Iridium sheet split charging system and split charging method

Abstract

The invention relates to an iridium sheet split charging system and split charging method, and belongs to the technical field of graphic data recognition. The iridium sheet subpackaging system comprises a visual recognition device, a storage, a control module and a transfer device, the visual recognition device comprises a supporting body, a vibration assembly and a visual sensor, the supporting body is provided with a supporting face for supporting iridium sheets, and the vibration assembly is used for driving the supporting body to vibrate so as to disperse the multiple iridium sheets on the supporting face; the visual sensor is used for acquiring an image of a supporting surface containing a plurality of iridium sheets; the memory stores a reference contour of the iridium sheet; the control module is used for determining whether the iridium sheets are dispersed iridium sheets or not based on the comparison of the actual contours of the iridium sheets contained on the supporting surface and the reference contours of the iridium sheets, and determining the position parameters of the dispersed iridium sheets on the supporting surface based on the coordinate axes on the supporting surface; and the transfer device transfers the iridium sheets on the basis of the position parameters of the dispersed iridium sheets on the supporting surface. The iridium sheet split charging system provided by the embodiment of the invention can identify and separate the iridium sheets adhered together.

Description

Technical Field

[0001] The present application relates to the field of graphic data recognition technology, and in particular to an iridium sheet packaging system and packaging method. Background Art

[0002] Iridium radioactive sources are mainly used in medical and industrial fields. Iridium radioactive sources are mainly composed of iridium sheets and cladding. During the production process of iridium radioactive sources, the produced iridium sheets are placed in bars for transportation, and then packaged, measured for activity, and welded to form iridium radioactive sources.

[0003] During the packaging process of iridium radioactive sources, the bars need to be broken open, and the hundreds of iridium sheets contained in each bar need to be dumped out and stacked on the sorting platform. Manual personnel use remote monitoring cameras to operate the robotic arm to use tweezers, micro suction cups and other tools to identify, peel and pick up the iridium sheets that may be stuck together, and then load them into the product shell piece by piece; Since iridium sheets are metallic in color, smooth and flat, and the diameter of a single conventional iridium sheet does not exceed 3mm and the thickness does not exceed 0.2mm, when hundreds of iridium sheets are scattered and stacked together, the boundaries of the overlapping parts are very unclear. It is easy to miss the overlapping iridium sheets when manually remotely identified, resulting in multiple iridium sheets stuck together being placed in the product shell at the same time, causing the activity of the iridium radioactive source produced to exceed the standard. Summary of the invention

[0004] The purpose of the present application is to provide an iridium sheet packaging system to address the above-mentioned problems, which can identify and separate iridium sheets that are stuck together, reduce the risk of excessive activity of the produced iridium radioactive sources, and improve the above-mentioned problems.

[0005] This application is achieved through the following technical solutions: In a first aspect, the present application provides an iridium sheet packaging system, which includes a visual recognition device, a memory, a control module and a transfer device. The visual recognition device includes a support body, a vibration component and a visual sensor. The support body has a support surface for supporting the iridium sheet, the vibration component is used to drive the support body to vibrate to disperse multiple iridium sheets on the support surface, and the visual sensor is used to obtain an image of the support surface containing multiple iridium sheets; the memory stores a reference profile of the iridium sheet; the control module determines whether the iridium sheet is a dispersed iridium sheet based on a comparison between the actual profile of each iridium sheet contained on the support surface and the reference profile of the iridium sheet, and determines the position parameters of each dispersed iridium sheet on the support surface based on the coordinate axes on the support surface; the transfer device picks up and transfers the iridium sheet based on the position parameters of each dispersed iridium sheet on the support surface.

[0006] In the technical solution of the embodiment of the present application, a support body has a support surface for supporting iridium sheets, a plurality of iridium sheets that have been transported are stacked on the support surface, a vibration component is used to drive the support body to vibrate to disperse the plurality of iridium sheets on the support surface, and the vibration component stops vibrating after vibrating for a period of time. When the support surface stops vibrating, a visual sensor acquires an image of the support surface containing the plurality of iridium sheets; a memory stores a reference profile of the iridium sheets; a control module compares the actual profile of each iridium sheet contained on the support surface with the reference profile of the iridium sheet stored in the memory to determine whether the iridium sheet is a dispersed iridium sheet, and determines the iridium sheet whose actual profile is close to the reference profile as a dispersed iridium sheet (i.e., a single iridium sheet), and then based on the support body, a control module determines whether the iridium sheet is a dispersed iridium sheet. The position of the coordinate axis on the supporting surface determines the position parameters of each dispersed iridium sheet on the supporting surface; the transfer device picks up the iridium sheets based on the position parameters of each dispersed iridium sheet on the supporting surface and transfers them to subsequent processing equipment; the vibration component can shake out the iridium sheets that are stuck together after transportation, so that the difference between the overall contour formed by the stacked iridium sheets and the reference contour of the iridium sheets is relatively large, thereby reducing the probability of misjudgment of the visual recognition device; the visual sensor can accurately, continuously and stably identify the dispersed iridium sheets, reducing the probability of multiple iridium sheets being sent to subsequent processing equipment when they are stuck together, reducing the risk of errors and omissions, and improving the yield rate of the produced iridium radioactive sources.

[0007] In some embodiments, the origin of the coordinate axis on the support surface is located at a corner of the support surface.

[0008] In the technical solution of the embodiment of the present application, the origin of the coordinate axis on the supporting surface is located at the corner of the supporting surface, so that each iridium sheet located on the supporting surface is located in the same quadrant, and the positive and negative signs of the values ​​of the position parameters (i.e., position coordinates) of each iridium sheet are the same, saving the time required for the transfer device to check the positive and negative signs of the values ​​of the position parameters when searching for the corresponding iridium sheets according to the position parameters.

[0009] In some embodiments, the color difference between the color of the support surface and the color of the iridium sheet is large.

[0010] In the technical solution of the embodiment of the present application, the color difference between the color of the supporting surface and the color of the iridium sheet is large. The visual sensor can more easily identify the iridium sheet and its outline on the image of the supporting surface containing multiple iridium sheets, and can find the actual outline of the iridium sheet more quickly without being easily confused, thereby improving the recognition accuracy of the visual recognition device and reducing the probability of misalignment when the visual recognition device recognizes the dispersed iridium sheets.

[0011] In some embodiments, the support surface is made of a transparent material, and a lamp is disposed inside the support body.

[0012] In the technical solution of the embodiment of the present application, the supporting surface is made of a transparent material, and a lamp is arranged on the inside of the supporting body. The light emitted by the lamp passes through the supporting surface and falls on the lens of the visual sensor, and can directly display the actual contours of the multiple iridium sheets on the supporting surface through the light, making it more obvious and intuitive, further accelerating the rate at which the visual sensor recognizes the actual contours of the multiple iridium sheets, reducing the probability of errors and omissions in the visual sensor when identifying the actual contours of the iridium sheets, and improving the accuracy of the visual recognition device provided by the present application in screening scattered iridium sheets.

[0013] In some embodiments, the supporting surface includes a supporting portion and a protecting portion, the protecting portion is arranged around the supporting portion, the protecting portion is higher than the supporting portion, and the supporting portion is used to support the iridium sheet.

[0014] In the technical solution of the embodiment of the present application, multiple iridium sheets are stacked on the supporting part, and the protective part is arranged around the supporting part. The protective part is higher than the supporting part. When the supporting body vibrates driven by the vibration component, the protective part can prevent the iridium sheets from detaching from the supporting surface when moving on the supporting part.

[0015] In some embodiments, the transport device includes an adsorption component that adsorbs to pick up and transport the iridium sheet.

[0016] In the technical solution of the embodiment of the present application, the size of the iridium sheet is small, and the strength of a single iridium sheet is low, and it is easy to be deformed or damaged under the action of external force. The adsorption component absorbs the iridium sheet through suction. On the one hand, the adsorption component can contact the iridium sheet before starting to apply suction to it, so as to avoid the adsorption component carrying multiple iridium sheets during the movement of the support surface, thereby ensuring that the adsorption component only moves one iridium sheet at a time; on the other hand, the suction applied to the iridium sheet by the adsorption component is relatively dispersed and average, and the force in each force application area is small, thereby reducing the risk of deformation or damage of a single iridium sheet during transportation.

[0017] In a second aspect, the present application provides an iridium sheet packaging method, which uses the packaging system of the first aspect. The iridium sheet packaging method comprises the following steps: Step S100: placing a plurality of iridium sheets on a supporting surface; Step S200: the support body is vibrated to disperse the plurality of iridium sheets; Step S300: The visual sensor obtains an image of a support surface including a plurality of iridium flakes, and screens the iridium flakes dispersed on the support surface; Step S400: obtaining the position parameters of the dispersed iridium sheets by measuring the relative position between the dispersed iridium sheets and the origin of the coordinate axis on the support surface; Step S500: The transfer device grabs the corresponding iridium sheets according to the dispersed iridium sheet position parameters and transfers them.

[0018] In the technical solution of the embodiment of the present application, S100 stacks a plurality of iridium sheets on a support surface, S200 the vibration assembly vibrates to drive the support body to vibrate, so as to drive the plurality of iridium sheets on the support surface to undergo irregular displacement due to the vibration, so that the plurality of iridium sheets stacked together are dispersed on the support surface, S300 the visual sensor obtains an image of the support surface including the plurality of iridium sheets, and then identifies the plurality of iridium sheets from the image, and screens out the iridium sheets (i.e., the dispersed iridium sheets) that are dispersed from the other iridium sheets after vibration from the plurality of iridium sheets, and S400 measures the dispersed iridium sheets. The relative position between the iridium sheet and the origin of the coordinate axis on the supporting surface is obtained to obtain the position parameters of the dispersed iridium sheets (that is, the coordinates of the center of the circle of the dispersed iridium sheets on the supporting surface). The S500 transfer device grabs the corresponding iridium sheets according to the position parameters of the dispersed iridium sheets and transfers them. The iridium sheet packaging method provided in the present application can disperse the stacked iridium sheets by vibration, and use the visual sensor to ensure that the iridium sheets to be transferred to the subsequent processing steps are single iridium sheets, so that the number of iridium sheets subsequently placed in the product shell of the iridium radioactive source is accurate, thereby improving the yield rate of the produced iridium radioactive source.

[0019] In some embodiments, the visual recognition device stores a preset profile of the iridium sheet; step S300 includes: the visual sensor sequentially compares the preset profile of the iridium sheet with actual profiles of multiple iridium sheets on the image of the support surface to screen the scattered iridium sheets.

[0020] In the technical solution of the embodiment of the present application, the visual sensor first identifies the iridium sheet in the collected image of the supporting surface on which the multiple iridium sheets are placed, and then compares the preset contour of the iridium sheet with the actual contours of the multiple iridium sheets on the image of the supporting surface in turn to screen the scattered iridium sheets. The iridium sheet whose actual contour is close to the reference contour is the dispersed single iridium sheet.

[0021] In some embodiments, the coordinate axes include a first axis and a second axis that are perpendicular to each other; the center of the outline of the iridium sheet is the center of the circle; step S400 includes: measuring the distance between the projection of the center of the scattered iridium sheet on the first axis and the center of the iridium sheet, and obtaining the relative position parameters between the center of the scattered iridium sheet and the first axis; measuring the distance between the projection of the center of the scattered iridium sheet on the second axis and the center of the iridium sheet, and obtaining the relative position parameters between the center of the scattered iridium sheet and the second axis.

[0022] In the technical solution of the embodiment of the present application, the control module measures the distance between the projection of the center of the scattered iridium sheet on the first axis and the center of the iridium sheet, and the position parameter a of the center of the scattered iridium sheet in the length direction of the second axis can be obtained; the control module measures the distance between the projection of the center of the scattered iridium sheet on the second axis and the center of the iridium sheet, and the position parameter b of the center of the scattered iridium sheet in the length direction of the first axis is obtained. The set of the position parameter a of the center of the scattered iridium sheet in the length direction of the second axis and the position parameter b in the length direction of the first axis is the position parameter of the scattered iridium sheet on the support surface.

[0023] In some embodiments, after step S500, an iridium sheet packaging method further includes: step S600: repeating steps S200 to S500 until all iridium sheets on the support surface are transferred by the transfer device.

[0024] In the technical solution of the embodiment of the present application, since there are a large number of iridium sheets stacked on the supporting surface, some of the multiple iridium sheets may still be stacked together after vibration. S200 to S500 will screen out the dispersed iridium sheets and transport them for processing, while the unselected iridium sheets will be vibrated, dispersed, screened and transported again on the supporting surface, so that each iridium sheet placed on the supporting surface can be sorted and transported.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A flow chart of a method for packaging iridium sheets provided in some embodiments of the present application; Figure 2 A schematic diagram of the structure of a visual recognition device provided in some embodiments of the present application; Figure 3 A side view of a visual recognition device provided in some embodiments of the present application; Figure 4 A top view of a visual recognition device provided in some embodiments of the present application; Figure 5 for Figure 4 The enlarged view of point A in the middle; Icon: 1- visual recognition device; 10- supporting body; 100- supporting surface; 1000- supporting part; 1001- protecting part; 11- vibration component; 12- visual sensor; 2- first axis; 3- second axis; 4- origin; 5- iridium sheet; 50- center of circle. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0030] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0031] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" 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 direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0033] The term "multiple" as used in the present application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0034] According to some embodiments of the present application, optionally, Figure 2~Figure 3 As shown, the present application provides an iridium sheet packaging system, which includes a visual recognition device 1, a memory, a control module and a transfer device. The visual recognition device 1 includes a support body 10, a vibration component 11 and a visual sensor 12. The support body 10 has a support surface 100 for supporting an iridium sheet 5. The vibration component 11 is used to drive the support body 10 to vibrate to disperse multiple iridium sheets 5 on the support surface 100, and the visual sensor 12 is used to obtain an image of the support surface 100 containing multiple iridium sheets 5; the memory stores a reference profile of the iridium sheet 5; the control module determines whether the iridium sheet 5 is a dispersed iridium sheet 5 based on a comparison between the actual profile of each iridium sheet 5 contained on the support surface 100 and the reference profile of the iridium sheet 5, and determines the position parameters of each dispersed iridium sheet 5 on the support surface 100 based on the coordinate axis on the support surface 100; the transfer device picks up the iridium sheet 5 based on the position parameters of each dispersed iridium sheet 5 on the support surface 100 and then transfers it.

[0035] The visual sensor 12 may be suspended above the support surface 100 .

[0036] The vibration component 11 can be set on the ground or the work platform through the base to prevent the vibration component 11 from being damaged by repeated collisions with the ground or the work platform due to its own vibration.

[0037] The iridium plate 5 includes an outer peripheral surface and two opposite circular surfaces. The reference profile of the iridium plate 5 is the projection of the outer peripheral surface of the iridium plate 5 when any circular surface of the single iridium plate 5 is facing the recording lens (or other recording equipment).

[0038] The vibration component 11 can support the support body 10 so that the support body 10 is not likely to collide with other objects when being driven by the vibration component 11 to vibrate.

[0039] Activity refers to the average number of atomic decays per second. The physical quantity that measures the strength of radioactive isotopes is called the activity of radioactive substances. The activity of a radioactive source is the radiation intensity of an iridium radioactive source.

[0040] After the visual sensor 12 acquires the image of the supporting surface 100 including the plurality of iridium sheets 5, it can identify the iridium sheets 5 on the supporting surface 100 by the color of the iridium sheets 5 and obtain the actual contours of the plurality of iridium sheets 5 on the supporting surface 100. Then the control module compares the actual contours of the plurality of iridium sheets 5 identified with the reference contours one by one. When the actual contour is larger or smaller than the reference contour, the iridium sheet 5 at that location may actually be a plurality of iridium sheets 5 stacked or the iridium sheet 5 tilted and tilted. When the actual contour approaches the reference contour, the iridium sheet 5 at that location is a dispersed iridium sheet 5.

[0041] The scattered iridium sheets 5 are placed on the support surface 100 as a single piece.

[0042] Taking a support surface 100 including at least one corner and at least one corner being a right angle as an example, the origin 4 of the coordinate axis on the support surface 100 can be the right angle corner of the support surface 100, and the two sides of the support surface 100 constituting the corner are the axes of the coordinate axis of the support surface 100.

[0043] The support body 10 has a support surface 100 for supporting the iridium sheets 5. The multiple iridium sheets 5 that have been transported are stacked on the support surface 100. The vibration component 11 is used to drive the support body 10 to vibrate to disperse the multiple iridium sheets 5 on the support surface 100. The vibration component 11 stops vibrating after vibrating for a period of time. When the support surface 100 stops vibrating, the visual sensor 12 obtains an image of the support surface 100 containing the multiple iridium sheets 5. The memory stores the reference profile of the iridium sheets 5. The control module compares the actual profile of each iridium sheet 5 contained on the support surface 100 with the reference profile of the iridium sheet 5 stored in the memory to determine whether the iridium sheet 5 is a dispersed iridium sheet 5, and determines the iridium sheet 5 whose actual profile is close to the reference profile as the dispersed iridium sheet 5 (i.e., a single iridium sheet 5), and then The position parameters of each dispersed iridium sheet 5 on the support surface 100 are determined based on the position of the coordinate axis on the support surface 100; the transfer device picks up the iridium sheet 5 based on the position parameters of each dispersed iridium sheet 5 on the support surface 100 and transfers it to the subsequent processing equipment; the vibration component 11 can shake off the iridium sheets 5 that are stuck together after transportation, so that the difference between the overall contour formed by the stacked iridium sheets 5 and the reference contour of the iridium sheets 5 is relatively large, thereby reducing the probability of misjudgment of the visual recognition device 1; the visual sensor 12 can accurately and continuously and stably identify the dispersed iridium sheets 5, reduce the probability of multiple iridium sheets 5 being sent to the subsequent processing equipment when they are stuck together, reduce the risk of errors and omissions, and improve the yield rate of the produced iridium radioactive sources; When all the scattered iridium sheets 5 on the supporting surface 100 are picked up and transported, if there are still iridium sheets 5 on the supporting surface 100, the vibration component 11 will drive the support member to start vibrating again, and then screen, locate and transport the iridium sheets 5 until there are no iridium sheets 5 on the supporting surface 100.

[0044] According to some embodiments of the present application, optionally, Figure 4~Figure 5 As shown, the origin 4 of the coordinate axis on the support surface 100 is located at a corner of the support surface 100 .

[0045] The axes of the coordinate axes may coincide with the edges of the support surface 100 .

[0046] The origin 4 of the coordinate axis on the support surface 100 is located at the corner of the support surface 100, so that each iridium sheet 5 located on the support surface 100 is located in the same quadrant, and the positive and negative signs of the values ​​of the position parameters (i.e., the position coordinates) of each iridium sheet 5 are the same, which saves the time required for the transfer device to check the positive and negative signs of the values ​​of the position parameters when searching for the corresponding iridium sheet 5 according to the position parameters.

[0047] According to some embodiments of the present application, optionally, there is a large color difference between the color of the support surface 100 and the color of the iridium sheet 5 .

[0048] The color of the iridium sheet 5 is metallic color, mostly silver-white and silver-gray.

[0049] The color of the support surface 100 may be, but is not limited to, yellow, green, red, purple, orange, cyan, blue, etc.

[0050] The color difference between the color of the supporting surface 100 and the color of the iridium sheet 5 is relatively large. The visual sensor 12 can more easily identify the iridium sheet 5 and its outline in the image of the supporting surface 100 including multiple iridium sheets 5, and can find the actual outline of the iridium sheet 5 more quickly without being easily confused, thereby improving the recognition accuracy of the visual recognition device 1 and reducing the probability of the visual recognition device 1 being misaligned when recognizing the dispersed iridium sheets 5.

[0051] According to some embodiments of the present application, optionally, the support surface 100 is made of a transparent material, and a lamp is disposed inside the support body 10 .

[0052] The image of the supporting surface 100 collected by the visual sensor 12 may reveal the color of the surface of the supporting body 10 facing the visual sensor 12 when the light provided by the lamp to the supporting surface 100 is darker. The color difference between the color of the surface of the supporting body 10 facing the visual sensor 12 and the color of the iridium sheet 5 is large, so that the visual sensor 12 can also accurately identify the iridium sheet 5 and its outline in this darker light.

[0053] The support surface 100 may be made of, but is not limited to, glass, plastic or rubber.

[0054] The supporting surface 100 is made of a transparent material, and a lamp is arranged on the inner side of the supporting body 10. The light emitted by the lamp passes through the supporting surface 100 and falls on the lens of the visual sensor 12, and can directly display the actual contours of the multiple iridium sheets 5 on the supporting surface 100 through the light, making it more obvious and intuitive, further accelerating the rate at which the visual sensor 12 recognizes the actual contours of the multiple iridium sheets 5, reducing the probability of errors and omissions in the visual sensor 12 when identifying the actual contours of the iridium sheets 5, and improving the accuracy of the visual recognition device 1 provided in the present application when screening scattered iridium sheets 5.

[0055] According to some embodiments of the present application, optionally, Figure 2 and Figure 4 As shown, the support surface 100 includes a support portion 1000 and a protection portion 1001 . The protection portion 1001 is disposed around the support portion 1000 , and the protection portion 1001 is higher than the support portion 1000 .

[0056] The coordinate axis on the support surface 100 may be set at the corner of the protection portion 1001 ; or, the coordinate axis on the support surface 100 may be set at the corner of the support portion 1000 , and the support portion 1000 is used to support the iridium sheet 5 .

[0057] A plurality of iridium sheets 5 are stacked on the support portion 1000 , and the protection portion 1001 is arranged around the support portion 1000 . The protection portion 1001 is higher than the support portion 1000 . When the support body 10 vibrates driven by the vibration component, the protection portion 1001 can prevent the iridium sheets 5 from detaching from the support surface 100 when moving on the support portion 1000 .

[0058] According to some embodiments of the present application, optionally, the transport device includes an adsorption component, which adsorbs to pick up and transport the iridium sheet 5.

[0059] The component of the adsorption assembly for adsorbing the iridium sheet 5 may be, but is not limited to, a suction pen, a straw, a suction cup, and the like.

[0060] The iridium sheet 5 is small in size, and the strength of a single iridium sheet 5 is low, so it is easy to be deformed or damaged under the action of external force. The adsorption component absorbs the iridium sheet 5 through suction. On the one hand, the adsorption component can start to apply suction to the iridium sheet 5 after contacting the iridium sheet 5, so as to avoid the adsorption component carrying multiple iridium sheets 5 during the movement on the support surface 100, thereby ensuring that the adsorption component only moves one iridium sheet 5 at a time; on the other hand, the suction applied by the adsorption component to the iridium sheet 5 is relatively dispersed and average, and the force in each force application area is relatively small, thereby reducing the risk of deformation or damage of a single iridium sheet 5 during transportation.

[0061] According to some embodiments of the present application, optionally, Figure 1 As shown, the present application provides an iridium sheet packaging method, which uses the packaging system as described above. The iridium sheet packaging method includes the following steps: Step S100: placing a plurality of iridium sheets 5 on a supporting surface 100; Step S200: the support body 10 vibrates to disperse the plurality of iridium sheets 5; Step S300: the visual sensor 12 screens the iridium sheets 5 dispersed on the supporting surface 100 by acquiring an image of the supporting surface 100 including the plurality of iridium sheets 5; Step S400: obtaining position parameters of the dispersed iridium sheet 5 by measuring the relative position between the dispersed iridium sheet 5 and the coordinate axis origin 4 on the support surface 100; Step S500: The transfer device grabs the iridium sheets 5 according to the position parameters of the dispersed iridium sheets 5 and transfers them.

[0062] S100 stacks a plurality of iridium sheets 5 and places them on the support surface 100. S200 the vibration assembly 11 vibrates to drive the support body 10 to vibrate, so as to drive the plurality of iridium sheets 5 on the support surface 100 to undergo irregular displacement due to the vibration, so that the plurality of iridium sheets 5 stacked together are dispersed on the support surface 100. S300 the visual sensor 12 obtains an image of the support surface 100 including the plurality of iridium sheets 5, and then identifies the plurality of iridium sheets 5 from the image, disperses the plurality of iridium sheets 5 after vibration from the other iridium sheets 5, and selects the iridium sheets 5 (i.e. the dispersed iridium sheets 5) that are placed on the support surface 100 alone. S400 measures the dispersed iridium sheets 5. The relative position between the iridium sheet 5 and the origin 4 of the coordinate axis on the support surface 100 is used to obtain the position parameters of the dispersed iridium sheet 5 (that is, the coordinates of the center 50 of the dispersed iridium sheet 5 on the support surface 100). The S500 transfer device grabs the corresponding iridium sheet 5 according to the position parameters of the dispersed iridium sheet 5 and transfers it. The iridium sheet packaging method provided in the present application can disperse the stacked iridium sheets 5 through vibration, and the iridium sheet 5 transferred to the subsequent processing step is a single iridium sheet 5 through the visual sensor 12, so that the number of iridium sheets 5 subsequently placed in the product shell of the iridium radioactive source is accurate, thereby improving the yield rate of the produced iridium radioactive source.

[0063] According to some embodiments of the present application, optionally, the visual recognition device 1 stores a preset contour of the iridium sheet 5; step S300 includes: the visual sensor 12 sequentially compares the preset contour of the iridium sheet 5 with contours of multiple iridium sheets 5 on the image of the support surface 100 to screen the scattered iridium sheets 5.

[0064] The visual sensor 12 first identifies the iridium sheet 5 in the collected image of the support surface 100 on which the multiple iridium sheets 5 are placed, and then compares the preset contour of the iridium sheet 5 with the actual contours of the multiple iridium sheets 5 on the image of the support surface 100 in turn to screen the scattered iridium sheets 5. The iridium sheet 5 whose actual contour is similar to the reference contour is the dispersed single iridium sheet 5.

[0065] According to some embodiments of the present application, optionally, Figure 1 and Figure 5 As shown, the coordinate axes include a first axis 2 and a second axis 3 that are perpendicular to each other; the center of the outline of the iridium sheet 5 is the center 50; step S400 includes: measuring the distance between the projection of the center 50 of the dispersed iridium sheet 5 on the first axis 2 and the center 50 of the iridium sheet 5, and obtaining the relative position parameters between the center 50 of the dispersed iridium sheet 5 and the first axis 2; measuring the distance between the projection of the center 50 of the dispersed iridium sheet 5 on the second axis 3 and the center 50 of the iridium sheet 5, and obtaining the relative position parameters between the center 50 of the dispersed iridium sheet 5 and the second axis 3.

[0066] The control module stores the reference profile and size information of the iridium sheet 5 . The control module can calculate the position of the center 50 of the iridium sheet 5 on the iridium sheet 5 according to the actual profile of the dispersed iridium sheet 5 .

[0067] The control module measures the distance between the projection of the center 50 of the dispersed iridium sheet 5 on the first axis 2 and the center 50 of the iridium sheet 5, and can obtain the position parameter a of the center 50 of the dispersed iridium sheet 5 in the length direction of the second axis 3; the control module measures the distance between the projection of the center 50 of the dispersed iridium sheet 5 on the second axis 3 and the center 50 of the iridium sheet 5, and obtains the position parameter b of the center 50 of the dispersed iridium sheet 5 in the length direction of the first axis 2. The set of the position parameter a of the center 50 of the dispersed iridium sheet 5 in the length direction of the second axis 3 and the position parameter b in the length direction of the first axis 2 is the position parameter of the dispersed iridium sheet 5 on the support surface 100.

[0068] According to some embodiments of the present application, optionally, Figure 1 As shown, after step S500, an iridium sheet packaging method further includes: step S600: repeating steps S200 to S500 until all iridium sheets 5 on the support surface 100 are transferred by the transfer device.

[0069] Since there are a large number of iridium sheets 5 stacked on the support surface 100, some of the multiple iridium sheets 5 may still be stacked together after vibration. S200 to S500 will screen out the dispersed iridium sheets 5 and transport them for processing, while the unselected iridium sheets 5 will be vibrated, dispersed, screened and transported again on the support surface 100, so that each iridium sheet 5 placed on the support surface 100 can be sorted and transported.

[0070] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An iridium sheet packaging system, characterized in that: include: A visual recognition device, comprising a support body, a vibration component and a visual sensor, wherein the support body has a support surface for supporting iridium sheets, the vibration component is used to drive the support body to vibrate to disperse the plurality of iridium sheets on the support surface, and the visual sensor is used to obtain an image of the support surface containing the plurality of iridium sheets; A memory storing a reference profile of the iridium sheet; A control module, based on the comparison between the actual profile of each iridium sheet contained on the support surface and the reference profile of the iridium sheet, determines whether the iridium sheet is a dispersed iridium sheet, and determines the position parameters of each dispersed iridium sheet on the support surface based on the coordinate axis on the support surface; The transfer device, under the control of the control module, picks up and transfers the iridium sheets based on the position parameters of the dispersed iridium sheets on the support surface.

2. An iridium sheet packaging system according to claim 1, characterized in that: There is a significant color difference between the color of the support surface and the color of the iridium sheet.

3. An iridium sheet packaging system according to claim 1, characterized in that: The support surface is made of a transparent material, and a lamp is arranged inside the support body.

4. An iridium sheet packaging system according to claim 1, characterized in that: The supporting surface includes a supporting portion and a protecting portion. The protecting portion is arranged around the supporting portion. The protecting portion is higher than the supporting portion. The supporting portion is used to support the iridium sheet.

5. The iridium sheet packaging system according to claim 1, characterized in that: The transport device comprises an adsorption component, which is used for adsorption to pick up and transport the iridium sheet.

6. The iridium sheet packaging system according to claim 1, characterized in that: The origin of the coordinate axis on the support surface is located at the corner of the support surface.

7. An iridium sheet packaging method, using the iridium sheet packaging system as described in any one of claims 1 to 6, characterized in that: Step S100: placing a plurality of iridium sheets on the support surface; Step S200: vibrating the support body to disperse the plurality of iridium sheets; Step S300: the visual sensor screens the iridium flakes dispersed on the supporting surface by acquiring an image of the supporting surface including a plurality of the iridium flakes; Step S400: obtaining position parameters of the dispersed iridium sheets by measuring the relative position between the dispersed iridium sheets and the origin of the coordinate axis on the support surface; Step S500: The transport device grabs the corresponding iridium sheet according to the position parameters of the dispersed iridium sheets and transports them.

8. A method for packaging iridium sheets according to claim 7, characterized in that: The visual recognition device stores a preset profile of the iridium sheet; The step S300 includes: the visual sensor sequentially compares the preset contour of the iridium sheet with the actual contours of the plurality of iridium sheets on the image of the support surface to screen the scattered iridium sheets.

9. A method for packaging iridium sheets according to claim 7, characterized in that: The coordinate axis includes an origin and a first axis and a second axis that are perpendicular to each other; the center of the outline of the iridium sheet is the center of the circle; The step S400 includes: Measuring the distance between the projection of the center of the dispersed iridium sheet on the first axis and the center of the iridium sheet to obtain a relative position parameter between the center of the dispersed iridium sheet and the first axis; The distance between the projection of the center of the dispersed iridium sheet on the second axis and the center of the iridium sheet is measured to obtain a relative position parameter between the center of the dispersed iridium sheet and the second axis.

10. The iridium sheet packaging method according to claim 7, characterized in that: After step S500, the iridium sheet packaging method further includes: Step S600: repeating the steps S200 to S500 until all the iridium sheets on the supporting surface are transferred.

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