异型瓶药液中可见异物的智能视觉检测机器人

31520105ChineseJournalofScientificInstrumentVol31No5May2010:200911ReceivedDate:200911*:863(No.2007AA04Z244)(No.60835004)*张耀,王耀南,周博文(410082):,,,125mL,,,,:;;;:TP391:A:510.8064IntelligentvisualinspectorforvisibleforeignsubstanceinspecialshapedbottledmedicalliquidZhangYao,WangYaonan,ZhouBowen(DepartmentofControlScienceandEngineering,HunanUniversity,Hunan410082,China)Abstract:Thispaperproposesthedesignofanintelligentvisualinspectorforvisibleforeignsubstanceinspecialshapedbottledmedicalliquorbasedonsynchronousphotographing.Throughstudyingtraditionaldifferentialforeignsubstanceinspectionmethod,aninspectionalgorithmbasedonregiondependentsegmentationandregiondependenteliminationissuggestedcreatively.Atlas,t125mLChineseKingWineisusedastheobjecttocarryoutonlinetes.tExperimentresultsshowthattheproposedinspectionsystemmeetstherequirementsofrealtimecharacteristicandaccuracyinproductionline.Atthesametime,thealgorithmovercomesthedifficultiesoftrackingerror,mechanicalshakingandsoonintrackingphotographymanneroftraditionaldifferentialforeignsubstanceinspectionmethod.Keywords:machinevision;digitalimageprocessing;onlinedetection;regiongrowing1[13][4][56],,[17],,,,[89],,,[10]2(2),12.13,PLC,,PLC5:10591Fig.1Flowchartoftheoperatingprocessofthesystem2Fig.2Imagingsystem,PLC,3Fig.3Electriccontrolsystem2.2,[12],,,,,,;,,,2.67rad/sCCDMVC610DAMGE110,1,15~20cm,,,PLCLED,,CCD1Table1MainparametersoftheCCDcameraMVC610DAMGE110659494110fps0.5lux1/110000~1/110s7.47.4m21060312.345,,,180,,,,,180,,3,,R,D,,:D1D2D3,U,:R=U-D1-D2-D3(1)3.1(UD1)B,B,CK(),:K=(B!CC)C(2)(6):1:,,332:,500∀#,,,,,:t=9,:|g0-gi|t(3),,g0,gi8,,(2)B3:BC,(2)KK,6Fig.6Processofpickingoutbackgroundregions3.2(UD1D2D3),:,,,,,,3.2.11:,O∃,(7),O∃5:10617Fig.7Coordinatestransformation2:Lc={Ai|i=0,%,c},Lp={Aj|j=0,%,p},:i(Ai)=1Ak&Lp,P(Ak)&!(Ai)0Other(4):P(Ak)=(Ak∋x,Ak∋y)AkO∃:!(Ai)={(x,y)|(x-Px)2+(y-Py)2(R}(5)R3:,:i(Ai,Aj)=0|Aera(Ai)-Aera(Aj)|∀1|Aera(Ai)-Aera(Aj)|(∀(6):∀,1,03.2.2(2),,,,,W,88,:g(f(x))f(x)=0,:Q(Bi)=1g(!f∃1(x))=g(!f∃2(x))=30Other(7):f1(x)f2(x)BiP(m,n),!f∃1(x)!f∃2(x)f1(x)f2(x)f(x)f1(x)f2(x),!f∃(x)!f∃1(x)!f∃2(x),98Fig.82Dgrayleveldistributionofbubbles106231,,,,1,9f(x)!f∃(x)Fig.9f(x)and!f∃(x)3.3,,,,:Result=0(N)2)(N=1A15)1(N=0)(N=1A1(5)(8):N,A11,014,CPUAMD3800+(2.01GHz),512M,Computar12mm,OSeBT120200F(12V,60W),OSeLT9225(12V,3W),WindowsXPSP2,MicrosoftVisualC++,,[1]100,80,20(4,2),125mL,203,,,[1],,9~12,,,103Table3Resultcomparisonofblobdeletingandtraditionalframedifferencemethods(ms/)8078(%)10010091.598.372.59583.888.866.393.897.5100(%)9098.782.2595.310Fig.10Effectsofeachstepofblobdeleting5,,,2ms,[1],,.[J].,2009,30(3):548553.5:1063ZHANGH,WANGYN,ZHOUBW.Researchonforeignsubstancedetectionsystemformedicinalsolutionbasedonmachinevision[J].ChineseJournalofScientificInstrument,2009,30(3):548553.[2]AKIRAISHII,TAKAYUKIMIZUTA,SHIGEHIKOTODO.DetectionofForeignSubstancesMixedinaPlasticBottleofMedicinalSolutionUsingRealTimeVideoImageProcessing[C].Proceedingsofthe14thInternationalConferenceonPatternRecognition,Brisbane,Australia,August1620,1998.IEEEComputerSociety,Washington,DC,USA:ICPR(ISSN:08186851232),1998:16461650.[3],,.[J].,2008,22(1):2024.YANGFG,SUNTJ,SONGSL.Artificialimmunealgorithmbasedparticledetectionmethodforliquidinpharmaceuticalcontainer[J].JournalofElectronicMeasurementandInstrument,2008,22(1):2024.[4]LIUHJ,WANGYN,DUANF.Abottlefinishinspectmethodbasedonfuzzysupportvectormachinesandwavelettransform[C].Proceedingsof2005InternationalConferenceonMachineLearningandCybernetics,GuangZhou,China,August1821,2005,ICMLC,2005(8):45884592.[5],.[J].,2004,23(6):6769.LILR,ZHANGGL.Smalltargetdetectionbasedonwavelettransform[J].OrdnanceIndustryAutomation,2004,23(6):6769.[6],.[J].,1999,21(5):8488.ZHOUWX,SUNDB.Thestudyofpreprocessingalgorithmofsmallmovingtargetdetectionininfraredimagesequences[J].JournalofNationalUniversityofDefenseTechnology,1999,21(5):8488.[7],.[J].,2004,23(2):2730.YANGDW,WANGY.Motiontargetdetectionandanalysisbasedondoubledifferencemethod[J].JournalofShenyangInstituteofTechnology,2004,23(2):2730.[8],,.[J].,2004,25(5):624627.DUANF,WANGYN,LIUHJ.Studyonmachinevisionbasedemptybottleinspector[J].ChineseJournalofScientificInstrument,2004,25(5):624627.[9],.[J].,2008,22(4):104109.YANGFG,SUNTJ.Designofparticledetectionsystemforpharmaceuticalliquidbasedonleastsquaresupportvectormachines[J].JournalofElectronicMeasurementandInstrument,2008,22(4):104109.[10].[J].,2004,30(16):141142.LUGF.Objectiveimagesegmentationinnonevenbackground.computerengineering[J].2004,30(16):141142.,2009,,:Emai:[e-mail]lordegreefromHunanUniversityin2009,nowheisamasterdegreestudentincontrolscienceandcontrolengineering,HunanUniversity.Hismajorismachinevision,intelligentdetectionandautomaticequipment.,1995,,,,Emai:[e-mail]1995fromHunanUniversity;nowheisaprofessor,Ph.D.supervisorandthedeanofCollegeofElectricalandInformationEngineering,HunanUniversity.Hismainresearchdirectionisintelligentcontrolandpatternrecognition.