bottle in a conveyed state.

[0061] The first rotating disk 105 is coaxially fixedly connected to the first supporting shaft, and the first supporting shaft is coaxially fixedly connected to the first supporting platform 106. A plurality of first cylinders 107 are arranged on the top of the first supporting platform 106 corresponding to the first rotating disk 105. A telescopic hole 112 is opened on the first supporting platform for the output shaft of the first cylinder 107 to pass through. The output shaft of the first cylinder 107 extends to the bottom of the first supporting platform 106 through the telescopic hole 112 and is fixedly connected to the first detection cover 108.

[0062] Combined with Figure 6 As shown, a first main detection axis 116 and a first sub-detection axis 117 are arranged in the first detection cover 108, a plurality of first main image sensors 118 and a first controllable light source 119 are arranged on the first main detection axis 116, a plurality of first sub-image sensors 120 are arranged on the first sub-detection axis 117, and a stepper motor, a cylinder, a first main image sensor 118, a first controllable light source 119 and a first sub-image sensor 120 are all connected to the data processing unit signal. The data processing unit can realize the control of the rotation and conveying part of the liquor bottle in the front detection component 100 by controlling the operation of the stepper motor, and can realize the extension and retraction of the first detection cover 108 by controlling the operation of the cylinder, so as to cover the liquor bottle to be detected for foreign matter.

[0063] Combined with Figure 7 As shown, the first main detection axis 116 is extended into the liquor bottle, and the first secondary detection axis 117 is kept outside the liquor bottle, and the two cooperate to cover the side wall of the liquor bottle. The first captured image is captured by the first main image sensor 118 and the first secondary image sensor 120 facing the side wall of the liquor bottle. The first controllable light source 119 illuminates the side wall of the liquor bottle from the inside to the outside, and the projection image is imaged on the inner wall of the first detection cover 108. During the entire first detection image and projection image capture process, the first main detection axis 116 and the first secondary detection axis 117 remain relatively stationary, and the liquor bottle rotates to perform comprehensive and continuous detection of the inner wall of the liquor bottle.

[0064] The detection component 200 is used to drive the liquor bottle filled with liquor to rotate, and continuously collect a number of second detection images of the inner wall of the liquor bottle during the rotation (the second detection image is collected at the mouth of the liquor bottle). The second detection image collection can be used for foreign matter detection based on traditional foreign matter detection technology; in this embodiment, it is mainly used as a basis for subsequent judgment of the location of solid foreign matter (inside or outside the bottle).

[0065] In terms of specific structure, the detection assembly 200 includes a second support frame installed at the rear end of the filling device 300, on which a detection unit for driving the liquor bottle to rotate is provided, and on which a second circulation unit for extracting the liquor bottle that is not filled with liquor to the front detection unit is provided. In order to ensure that the liquor bottle that is not filled with liquor can be stably extracted to the detection unit, the height of the front detection unit is flush with the height of the conveyor belt 301, and the second circulation unit does not interfere with the normal operation of the conveyor belt 301.

[0066] Specifically, the detection unit includes a second driving mechanism and a second fixed base arranged on the second support frame. The second driving mechanism adopts the same structure as the first driving mechanism to provide driving force.

[0067] The output shaft of the second driving mechanism extends into the second fixed base and is coaxially fixedly connected with the second central gear, a second gear ring is fixedly connected with the inner side wall of the second fixed base, a plurality of second traveling gears are arranged between the second central gear and the second gear ring, the second traveling gear is meshed with the second central gear and the second gear ring, the second traveling gear is coaxially fixedly connected with the second rotating disk, a second cover body is rotatably connected with the top of the second fixed base, a plurality of second rotating holes are opened in the second cover body, and the second rotating disk is rotatably connected with the second rotating holes.

[0068] The second rotating disk is coaxially fixedly connected to the second supporting shaft, the second supporting shaft is coaxially fixedly connected to the second supporting platform, a plurality of second cylinders are arranged on the top of the second supporting platform corresponding to the second rotating disk, and the output shaft of the second cylinder extends to the bottom of the second supporting platform and is fixedly connected to the second detection cover.

[0069] A second main detection axis and a second secondary detection axis are arranged in the second detection cover, a plurality of second main image sensors and a second controllable light source are arranged on the second main detection axis, a plurality of second secondary image sensors are arranged on the second secondary detection axis, and the stepping motor, the second cylinder, the second main image sensor, the second controllable light source and the second secondary image sensor are all connected to the data processing unit signal.

[0070] The second circulation unit of this embodiment has the same structure as the first circulation unit, and the structure of the detection component 200 is similar to the front detection component 100, so no independent drawing is provided in the drawings. The main difference between the two lies in the length of the first main detection axis 116 and the second main detection axis. Since the first main detection axis 116 extends into the liquor bottle for foreign body detection, and the second main detection axis performs foreign body detection at the mouth of the liquor bottle, because the length of the second main detection axis should be much smaller than the length of the first main detection axis 116, the length of the second sub-detection axis can be the same as the first sub-detection axis 117, covering the entire outside of the liquor bottle.

[0071] The data processing unit is used to identify mobile items and fixed items based on a number of first detection images, and output the mobile items as liquid foreign matter, and the fixed items as solid foreign matter. Specifically, for liquid foreign matter detection, the data processing unit is used to obtain the rotation direction of the unfilled liquor bottle. The items on the first detection images before and after are identified and compared in sequence. When the items on the first detection images before and after are displaced relative to the liquor bottle, the displaced items are determined to be dynamic items; the activity trajectory of the dynamic items is obtained, and when the direction of the activity trajectory of the dynamic items is opposite to the rotation direction of the unfilled liquor bottle, the dynamic items are determined to be mobile items.

[0072] Specifically, for solid foreign body detection, the data processing unit is used to identify dark spots on the projected image, obtain the second position projected from the first position on the projected image, and verify the validity of the fixed items based on the first position and the second position: if there is a dark spot at the second position, the corresponding fixed item is verified to be valid, and if there is no dark spot at the second position, the corresponding fixed item is verified to be invalid. That is, it is possible to optimize some of the invalid fixed items collected and output more accurate solid foreign body detection results.

[0073] The front detection component 100 also includes a camera integrated on the first support frame 101, which is used to capture the overall appearance of the liquor bottle before capturing the first detection image, identify obstructing items on the liquor bottle, obtain the projection of the obstructing items to the third position on the projection image, and ignore the dark spots at the third position on the projection image. The obstructing items on the liquor bottle (designed patterns or labels, etc.) usually block the light source, resulting in the formation of dark spots in the corresponding area. This part cannot be used as an auxiliary judgment basis for solid foreign matter, and therefore the recognition results of the dark spots in the corresponding area of ​​the obstructing items are ignored.

[0074] In addition, the data processing unit is also used to adjust the exposure and white balance of the projected image, receive a preset grayscale threshold, and mark the area in the projected image where the pixel grayscale value is lower than the preset grayscale threshold as a dark spot, thereby improving the flexibility of the device and the accuracy of the results.

[0075] The data processing unit is also used to record the first position of the fixed item and extract the fixed item at the first position in the second detection image. If the fixed item is extracted, the fixed item is output as a foreign object outside the bottle. If the fixed item is not extracted, the fixed item is output as a foreign object inside the bottle. By comparing the position of solid foreign objects before and after, the position of the foreign object can be further identified after filling is completed, and the situation where the foreign object is located in the liquor bottle can be identified to ensure the quality of liquor production.

[0076] Embodiment 2:

[0077] As attached Figure 8As shown, the present embodiment provides a vision-based automatic detection method for foreign objects in liquor bottles, which is performed based on the vision-based automatic detection device for foreign objects in liquor bottles of Example 1, and includes the following steps: driving a liquor bottle that is not filled with liquor to rotate, and continuously collecting a number of first detection pictures of the inner wall of the liquor bottle during the rotation; driving a liquor bottle that is filled with liquor to rotate, and continuously collecting a number of second detection pictures of the inner wall of the liquor bottle during the rotation; identifying mobile items and fixed items based on the first detection pictures, outputting mobile items as liquid foreign objects, and outputting fixed items as solid foreign objects; recording the first position of the fixed item, and extracting the fixed item at the first position in the second detection picture, if the fixed item is extracted, then outputting the fixed item as a foreign object outside the bottle, if the fixed item is not extracted, then outputting the fixed item as a foreign object inside the bottle.

[0078] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A vision-based automatic detection device for foreign matter in liquor bottles, characterized in that: include: A front detection component is used to drive the unfilled liquor bottle to rotate, and continuously collect a plurality of first detection images of the inner wall of the liquor bottle during the rotation process; A detection component, used for driving a liquor bottle filled with liquor to rotate, and continuously collecting a plurality of second detection images of the inner wall of the liquor bottle during the rotation process; A data processing unit is used to identify mobile items and fixed items based on the first detection images, output the mobile items as liquid foreign matter, and output the fixed items as solid foreign matter; record the first position of the fixed item, and extract the fixed item at the first position in the second detection image, if the fixed item is extracted, output the fixed item as a foreign matter outside the bottle, if not extracted, output the fixed item as a foreign matter inside the bottle; The data processing unit is used to obtain the rotation direction of the liquor bottle without liquor; identify and compare the items on the first detection pictures before and after in sequence, and when the items on the first detection pictures before and after are displaced relative to the liquor bottle, determine that the displaced items are dynamic items; obtain the activity track of the dynamic items, and when the activity track direction of the dynamic items is opposite to the rotation direction of the liquor bottle without liquor, determine that the dynamic items are flowing items; The front detection component is used to extend into the liquor bottle to collect a first detection image, and emit a directional light source to the inner wall of the liquor bottle at a preset time interval when collecting the first detection image, and collect a projection image of the inner wall of the liquor bottle in the area covered by the directional light source outside the liquor bottle; The data processing unit is used to identify dark spots on the projected image, obtain the second position projected from the first position on the projected image, and verify the validity of the fixed item based on the first position and the second position: if there is a dark spot at the second position, the corresponding fixed item is verified to be valid; if there is no dark spot at the second position, the corresponding fixed item is verified to be invalid.

2. The vision-based automatic detection device for foreign matter in liquor bottles according to claim 1 is characterized in that: The pre-detection component is used to capture the overall appearance of the liquor bottle before capturing the first detection image, identify the occluded items on the liquor bottle, obtain the projection of the occluded items to the third position on the projection image, and ignore the dark spots at the third position on the projection image.

3. The vision-based automatic detection device for foreign matter in liquor bottles according to claim 1 is characterized in that: The data processing unit is used to perform exposure adjustment and white balance correction on the projected image, receive a preset grayscale threshold, and mark areas in the projected image where the pixel grayscale value is lower than the preset grayscale threshold as dark spots.

4. The vision-based automatic detection device for foreign matter in liquor bottles according to claim 1 is characterized in that: The pre-detection component includes a first support frame installed at the front end of the filling equipment, on which a pre-detection unit for driving the liquor bottles to rotate is provided, and on which a first circulation unit for extracting the liquor bottles that are not filled with liquor to the pre-detection unit is provided.

5. The vision-based automatic detection device for foreign matter in liquor bottles according to claim 4 is characterized in that: The front detection unit includes a first driving mechanism and a first fixed base arranged on a first supporting frame, the output shaft of the first driving mechanism extends into the first fixed base and is coaxially fixedly connected with a first central gear, a first gear ring is fixedly connected with an inner side wall of the first fixed base, a plurality of first travel gears are arranged between the first central gear and the first gear ring, the first travel gear is meshed with the first central gear and the first gear ring, the first travel gear is coaxially fixedly connected with a first rotating disk, a first cover body is rotatably connected with the top of the first fixed base, a plurality of first rotating holes are opened in the first cover body, and the first rotating disk is rotatably connected with the first rotating holes; The first rotating disk is coaxially fixedly connected to the first supporting shaft, the first supporting shaft is coaxially fixedly connected to the first supporting platform, a plurality of first cylinders are arranged on the top of the first supporting platform corresponding to the first rotating disk, and the output shaft of the first cylinder extends to the bottom of the first supporting platform and is fixedly connected to the first detection cover; A first main detection axis and a first secondary detection axis are arranged in the first detection cover, a plurality of first main image sensors and a first controllable light source are arranged on the first main detection axis, a plurality of first secondary image sensors are arranged on the first secondary detection axis, and the first main image sensor, the first controllable light source and the first secondary image sensor are all connected to the data processing unit signal.

6. The vision-based automatic detection device for foreign matter in liquor bottles according to claim 5 is characterized in that: The detection component includes a second support frame installed at the rear end of the filling equipment, on which a detection unit for driving the liquor bottles to rotate is provided, and on which a second circulation unit for extracting the liquor bottles that are not filled with liquor to the front detection unit is provided.

7. The vision-based automatic detection device for foreign matter in liquor bottles according to claim 6 is characterized in that: The detection unit includes a second driving mechanism and a second fixed base arranged on the second supporting frame, the output shaft of the second driving mechanism extends into the second fixed base and is coaxially fixedly connected with a second central gear, a second gear ring is fixedly connected with an inner side wall of the second fixed base, a plurality of second travel gears are arranged between the second central gear and the second gear ring, the second travel gear is meshed with the second central gear and the second gear ring, the second travel gear is coaxially fixedly connected with a second rotating disk, a second cover body is rotatably connected with the top of the second fixed base, a plurality of second rotating holes are opened in the second cover body, and the second rotating disk is rotatably connected with the second rotating holes; The second rotating disk is coaxially fixedly connected to the second supporting shaft, the second supporting shaft is coaxially fixedly connected to the second supporting platform, a plurality of second cylinders are arranged on the top of the second supporting platform corresponding to the second rotating disk, and the output shaft of the second cylinder extends to the bottom of the second supporting platform and is fixedly connected to the second detection cover; A second main detection axis and a second secondary detection axis are arranged in the second detection cover, a plurality of second main image sensors and a second controllable light source are arranged on the second main detection axis, a plurality of second secondary image sensors are arranged on the second secondary detection axis, and the second main image sensor, the second controllable light source and the second secondary image sensor are all connected to the data processing unit signal.

8. A vision-based automatic detection method for foreign matter in liquor bottles, characterized in that: The method is carried out by the vision-based automatic detection device for foreign matter in a liquor bottle as described in any one of claims 1 to 7, comprising the following steps: Driving a liquor bottle that is not filled with liquor to rotate, and continuously collecting a plurality of first detection images of the inner wall of the liquor bottle during the rotation process; driving a liquor bottle filled with liquor to rotate, and continuously collecting a plurality of second detection images of the inner wall of the liquor bottle during the rotation process; Based on the identification of mobile items and fixed items in the first detection images, the mobile items are output as liquid foreign matter, and the fixed items are output as solid foreign matter; the first position of the fixed item is recorded, and the fixed item is extracted at the first position in the second detection image, if the fixed item is extracted, the fixed item is output as a foreign matter outside the bottle, and if the fixed item is not extracted, the fixed item is output as a foreign matter inside the bottle; The identifying of mobile items and fixed items based on the first detection pictures includes: Obtain the rotation direction of the liquor bottle without liquor; identify and compare the items on the first detection pictures before and after in sequence, and when the items on the first detection pictures before and after are displaced relative to the liquor bottle, determine that the displaced items are dynamic items; obtain the activity track of the dynamic items, and when the activity track direction of the dynamic items is opposite to the rotation direction of the liquor bottle without liquor, determine that the dynamic items are flowing items; The front detection component is extended into the liquor bottle to collect a first detection image, and a directional light source is emitted to the inner wall of the liquor bottle at a preset time interval when collecting the first detection image, and a projection image of the inner wall of the liquor bottle in the area covered by the directional light source is collected outside the liquor bottle; Identify dark spots on the projected image, obtain the second position projected from the first position on the projected image, and verify the validity of the fixed item based on the first position and the second position: if there is a dark spot at the second position, verify that the corresponding fixed item is valid; if there is no dark spot at the second position, verify that the corresponding fixed item is invalid.

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