安瓿智能视觉检测机器人研究

Research on ampoule intelligent visual inspection robot

针对医药安瓿中出现的可见异物,设计了一种医药安瓿智能视觉检测机器人。介绍了该系统的系统结构、视觉成像原理、电气控制系统和检测算法等内容。该系统通过运用机械装置使安瓿与背景之间产生运动差异,利用高速摄像机获取安瓿的序列图像,在软件中采用二次差分和能量累积的方法提取图像中的运动目标。还分析了不同系统机构的优劣和该机器所选择的系统结构。实验证明所研制的医药安瓿智能机器视觉检测机器人可以应用于实际在线检测。

Aiming at the particles in ampoules,a kind of ampoule intelligent visual inspection robot was designed.The system configuration,vision imaging principium,electrical control system and detection algorithm are introduced.The system generates the difference appearance between the ampoules and background using a mechanism,and obtains a series of images of ampoules using a high speed camera.Then,second-difference and energy accumulation methods are used to identify the moving targets in the images of ampoules.This article also analyzes the advantage and disadvantage of different system configurations and the system configuration chosen in this robot.Experiments demonstrate that the ampoule intelligent visual inspection robot could be used for online inspection in product line.