Label removal method combining visual recognition and hot water soaking

Abstract

The application relates to the technical field of label removal, and provides a label removal method combining visual identification and hot water soaking. The method comprises the following steps: obtaining test tube labeling feature parameters; according to the test tube labeling feature parameters, optimizing and calibrating heating parameters to generate recommended hot water temperature and soaking time; placing a first labeled test tube into a heating container for heating and soaking through a mechanical arm, and sending the test tube into an entrance end of a flexible resistance channel; collecting a test tube surface image through a visual collector when the test tube is sent out from an exit end of the flexible resistance channel; performing label identification through a label residue identification assembly to obtain a residual label identification result; and performing ultrasonic cleaning when the result is a residual label signal. The application solves the technical problems that the label removal process is fixed, poor in flexibility and may contain unnecessary procedures in the traditional label test tube recycling process, realizes the effect of automatically matching the optimal hot water temperature and soaking time by optimizing and calibrating the heating parameters, and improves the efficiency and flexibility of test tube recycling.

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 identification 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, capturing a first labeled test tube surface image by a visual collector; performing labeling identification on the first labeled test tube surface image by a label residue identification assembly to obtain a residue labeling identification result; and when the residue labeling identification result is a residue 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:

[0007] The above-mentioned label removal method combining visual identification 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 capture the surface image of the test tube to check the label removal. If label residue is detected, the test tube is sent into an ultrasonic cabin to completely remove the label residue or glue marks by using the cleaning effect of ultrasonic waves, so as to ensure the efficiency, accuracy and non-destructiveness of label removal.

[0008] 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

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0010] Figure 1 A flowchart of a label removal method combining visual identification and hot water soaking in an embodiment.

[0011] Figure 2 A flowchart of performing optimization calibration on heating parameters in a label removal method combining visual identification and hot water soaking in an embodiment. DETAILED DESCRIPTION

[0012] Embodiments of the present application provide a label removal method combining visual identification and hot water soaking, which solves the technical problem of fixed label removal process, poor flexibility and possible unnecessary procedures in the traditional label test tube recycling process.

[0013] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of protection of the present application.

[0014] It should be noted that the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or units need not be limited to only those steps or units clearly listed, but can include other steps or modules not clearly listed or inherent to these processes, methods, products or devices.

[0015] Embodiments, such as Figure 1 As shown in the embodiments, the present application provides a label removal method combining visual identification and hot water soaking, which comprises:

[0016] Obtaining test tube labeling feature parameters, wherein the test tube labeling feature parameters include glue type, labeling material type and test tube material type.

[0017] In the embodiments 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. 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, water resistance, 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.

[0018] 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.

[0019] 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. 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.

[0020] 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, which includes:

[0021] 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.

[0022] 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.

[0023] 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 plurality of sets of label removal rate record data sets are traversed to perform central value statistics, obtaining 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.

[0024] 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 the 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 sets 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 sets of label removal rate record data sets are traversed, and during the traversal process, for the label removal rate data in each set, the average value and the standard deviation are calculated. The average value can understand the central tendency of the data in the set, 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 sets of label removal rate record data 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.

[0025] When the first label test tube is placed into the heating container by the mechanical arm to heat at 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.

[0026] 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.

[0027] 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:

[0028] 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.

[0029] Preferably, the system terminal interacts with the user terminal to obtain the user-set standard pressure difference, which 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, pressure-bearing analysis is performed according to the tube model information to obtain the test tube pressure-bearing threshold. Specifically, the system terminal collects test tube pressure-bearing test data according to the specific model information of the test tube, and calculates the variance of the test tube pressure-bearing test data to obtain the test tube pressure-bearing test data set, and then extracts the minimum value from the test tube pressure-bearing test data set as the test tube pressure-bearing threshold. Then, the system terminal calculates the difference between the pressure-bearing threshold and the user-set standard pressure difference to obtain the preset pressure that the flexible resistance channel should apply during operation. This preset pressure ensures the stability of the test tube in the channel and avoids exceeding its pressure-bearing capacity and causing damage.

[0030] Further, the present application provides a method for obtaining the test tube pressure-bearing threshold according to the test tube model information, comprising:

[0031] According to the test tube model information, collect test tube pressure-bearing test data; calculate the first variance parameter of the test tube pressure-bearing test data, and when the first variance parameter is greater than or equal to the variance parameter threshold, perform extreme value cleaning on the test tube pressure-bearing test data to obtain the test tube pressure-bearing test data set; and set the minimum value of the test tube pressure-bearing test data set as the test tube pressure-bearing threshold.

[0032] Optionally, the system terminal collects a series of pressure-bearing test data for the test tube of the model according to the provided test tube model information. These data are obtained through experiments or simulation tests to evaluate the pressure-bearing capacity of the test tube under different pressure conditions. Subsequently, statistical analysis is performed on these pressure-bearing test data to calculate their first variance parameter, which measures the degree of data dispersion. If the first variance parameter is greater than or equal to the preset variance parameter threshold, it represents that there may be extreme or abnormal situations in the test data, and these data points may adversely affect the accuracy of the overall results. To solve this problem, the system terminal performs extreme value cleaning on the pressure-bearing test data by calculating the second variance parameter to identify and remove extreme values or outliers in the data set. After extreme value cleaning, more concentrated and representative test tube pressure-bearing test data set is obtained. Then, the minimum value in the test tube pressure-bearing test data set is set as the pressure-bearing threshold of the test tube of the model. This minimum value represents the minimum pressure limit that the test tube of the model can withstand under all test conditions. By setting this pressure-bearing threshold, it can be ensured that no pressure exceeding the pressure-bearing capacity of the test tube is applied during subsequent processing or use, thereby protecting the test tube from damage.

[0033] 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, the extreme value cleaning is performed on the test tube pressure test data to obtain test tube pressure test data in the test tube pressure test set, including:

[0034] The test tube pressure test data mean of the test tube pressure test data is calculated. The test tube pressure test data is subtracted from the test tube pressure test data mean to obtain a test tube pressure difference set. The maximum test tube pressure test data of the test tube pressure difference set is deleted from the test tube pressure test data to obtain a test tube pressure test data update result. The second variance parameter of the test tube pressure test data update result is calculated. When the second variance parameter is less than the variance parameter threshold, the test tube pressure test data update result is set 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, the extreme value cleaning is performed on the test tube pressure test data update result to obtain the test tube pressure test data in the test tube pressure test set.

[0035] Optionally, when the first variance parameter is greater than or equal to the variance parameter threshold, in order to determine the accurate test tube pressure threshold, the system terminal calculates the mean of the test tube pressure test data, which represents the central tendency of all test data. Then, each test tube pressure test data is compared with the mean to calculate the difference between them, and a test tube pressure difference set is obtained. Then, 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 from the mean. In order to eliminate the influence of the extreme value or the 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 the 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 means that the dispersion degree of the data has decreased to an acceptable range after the extreme value is deleted, and 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 means 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, 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 is obtained after processing. These data will be used to set the test tube pressure threshold.

[0036] 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.

[0037] 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.

[0038] Further, the present application provides adjusting the dynamic monitoring results of each grid in the arbitrary neighborhood grid set, including:

[0039] 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 the mechanical arm, the visual collector is called to perform multi-angle image collection, and the surface image of the first labeled tube is obtained.

[0040] 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 strongly contrasting 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.

[0041] 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.

[0042] 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 image without labels, it can accurately determine whether there are residual labels on the surface of the tube and generate a residual label identification result to ensure the cleanliness of the surface and the accuracy of subsequent use.

[0043] Further, the present 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:

[0044] obtaining the first label-free tube surface image of the first label-free tube by the visual collector, the image acquisition control parameters of the first label-free tube surface image being the same as those of the first label-free tube surface image; extracting the first abnormal distribution region of the first label-free tube surface image and the first label-free tube surface image, the first pixel feature value deviation of which is greater than or equal to the first pixel feature value deviation threshold; obtaining the first label tube surface complete label image of the first label tube by the visual collector, the image acquisition control parameters of the first label tube surface image being the same as those of the first label tube surface complete label image; extracting the second abnormal distribution region of the first abnormal distribution region and the first label tube surface complete label image, the second pixel feature value deviation of which is less than the second pixel feature value deviation threshold; and adding the second abnormal distribution region to the residual labeling identification result.

[0045] Preferably, the system terminal uses the visual collector to collect the label-free image of the first label tube after removing the label. These images serve as a contrast reference for subsequent feature value deviation analysis. In addition, a complete label tube surface complete label image 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 region with a deviation greater than or equal to the first pixel feature value deviation threshold is identified. These regions are considered to be potential residual labeling regions, i.e., the first abnormal distribution region. In order to verify whether these potential regions 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 region with a deviation less than the second pixel feature value deviation threshold. This is because the residual labeling region and the complete label should have high similarity in pixel features, while the background of the label-free image is significantly different. These regions that pass the double verification are confirmed as true residual labeling regions, i.e., the second abnormal distribution region. The first pixel feature value deviation threshold and the second pixel feature value deviation threshold are determined based on actual needs and expert recommendations. Subsequently, the system terminal adds the second abnormal distribution region to the residual labeling identification result for subsequent ultrasonic cleaning.

[0046] Further, the present application provides that adding the second abnormal distribution region to the residual labeling identification result comprises

[0047] When the first abnormal distribution region is present and the second abnormal distribution region is absent, the first label tube is sent to the inlet end of the flexible resistance channel for secondary cleaning.

[0048] 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.

[0049] 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.

[0050] 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 penetrate into the fine gaps of the test tube to ensure comprehensive and thorough cleaning.

[0051] In summary, the embodiments of the present application have at least the following technical effects:

[0052] 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.

[0053] It should be noted that the above-mentioned 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.

[0054] 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.

[0055] The present application and the drawings are only exemplary descriptions of the application, and any and all modifications, changes, combinations or equivalents within the scope of the application are considered to be covered by the present application. Obviously, those skilled in the art can make various modifications and changes to the present application without departing from the scope of the present application. Thus, if these modifications and changes of the present application belong to the scope of the present application and its equivalent technology, the present application intends to include these modifications and changes.

Claims

1. A method of label removal by visual identification and hot water soaking, characterized in that, The method comprises the following steps: obtaining test tube labeling feature parameters, wherein the test tube labeling feature parameters include glue type, labeling material type and test tube material type; performing optimization 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; when the first labeled test tube is placed in a heating container by a mechanical arm to be heated based on the recommended hot water temperature for the recommended soaking time, the first labeled test tube is sent to the inlet 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 the 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 the outlet end of the flexible resistance channel, a first labeled test tube surface image is collected by a visual collector; performing labeling identification on the first labeled test tube surface image by a label residue identification component to obtain a residual labeling identification result; when the residual labeling identification result has a residual labeling signal, the first labeled test tube is sent to an ultrasonic cabin for ultrasonic cleaning; wherein generating recommended hot water temperature and recommended soaking time comprises: matching the glue softening temperature through the glue type through a softening temperature identification table; collecting labeling removal log data with hot water temperature greater than or equal to the glue softening temperature according to the glue type, the labeling material type and the test tube material type, wherein the labeling removal log data includes hot water temperature record data and soaking time record data; performing sample collection by traversing several groups of 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 to obtain several groups of labeling removal rate record data sets, wherein the labeling removal rate refers to the ratio of the removed labeling area to the total labeling area; traversing the several groups of labeling removal rate record data sets to obtain several labeling removal rate labels by statistical concentration; sorting the hot water temperature record data and the soaking time record data based on the maximum value of the several labeling removal rate labels to obtain the recommended hot water temperature and the recommended soaking time.

2. The visual identification and hot water soak fusion label removal method of claim 1, wherein, When the first labeled test tube is placed in a heating container by a mechanical arm to be heated based on the recommended hot water temperature for the recommended soaking time, the first labeled test tube is sent to the inlet 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 the test tube pressure threshold, and the preset pressure and the test tube pressure threshold have a standard pressure difference, which comprises the following steps: setting the standard pressure difference through an interactive user terminal; obtaining the test tube pressure threshold by performing pressure analysis according to test tube model information; obtaining the preset pressure by subtracting the standard pressure difference from the test tube pressure threshold.

3. The visual identification and hot water soak fusion label removal method of claim 2, wherein, Obtaining the test tube pressure threshold by performing pressure analysis according to test tube model information comprises: collecting test tube pressure test data according to the test tube model information; The first variance parameter of the test tube pressure test data is calculated, and when the first variance parameter is greater than or equal to the variance parameter threshold, the extreme value cleaning is performed on the test tube pressure test data to obtain the data in the test tube pressure test set; The minimum value of the data in the test tube pressure test set is set as the test tube pressure threshold.

4. The visual identification and hot water soak fusion label removal method of claim 3, wherein, The first variance parameter of the test tube pressure test data is calculated, and when the first variance parameter is greater than or equal to the variance parameter threshold, the extreme value cleaning is performed on the test tube pressure test data to obtain the data in the test tube pressure test set, comprising: The test tube pressure test data mean of the test tube pressure test data is calculated; The test tube pressure difference set is obtained by traversing the test tube pressure test data and the test tube pressure test data mean for difference calculation; The maximum test tube pressure test data of the test tube pressure difference set is deleted from the test tube pressure test data to obtain the test tube pressure test data update result; The second variance parameter of the test tube pressure test data update result is calculated, and when the second variance parameter is less than the variance parameter threshold, the test tube pressure test data update result is set as the data in the test tube pressure test set; When the second variance parameter is greater than or equal to the variance parameter threshold, the extreme value cleaning is performed on the test tube pressure test data update result to obtain the data in the test tube pressure test set.

5. The visual identification and hot water soak fusion label removal method of claim 1, wherein, When the first label test tube is sent out from the outlet end of the flexible resistance channel, the surface image of the first label test tube is collected by a visual collector, comprising: When the first label test tube is sent out from the outlet end of the flexible resistance channel, the first label test tube is fixed on a white background table by a mechanical arm, and the visual collector is called to collect multi-angle images to obtain the surface image of the first label test tube.

6. The visual identification and hot water soak fusion label removal method of claim 1, wherein, The surface image of the first label test tube is identified by a label residue identification component to obtain a residue label identification result, comprising: The first label test tube without label is obtained, and the first label test tube surface image without label is collected by the visual collector, and the image acquisition control parameters of the first label test tube surface image are the same as those of the first label test tube surface image without label; The first pixel feature value deviation of the first label test tube surface image and the first label test tube surface image without label is extracted, and the first abnormal distribution area is greater than or equal to the first pixel feature value deviation threshold; The first label test tube with complete label is obtained, and the first label test tube surface image is collected by the visual collector, and the image acquisition control parameters of the first label test tube surface image are the same as those of the first label test tube surface image; The second pixel feature value deviation of the first abnormal distribution area and the first label test tube surface image is extracted, and the second abnormal distribution area is less than the second pixel feature value deviation threshold; The second abnormal distribution area is added to the residue label identification result.

7. The visual identification and hot water soak fusion label removal method of claim 6, wherein, The second abnormal distribution area is added to the residue label identification result, further comprising: When the first abnormal distribution area is present and the second abnormal distribution area is not present, the first label test tube is sent to the inlet end of the flexible resistance channel for secondary cleaning.

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