Visual identification and hot water immersion fused label removal method

Abstract

The invention relates to the technical field of label removal, and provides a visual identification and hot water soaking fused label removal method. The method comprises the following steps: obtaining test tube labeling characteristic parameters; according to test tube labeling characteristic parameters, heating parameters are optimized and calibrated, and recommended hot water temperature and soaking duration are generated; a first label test tube is grabbed by a mechanical arm to be heated and soaked in a heating container and sent to the inlet end of a flexible resistance channel; when the test tube is sent out from the outlet end of the flexible resistance channel, collecting a test tube surface image through a visual collector; labeling recognition is conducted through a label residue recognition assembly, and a residue labeling recognition result is obtained; and when the result is a residual labeling signal, carrying out ultrasonic cleaning. The technical problems that in the traditional label test tube recycling process, the label removing process is fixed, the flexibility is poor, and unnecessary procedures are possibly included are solved, and the effect that the test tube recycling efficiency and flexibility are improved by optimizing and calibrating the heating parameters and automatically matching the optimal hot water temperature and soaking duration is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of label processing and recycling, specifically to the technical field of label removal, and particularly to a label removal method combining visual recognition and hot water soaking. BACKGROUND

[0002] With the rapid development of biological science, medical detection, and chemical analysis industries, a large number of test tubes are widely used in various aspects such as experiments, detection, and drug research and development. These test tubes usually have labels containing important information such as sample number, detection item, and date to ensure the accuracy and traceability of experimental data. However, as the number of experiments increases and the demand for test tube recycling rises, the recycling and reuse of labeled test tubes become particularly important. In the recycling process of labeled test tubes, label removal is a key step. Traditional label removal methods are often limited by fixed operation processes, for example, manual use of blades or chemical solvents for label removal. The significant drawback of this method is its lack of flexibility, which cannot be adjusted flexibly according to different label materials, adhesion levels, or test tube surface characteristics, thus possibly leading to unnecessary procedures in the removal process, reducing overall efficiency. SUMMARY

[0003] The present application provides a label removal method combining visual recognition and hot water soaking, aiming to solve the technical problems of fixed label removal process, poor flexibility, and possible inclusion of unnecessary procedures in the traditional recycling process of labeled test tubes.

[0004] In view of the above problems, the present application provides a label removal method combining visual recognition and hot water soaking.

[0005] The application provides a label removal method combining visual recognition and hot water soaking, which comprises the following steps: obtaining test tube labeling feature parameters, wherein the test tube labeling feature parameters comprise glue type, labeling material type and test tube material type; performing optimized calibration on heating parameters according to the glue type, the labeling material type and the test tube material type to generate recommended hot water temperature and recommended soaking time; placing a first labeled test tube into a heating container by a mechanical arm to heat the first labeled test tube based on the recommended hot water temperature for the recommended soaking time, and then sending the first labeled test tube into an entrance end of a flexible resistance channel, wherein the flexible resistance channel has a preset pressure with the surface of the first labeled test tube, the preset pressure is less than a test tube pressure threshold, and the preset pressure and the test tube pressure threshold have a standard pressure difference; when the first labeled test tube is sent out from an exit end of the flexible resistance channel, collecting a first labeled test tube surface image by a visual collector; performing labeling recognition on the first labeled test tube surface image by a label residue identification assembly to obtain a residual labeling recognition result; and when the residual labeling recognition result is a residual labeling signal, sending the first labeled test tube into an ultrasonic cabin for ultrasonic cleaning.

[0006] The one or more technical solutions provided in the application have at least the following technical effects or advantages: The above-mentioned label removal method combining visual recognition and hot water soaking can accurately determine the recommended hot water temperature and the recommended soaking time for heating to remove labels by identifying the glue type, the labeling material and the material of the test tube. Then, the test tube is placed into a heating container by a mechanical arm, and heating treatment is performed according to the optimized parameters. After that, the test tube is sent into a flexible resistance channel, which applies a safe pressure to the test tube to help the label separate from the test tube without damaging the test tube. After the test tube passes through the flexible resistance channel, a visual collector is used to take a surface image of the test tube to check the removal of the label. If label residue is detected, the test tube is sent into an ultrasonic cabin to completely remove the residual label or glue marks by using the cleaning effect of ultrasonic waves, so as to ensure the efficiency, accuracy and non-destructiveness of label removal.

[0007] The above description is only a summary of the technical solutions of the application. In order to more clearly understand the technical means of the application, the application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0009] Figure 1 Schematic diagram of a flow chart of a label removal method combining visual recognition and hot water immersion in one embodiment.

[0010] Figure 2 A schematic diagram of a flow chart for optimizing and calibrating heating parameters in a label removal method combining visual recognition with hot water immersion in one embodiment. DETAILED DESCRIPTION

[0011] The embodiments of the present application provide a label removal method that combines visual recognition with hot water immersion to solve the technical problems in the traditional labeled test tube recycling process, such as the fixed label removal process, poor flexibility, and possible inclusion of unnecessary steps.

[0012] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0013] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products or devices.

[0014] Examples, such as Figure 1 As shown, the present application provides a label removal method that combines visual recognition with hot water immersion, the method comprising: Obtain test tube labeling characteristic parameters, wherein the test tube labeling characteristic parameters include glue type, labeling material type, and test tube material type.

[0015] In the embodiment of the present application, the system terminal first acquires the labeling feature parameters of the test tube, which include the glue type, the labeling material type and the test tube material type. Among them, the glue type refers to the type of adhesive used to fix the label on the test tube. Different glues have different properties, for example, some glues have good adhesion to a variety of materials, and some may be more suitable for use in specific environments (such as high temperature, humidity) without falling off. The labeling material type refers to the material used to make the label. Common labeling materials include paper, plastic film, polyester, etc., each of which has different durability, waterproofness, transparency and printability. The test tube material type refers to the manufacturing material of the test tube, which is commonly made of glass, plastic (such as polypropylene, polyethylene, etc.), etc. Different test tube materials have different adhesion to glue.

[0016] According to the glue type, the labeling material type and the test tube material type, the heating parameters are optimized and calibrated to generate recommended hot water temperature and recommended soaking time.

[0017] In one embodiment, when removing the label on the test tube, the system terminal filters the log data greater than or equal to the glue softening temperature from the historical log data according to the glue type used by the label, the labeling material type and the test tube material type. Among them, the glue softening temperature is obtained based on the softening temperature identification table. Subsequently, the system terminal performs central value statistics based on the filtered log data, and extracts the maximum value from the statistical result, which is used to sort the hot water temperature record data and the soaking time record data to obtain the recommended hot water temperature and the recommended soaking time.

[0018] Further, as shown in Figure 2 The present application provides that according to the glue type, the labeling material type and the test tube material type, the heating parameters are optimized and calibrated to generate recommended hot water temperature and recommended soaking time, including: Through the glue type, the glue softening temperature is matched through the softening temperature identification table; according to the glue type, the labeling material type and the test tube material type, the labeling removal log data with hot water temperature greater than or equal to the glue softening temperature is collected, wherein the labeling removal log data includes hot water temperature record data and soaking time record data.

[0019] Preferably, the system terminal parses the softening temperature identification number table based on the glue type to quickly match the softening temperature corresponding to each glue. This temperature point is of great significance for subsequent selection of the temperature of hot water, as it can ensure that the glue reaches a sufficient softening degree during heating, thereby making it easier to separate from the test tube surface. Subsequently, according to the known glue type, label material type and test tube material type, log data of hot water temperature greater than or equal to the softening temperature of the glue is collected from historical log data as label removal log data. These label removal log data include hot water temperature record data and soaking duration record data. Among them, the hot water temperature record data records the temperature point at which the glue begins to soften and the adhesion decreases during heating, which is an important basis for determining the required hot water temperature for label removal. The label removal log data records the instance data of successfully removing the label on the test tube under different hot water temperatures and soaking durations, which is used to obtain the recommended soaking duration.

[0020] According to the glue type, the label material type and the test tube material type, a plurality of sets of hot water temperature record data and soaking duration record data are traversed to perform sample collection, obtaining a plurality of sets of label removal rate record data sets, wherein the label removal rate refers to the ratio of the removed label area to the total label area; the central value statistics are performed on the plurality of sets of label removal rate record data sets to obtain a plurality of label removal rate labels; based on the maximum value of the plurality of label removal rate labels, the hot water temperature record data and the soaking duration record data are sorted to obtain the recommended hot water temperature and the recommended soaking duration.

[0021] Preferably, the system terminal traverses a plurality of sets of hot water temperature record data and soaking duration record data according to the given glue type, label material type and test tube material type, and filters out a plurality of hot water temperature record data and soaking duration record data that are consistent with the label material type and test tube material type. Subsequently, sample collection operations are performed on the filtered record data, and the corresponding label removal rates are recorded to obtain a plurality of label removal rate record data sets, wherein the label removal rate is calculated according to the ratio of the removed label area in the record data to the total original label area. Then, the plurality of label removal rate record data sets are traversed, and during the traversal process, for the label removal rate data in each group, the average value and the standard deviation are calculated. The average value can understand the central tendency of the data in the group, and the standard deviation reflects the dispersion degree of the data. Based on the calculated average value and standard deviation, the system terminal determines a central value range. This range includes data points within several standard deviations around the average value, and the specific range size is adjusted according to actual needs. The label removal rate within this range is considered to be relatively concentrated and stable. Then, according to the determined central value range, a plurality of label removal rate record data that meet the range are extracted from the plurality of label removal rate record data sets as label removal rate labels. They represent the relatively ideal removal effect that can be achieved under the combination of the materials through different combinations of hot water temperature and soaking duration. After obtaining a plurality of label removal rate labels, the system terminal sorts the hot water temperature record data and soaking duration record data that have been traversed before based on the maximum value in the plurality of label removal rate labels. This sorting process is to find the specific hot water temperature and soaking duration combination that can achieve the highest removal rate, so as to generate the recommended hot water temperature and the recommended soaking duration. These two groups of parameters will be considered as the best conditions for removing labels under the given material combination.

[0022] When the first label test tube is put into the heating container by the mechanical arm to heat based on the recommended hot water temperature for the recommended soaking duration, the first label test tube is sent to the entrance end of the flexible resistance channel, wherein the flexible resistance channel has a preset pressure with the surface of the first label test tube, the preset pressure is less than the test tube pressure threshold, and the preset pressure and the test tube pressure threshold have a standard pressure difference.

[0023] In one embodiment, after obtaining the recommended hot water temperature and the recommended soaking time, the system terminal activates the mechanical arm, which uses its high-precision grabbing function to accurately identify and grab the first labeled test tube, which is any labeled test tube that needs to have the label removed. After grabbing the first labeled test tube, the mechanical arm will place it smoothly into a pre-configured heating container. The heating container accurately controls the hot water temperature according to the recommended hot water temperature and the recommended soaking time configured by the system terminal, to ensure that the glue on the first labeled test tube can be softened, but not too high to cause the first labeled test tube to deform or be damaged, and to make the first labeled test tube soak in hot water for a specified time to achieve the best label removal effect. After heating is completed, the mechanical arm takes the first labeled test tube out of the heating container and sends it into the flexible resistance channel. When the first labeled test tube is sent in, the flexible resistance channel compresses and adheres the flexible material to the surface of the first labeled test tube according to the preset pressure. The preset pressure is less than the maximum pressure that the test tube can withstand, i.e., the test tube pressure threshold, to ensure that the test tube will not break or deform in the channel due to excessive pressure. At the same time, the preset pressure and the test tube pressure threshold maintain a standard, safe pressure difference range. The existence of this pressure difference range is to ensure that the test tube can maintain sufficient stability during the label removal process, and will not slip or fall due to insufficient pressure, and will not be damaged due to excessive pressure.

[0024] Further, the application provides that the first labeled test tube is sent into the inlet end of the flexible resistance channel by the mechanical arm grabbing the first labeled test tube and placing it into the heating container for heating based on the recommended hot water temperature for the recommended soaking time, wherein the flexible resistance channel has a preset pressure with the surface of the first labeled test tube, the preset pressure is less than the test tube pressure threshold, and the preset pressure and the test tube pressure threshold have a standard pressure difference, and before that, comprising: The interactive user terminal sets the standard pressure difference; performs pressure analysis according to the test tube model information to obtain the test tube pressure threshold; and obtains the preset pressure by subtracting the standard pressure difference from the test tube pressure threshold.

[0025] Preferably, the system terminal interacts with the user terminal to obtain the standard pressure difference set by the user. This standard pressure difference is the safety interval between the pressure generated by the flexible resistance channel on the test tube when pressure is applied and the maximum pressure that the test tube can withstand. Subsequently, a pressure analysis is performed based on the tube model information to obtain the test tube pressure threshold. Specifically, the system terminal collects the test tube pressure test data based on the specific model information of the test tube, and performs variance calculation on these test tube pressure test data to obtain the test tube pressure test concentrated data, and then extracts the minimum value from the test tube pressure test concentrated data as the test tube pressure threshold. Afterwards, the system terminal uses the pressure threshold value and the standard pressure difference set by the user to perform a difference calculation to obtain the preset pressure that the flexible resistance channel should apply during operation. This preset pressure not only ensures the stability of the test tube in the channel, but also avoids damage that may be caused by exceeding its pressure bearing capacity.

[0026] Furthermore, the present application provides a method for performing pressure analysis based on the test tube model information to obtain the test tube pressure threshold, including: According to the test tube model information, test tube pressure test data is collected; a first variance parameter of the test tube pressure test data is calculated; when the first variance parameter is greater than or equal to a variance parameter threshold, extreme value cleaning is performed on the test tube pressure test data to obtain test tube pressure test concentrated data; and the minimum value of the test tube pressure test concentrated data is set as the test tube pressure threshold.

[0027] Optionally, based on the provided test tube model information, the system terminal collects a series of pressure test data for that test tube model. This data, obtained through experiments or simulations, is used to assess the test tube's ability to withstand different pressure conditions. Statistical analysis is then performed on the pressure test data to calculate its first variance parameter, which measures the degree of data dispersion. If the first variance parameter is greater than or equal to a preset variance parameter threshold, this indicates that the test data may contain extreme or abnormal conditions, which could adversely affect the accuracy of the overall results. To address this issue, the system terminal performs extreme value cleaning on the pressure test data by calculating a second variance parameter to identify and remove extreme or abnormal values ​​from the dataset. This extreme value cleaning results in a more concentrated and representative set of test tube pressure test data. The minimum value in the test tube pressure test data set is then set as the pressure threshold for that test tube model. This minimum value represents the minimum pressure limit that the test tube model can withstand under all test conditions. Setting this pressure threshold ensures that pressure exceeding the test tube's capacity is not applied during subsequent handling or use, thereby protecting the test tube from damage.

[0028] Further, the application provides a variance parameter of the test tube pressure test data, when the first variance parameter is greater than or equal to a variance parameter threshold, performing extreme value cleaning on the test tube pressure test data to obtain test tube pressure test data in the test tube pressure test set, including: calculating a test tube pressure test data mean of the test tube pressure test data; performing difference calculation on the test tube pressure test data and the test tube pressure test data mean to obtain a test tube pressure difference set; deleting a maximum value test tube pressure test data of the test tube pressure difference set from the test tube pressure test data to obtain a test tube pressure test data update result; calculating a second variance parameter of the test tube pressure test data update result, when the second variance parameter is less than the variance parameter threshold, setting the test tube pressure test data update result as the test tube pressure test data in the test tube pressure test set; when the second variance parameter is greater than or equal to the variance parameter threshold, performing extreme value cleaning on the test tube pressure test data update result to obtain the test tube pressure test data in the test tube pressure test set.

[0029] Optionally, when the first variance parameter is greater than or equal to the variance parameter threshold, in order to determine an accurate test tube pressure threshold, the system terminal calculates a mean of the test tube pressure test data, which represents a central tendency of all test data. Then, each test tube pressure test data is compared with the mean to calculate their difference with the mean, obtaining a test tube pressure difference set. After that, the maximum difference is extracted from the difference set and the corresponding test tube pressure test data is located. This data point may be an extreme value or an abnormal value in all test data, because it has the maximum difference with the mean. In order to eliminate the influence of this extreme value or abnormal value on the overall data, the system terminal deletes it from the original test data to obtain updated test tube pressure test data. Then, the variance of the updated data is recalculated as a second variance parameter to evaluate whether the dispersion degree of the data has decreased. If the second variance parameter is less than the preset variance parameter threshold, it represents that the dispersion degree of the data has decreased to an acceptable range after deleting the extreme value, at this time the system terminal sets the updated data as the test tube pressure test data in the test tube pressure test set. However, if the second variance parameter is still greater than or equal to the variance parameter threshold, it represents that there may be other extreme values or abnormal values in the data, which need to be further processed. At this time, the system terminal will perform extreme value cleaning on the updated data again, that is, to identify and remove the extreme values in the data set again until the variance parameter meets the requirements. Finally, the representative test tube pressure test data in the test tube pressure test set after processing is obtained. These data will be used to set the test tube pressure threshold.

[0030] When the first labeled test tube is sent out from the outlet end of the flexible resistance channel, the surface image of the first labeled test tube is collected by a visual collector.

[0031] In one embodiment, when the first labeled tube completes its transmission within the flexible resistance channel and is smoothly sent out from the outlet end of the channel, the system terminal activates the visual collector to capture the surface image of the tube. This process ensures that the tube is accurately identified and recorded at the outlet end, so that the label on the tube can be identified and processed subsequently.

[0032] Further, the application provides adjusting the dynamic monitoring results of each grid in the arbitrary neighborhood grid set, including: When the first labeled tube is sent out from the outlet end of the flexible resistance channel, the first labeled tube is fixed on a white background table by a mechanical arm, the visual collector is called to perform multi-angle image collection, and the surface image of the first labeled tube is obtained.

[0033] Preferably, after the first labeled tube is successfully sent out from the outlet end of the flexible resistance channel, the mechanical arm quickly and accurately grasps the first labeled tube and safely places it on a white background table. The purpose of this is to provide a clean, bright, and high-contrast background environment to facilitate subsequent image collection. Subsequently, the visual collector is called to perform multi-angle image collection on the first labeled tube fixed on the white background table. Multiple cameras in the visual collector will take pictures of the surface of the first labeled tube from different angles and positions to ensure that all important information on the tube, such as label removal, can be fully and clearly captured. Through this series of image collection operations, the system terminal obtains a series of high-quality images of the surface of the first labeled tube, which will be used for subsequent label identification.

[0034] The label identification component is used to identify the label on the surface of the first labeled tube, and a residual label identification result is obtained.

[0035] In one embodiment, after obtaining the multi-angle images of the surface of the first labeled tube, the system terminal processes these images using the label residual identification component. This component is pre-configured and has a pixel comparison algorithm built-in, which is used to identify the labeled part of the tube surface. During the identification process, the component uses the pixel comparison algorithm to detect label traces in the images, whether these traces are complete labels, label fragments, or only glue residues. By comparing the surface label-free image, it can be accurately determined whether there is residual label on the surface of the tube, and a residual label identification result is generated to ensure the cleanliness of the surface and the accuracy of subsequent use.

[0036] Further, the application provides identifying the label on the surface of the first labeled tube by the label residual identification component, and obtaining a residual label identification result, including: The first label-free tube surface image is obtained by the visual collector, and the image acquisition control parameters of the first label-free tube surface image are the same as those of the first label-free tube surface image. The first abnormal distribution area with a first pixel feature value deviation greater than or equal to a first pixel feature value deviation threshold is extracted from the first label-free tube surface image and the first label-free tube surface image. The first label tube surface image with complete label is obtained by the visual collector, and the image acquisition control parameters of the first label tube surface image are the same as those of the first label tube surface image. The second abnormal distribution area with a second pixel feature value deviation less than a second pixel feature value deviation threshold is extracted from the first abnormal distribution area and the first label tube surface image with complete label. The second abnormal distribution area is added to the residual labeling identification result.

[0037] Preferably, the system terminal uses the visual collector to collect the first label-free tube image after removing the label. These images serve as a contrast reference for subsequent feature value deviation analysis. In addition, a complete label tube surface image with complete label is collected, which will be used to further confirm the existence and location of residual labeling. Subsequently, the system terminal compares the first label tube surface image with the label-free image at the pixel level. By calculating the absolute value difference of the feature values such as brightness, color, texture, etc. of the corresponding pixel positions of the two images, the area with a deviation greater than or equal to the first pixel feature value deviation threshold is identified. These areas are considered to be potential residual labeling areas, i.e. the first abnormal distribution area. In order to verify whether these potential areas are truly residual labeling, the system terminal compares them with the complete label image. Similarly, the absolute value difference of the feature values is calculated at the same pixel position to find the area with a deviation less than the second pixel feature value deviation threshold. This is because the residual labeling area and the complete label should have high similarity in pixel features, while the background of the label-free image is significantly different. These areas that pass the double verification are confirmed as true residual labeling areas, i.e. the second abnormal distribution area. The first pixel feature value deviation threshold and the second pixel feature value deviation threshold are determined based on actual needs and expert recommendations. Then, the system terminal adds the second abnormal distribution area to the residual labeling identification result for subsequent ultrasonic cleaning.

[0038] Further, the present application provides that the second abnormal distribution area is added to the residual labeling identification result, comprising When the first abnormal distribution area is present and the second abnormal distribution area is absent, the first label tube is sent to the inlet end of the flexible resistance channel for secondary cleaning.

[0039] Preferably, when the system terminal detects the existence of the first abnormal distribution area but not the second abnormal distribution area, it means that in the preliminary comparison, some areas that are significantly different from the no-label image are found, but these areas do not show similar features to the label in further comparison with the complete label image. This situation usually indicates that although the residual label exists, its features may have been different from the complete label due to partial removal or wear, but it is still obvious enough to distinguish from the background of the no-label image. Based on this judgment, the system terminal determines that these residual labels can be further erased, but additional cleaning steps may be required. Therefore, the first label test tube is sent to the entrance end of the flexible resistance channel for secondary cleaning to ensure that the cleanliness of the test tube meets the requirements.

[0040] When the residual label recognition result is a residual label signal, the first label test tube is sent to the ultrasonic chamber for ultrasonic cleaning.

[0041] In one embodiment, when the system terminal determines through the residual label identification process that the first label test tube has a residual label signal, in order to thoroughly remove these stubborn residues, the system terminal takes further cleaning measures. Specifically, the system terminal sends the first label test tube to the ultrasonic chamber for ultrasonic cleaning through the mechanical arm. Ultrasonic cleaning uses the cavitation effect, acceleration effect and direct flow effect generated by ultrasonic waves in the liquid to produce high-frequency vibration and micro-jet impact on the surface of the first label test tube, thereby effectively peeling off and dispersing the residual label attached to the test tube. This method not only has good cleaning effect, but also can deeply clean the fine gaps of the test tube, ensuring comprehensive and thorough cleaning.

[0042] In summary, the embodiments of the present application have at least the following technical effects: The embodiment of the application obtains the labeling feature parameters of the test tube, including the glue type, the labeling material type and the test tube material type. According to the parameters, the heating parameters are optimized, and the recommended hot water temperature and soaking time are generated. Then the first labeled test tube is grabbed by the mechanical arm and placed in the heating container for heating and soaking according to the recommended parameters. Subsequently, the test tube is sent into the flexible resistance channel, and the surface image of the test tube is collected by the visual collector. The image is identified by the label residue identification component to obtain the residual labeling identification result. If there is a residual label signal, the test tube is sent into the ultrasonic cabin for ultrasonic cleaning. The preset pressure of the flexible resistance channel is obtained according to the standard pressure difference set by the user and the pressure bearing analysis according to the test tube model information. The analysis process includes collecting the test tube pressure test data, calculating the variance parameter and performing extreme value cleaning, and finally obtaining the pressure bearing threshold of the test tube. In the visual collection part, when the test tube is sent out from the flexible resistance channel, the test tube is fixed by the mechanical arm and multi-angle image collection is performed to identify the abnormal distribution area and update the residual labeling identification result. If there is a first abnormal distribution area and no second abnormal distribution area, secondary cleaning is performed. These technical effects jointly solve the technical problems of fixed labeling removal process, poor flexibility and possible unnecessary process in the traditional labeled test tube recycling process, and realize the effects of optimizing the calibration heating parameters, automatically matching the optimal hot water temperature and soaking time, and improving the efficiency and flexibility of the test tube recycling.

[0043] It should be noted that the above sequence of the embodiments of the application is only for description, not representing the advantages and disadvantages of the embodiments. The above describes specific embodiments of the present application. The processes depicted in the drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or can be advantageous.

[0044] The above only describes the preferred embodiments of the application and does not limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

[0045] The present application and the drawings are only exemplary descriptions of the application, and are considered to cover any and all modifications, changes, combinations or equivalents within the scope of the application. Obviously, those skilled in the art can make various modifications and changes to the application without departing from the scope of the application. Thus, if these modifications and changes of the application belong to the scope of the application and its equivalents, the application intends to include these modifications and changes.

Claims

1. A label removal method combining visual recognition and hot water immersion, characterized in that: include: Obtaining test tube labeling characteristic parameters, wherein the test tube labeling characteristic parameters include glue type, labeling material type, and test tube material type; Optimizing and calibrating heating parameters according to the glue type, the labeling material type, and the test tube material type to generate a recommended hot water temperature and a recommended soaking time; The first labeled test tube is grasped by a robotic arm and placed in a heating container for heating based on the recommended hot water temperature for the recommended soaking time, and the first labeled test tube is sent into the inlet end of a flexible resistance channel, wherein a preset pressure exists between the flexible resistance channel and the surface of the first labeled test tube, the preset pressure is less than a test tube pressure threshold, and a standard pressure difference exists between the preset pressure and the test tube pressure threshold; When the first labeled test tube is sent out from the outlet end of the flexible resistance channel, a surface image of the first labeled test tube is collected by a visual collector; Performing labeling recognition on the surface image of the first labeled test tube using a label residue recognition component to obtain a residual labeling recognition result; When the residual labeling identification result is a residual labeling signal, the first labeled test tube is sent into an ultrasonic chamber for ultrasonic cleaning.

2. The label removal method combining visual recognition and hot water immersion as claimed in claim 1, characterized in that: Based on the glue type, the labeling material type, and the test tube material type, the heating parameters are optimized and calibrated to generate a recommended hot water temperature and a recommended soaking time, including: According to the glue type, the softening temperature of the glue is matched by the softening temperature identification table; According to the glue type, the labeling material type, and the test tube material type, collecting label removal log data when the hot water temperature is greater than or equal to the softening temperature of the glue, wherein the label removal log data includes hot water temperature record data and soaking time record data; According to the glue type, the labeling material type, and the test tube material type, traversing several sets of the hot water temperature record data and the immersion time record data to perform sample collection, and obtaining several sets of label removal rate record data sets, wherein the label removal rate refers to the ratio of the label removed area to the total label area; Traversing the plurality of sets of label removal rate record data sets to perform centralized value statistics and obtain a plurality of label removal rate labels; Based on the maximum values ​​of the plurality of label removal rate labels, the hot water temperature record data and the soaking time record data are sorted to obtain the recommended hot water temperature and the recommended soaking time.

3. The label removal method combining visual recognition and hot water immersion as claimed in claim 1, characterized in that: When a first labeled test tube is grabbed by a robotic arm and placed into a heating container for heating based on the recommended hot water temperature and the recommended soaking time, the first labeled test tube is sent into the inlet end of a flexible resistance channel, wherein a preset pressure exists between the flexible resistance channel and the surface of the first labeled test tube, the preset pressure is less than a test tube pressure threshold, and a standard pressure difference exists between the preset pressure and the test tube pressure threshold, and the above includes: The interactive user terminal sets the standard pressure difference; Perform pressure analysis based on the test tube model information to obtain the test tube pressure threshold; The preset pressure is obtained by subtracting the standard pressure difference from the test tube pressure threshold.

4. The label removal method combining visual recognition and hot water immersion as claimed in claim 3, characterized in that: Performing pressure analysis based on the test tube model information to obtain the test tube pressure threshold includes: Collecting test tube pressure test data according to the test tube model information; Calculating a first variance parameter of the test tube pressure test data, and when the first variance parameter is greater than or equal to a variance parameter threshold, performing extreme value cleaning on the test tube pressure test data to obtain concentrated test tube pressure test data; The minimum value of the test tube pressure test data set is set as the test tube pressure threshold.

5. The label removal method combining visual recognition and hot water immersion as claimed in claim 4, characterized in that: Calculating the variance parameter of the test tube pressure test data, and when a first variance parameter is greater than or equal to a variance parameter threshold, performing extreme value cleaning on the test tube pressure test data to obtain concentrated test tube pressure test data, including: Calculating the test tube pressure test data mean of the test tube pressure test data; Traversing the test tube pressure test data and performing difference calculation with the mean of the test tube pressure test data to obtain a test tube pressure difference value set; Deleting the maximum value test tube pressure test data of the test tube pressure difference value set from the test tube pressure test data to obtain a test tube pressure test data update result; Calculating a second variance parameter of the test tube pressure test data update result, and when the second variance parameter is less than the variance parameter threshold, setting the test tube pressure test data update result as the test tube pressure test centralized data; When the second variance parameter is greater than or equal to the variance parameter threshold, extreme value cleaning is performed on the test tube pressure test data update result to obtain the test tube pressure test concentrated data.

6. The label removal method combining visual recognition and hot water immersion as claimed in claim 1, characterized in that: When the first labeled test tube is sent out from the outlet end of the flexible resistance channel, a surface image of the first labeled test tube is collected by a visual collector, including: When the first labeled test tube is sent out from the outlet end of the flexible resistance channel, the first labeled test tube is grabbed by a robotic arm and fixed on a white background table, and the visual collector is called to perform multi-angle image acquisition to obtain the surface image of the first labeled test tube.

7. The label removal method combining visual recognition and hot water immersion as claimed in claim 1, characterized in that: The label residue recognition component performs label recognition on the surface image of the first labeled test tube to obtain a residual label recognition result, including: Obtaining an image of the surface of the first labeled test tube without a label by passing the first labeled test tube through the visual collector, wherein the image acquisition control parameters of the image of the surface of the first labeled test tube are the same as those of the image of the surface of the first labeled test tube without a label; Extracting a first abnormal distribution area where a first pixel characteristic value deviation between the first labeled test tube surface image and the first labeled test tube surface unlabeled image is greater than or equal to a first pixel characteristic value deviation threshold; The first labeled test tube with a complete label is passed through the visual collector to capture an image of the entire surface of the first labeled test tube, wherein the image capture control parameters of the first labeled test tube surface image are the same as those of the entire surface of the first labeled test tube; Extracting a second abnormal distribution region where the deviation of the second pixel characteristic value between the first abnormal distribution region and the first labeled test tube surface whole-marked image is less than a second pixel characteristic value deviation threshold; The second abnormal distribution area is added to the residual labeling recognition result.

8. The label removal method combining visual recognition and hot water immersion as claimed in claim 7, characterized in that: Adding the second abnormal distribution area to the residual labeling identification result also includes: When the first abnormal distribution area exists but the second abnormal distribution area does not exist, the first label test tube is sent into the inlet end of the flexible resistance channel for secondary cleaning.

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