CN117505304B - Photo sorting equipment for face acquisition and acquisition optimization method - Google Patents
Photo sorting equipment for face acquisition and acquisition optimization method Download PDFInfo
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- CN117505304B CN117505304B CN202410012075.5A CN202410012075A CN117505304B CN 117505304 B CN117505304 B CN 117505304B CN 202410012075 A CN202410012075 A CN 202410012075A CN 117505304 B CN117505304 B CN 117505304B
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Abstract
The invention relates to the technical field of face acquisition, in particular to photo sorting equipment and an acquisition optimization method for face acquisition. The equipment and the method provided by the invention can realize automatic taking and placing of the face photo and multi-azimuth and multi-angle automatic sorting of the face photo, and have the advantages of compact structure, strong stability, perfect functions, compatibility with photos of different sizes and extremely high production efficiency and reliability.
Description
Technical Field
The invention relates to the technical field of face acquisition, in particular to photo sorting equipment for face acquisition and an acquisition optimization method.
Background
Acquisition equipment such as entrance guard is emerging intelligent device in modern industry, can discern the face of different positions of different angles. The equipment is applied to the fields of access control collection and the like, and has rapid development in recent years, and compared with the traditional manual collection, the equipment has higher efficiency, and the labor cost is greatly saved. However, when the face collection test is carried out on the prior door control, manual collection is needed, so that the working efficiency is affected, and the discrimination capability of the prior door control face collection equipment to photos is poor, so that when the door control is passed, people hold a photo to change different angles, and the door control is likely to pass through the door control, so that the reliability of the door control is reduced. Therefore, it is needed to develop a device for identifying and sorting photos at different angles and different positions, to find the angle or position of the photo passing through the entrance guard, so as to upgrade the entrance guard system, and to prevent the photo from passing through the entrance guard at a certain angle or position, thereby improving the reliability of the entrance guard acquisition system.
Disclosure of Invention
The invention aims to solve the technical problem of providing photo sorting equipment and a photo collecting and optimizing method for face collection, which can smoothly realize the functions of automatically taking and placing photos, multi-azimuth, multi-angle and multi-position automatic photo collecting, sorting and storing OK photos and NG photos and the like through the accurate matching among a plurality of mechanisms, and has the advantages of high structural stability, perfect functions, high production efficiency and reliability.
The invention is realized by the following technical scheme:
the utility model provides a photo sorting equipment for face gathers, its includes main part frame, photo arrangement unit, robot unit, manipulator unit and entrance guard acquisition unit, photo arrangement unit and robot unit are equal fixed mounting in the main part frame, and photo arrangement unit is equipped with and supplies photo box, OK photo receiver and NG photo receiver, the manipulator unit is installed on the robot unit, entrance guard acquisition unit installs the gathering of the front responsible human face information in the main part frame, the manipulator unit includes link, central lifter plate, fore-and-aft actuating mechanism, vertical ejection mechanism, horizontal ejection mechanism, fold sucking disc, middle part sucking disc, vertical direction magnetic attraction mechanism and horizontal direction magnetic attraction mechanism, the middle part sucking disc includes center sucking disc and four sides sucking disc, center sucking disc fixed mounting is on the center lifter plate and by back-and-forth actuating mechanism drive front and-back motion, fold sucking disc, four sides sucking disc pass through many connecting rod mechanism connection, vertical direction magnetic attraction mechanism makes center lifter plate drive many connecting rod mechanism motion to drive the disc and move about, makes simultaneously through center and vertical sucking disc and vertical direction sucking disc in the inside or the fold in the vertical direction of direction magnetic attraction mechanism and the fold form the outside the horizontal direction of the fold in the fold, thereby the outside the horizontal direction of the fold that makes the center sucking disc is formed by the vertical direction of the vertical direction sucking disc.
Further, the front-back driving mechanism comprises a stepping servo motor, a screw rod, a nut sleeve and a lifting adapter plate, wherein the stepping servo motor is fixedly arranged on the connecting frame, the screw rod is rotatably arranged on the connecting frame and driven to rotate by the stepping servo motor, the nut sleeve is arranged on the screw rod and guided by a guide rod, the lifting adapter plate is fixedly arranged on the connecting frame, and the central lifting plate is fixedly connected with the nut sleeve.
Further, the middle sucking disc includes center sucking disc and four sides sucking disc, center sucking disc fixed mounting is on center lifter plate, fixed mounting has corresponding four sides sucking disc fixed plate to place the seat on the lift keysets, four sides sucking disc fixed plate is placed and is equipped with the board mounting groove, be equipped with the screens axle in the board mounting groove, the epaxial cover of screens is equipped with four sides sucking disc fixed plate and installs reset spring between screens axle and four sides sucking disc fixed plate, four sides sucking disc respectively fixed mounting is on corresponding four sides sucking disc fixed plate, vertical ejection mechanism and vertical direction magnetic attraction mechanism are two sets of, vertical direction magnetic attraction mechanism includes vertical direction electro-magnet and vertical direction magnetic attraction piece, vertical direction electro-magnet fixed mounting is on center lifter plate, vertical direction magnetic attraction piece fixed mounting is on corresponding four sides sucking disc fixed plate places the seat, four apex angle punishment fixed mounting of lifter plate do not have the spacing, the spacing frame of sucking disc has L shape spout, L shape sucking disc is located the corresponding side sucking disc fixed mounting bracket is through the corresponding connecting rod of sucking disc fixed mounting bracket, the fold is fixed mounting bracket is passed through.
Further, the horizontal ejection mechanism and the horizontal direction magnetic attraction mechanism are two sets, the horizontal direction magnetic attraction mechanism comprises a horizontal direction electromagnet and a horizontal direction magnetic attraction block, the horizontal ejection mechanism is fixedly installed on a corresponding four-side sucker fixing plate placing seat, the horizontal direction electromagnet is fixedly installed on a central lifting plate, the horizontal direction magnetic attraction block is fixedly installed at the end part of a corresponding clamping shaft, and the fold sucker installation frame is hinged with the corresponding four-side sucker fixing plate through a vertical direction connecting rod.
Further, a thin sucker is arranged on the folding sucker mounting frame.
Further, fold sucking disc switching frame is fixedly arranged at the lower part of the fold sucking disc mounting frame, and the fold sucking disc and the thin object sucking disc are fixedly arranged on the fold sucking disc switching frame.
Preferably, the robot unit is a six-degree-of-freedom robot.
Further, entrance guard's collection unit includes entrance guard's collection unit frame and entrance guard's collection mechanism, be equipped with the slide rail in the entrance guard's collection unit frame, entrance guard's collection mechanism slidable mounting is on the slide rail and by entrance guard's collection unit actuating mechanism drive along slide rail reciprocating motion.
An acquisition optimization method for face acquisition, by which a photo sorting device for face acquisition according to any one of the above-mentioned steps is performed as follows:
s1: stacking a plurality of photos which are shot in advance and need to be acquired in a photo supply box;
s2: the robot unit drives the manipulator unit to run above the photo feeding box to enable the manipulator unit to be opposite to the photos, the fold sucker vacuumizing device of the manipulator unit opens and adsorbs the photos, the robot unit drives the manipulator unit to move up, down, left and right to set moving distances and set angles of inclination to serve as first parameters, the entrance guard acquisition unit acquires photo images of corresponding positions respectively, and the entrance guard acquisition unit and the manipulator unit upload the first parameters and the acquired photo images to the main control system;
s3: the mechanical arm unit bends the photo upwards, downwards, bends leftwards and bends rightwards to set angles as second parameters, the entrance guard acquisition unit acquires photo images of corresponding bending angles respectively, and the entrance guard acquisition unit and the mechanical arm unit upload the second parameters and the acquired photo images to the main control system;
s4: after analyzing and processing the photo images of each position and each bending angle, the main control system judges whether the photo images can pass verification or not, and transmits a verification result to the robot unit, the robot unit controls the action of the robot unit to place the photo passing verification in the NG photo storage box and records a first parameter or a second parameter when the photo passes verification, and the robot unit controls the action of the robot unit to place the photo failing to pass verification in the OK photo storage box;
s5: and carrying out system reproduction and identification on the photos in the NG photo storage box, and modifying and upgrading the access control software program to ensure that the photos cannot pass the test under the corresponding first parameters or second parameters.
Further, after the folding sucker vacuumizing device of the manipulator unit is opened to adsorb the photo in step S2, the thin object sucker vacuumizing device is opened, the folding sucker vacuumizing device is closed, after the thin object sucker adsorbs the photo, the robot unit shakes to shake off the adsorbed redundant photo, the thin object sucker vacuumizing device is closed, and after the folding sucker vacuumizing device is opened again to adsorb the photo, the subsequent acquisition test is performed.
The invention has the beneficial effects that:
the invention can smoothly realize the functions of automatically taking and placing photos, automatically collecting face photos at multiple angles and multiple positions and sorting and storing OK photos and NG photos through the accurate matching among all mechanisms, has compact structure, strong stability and perfect functions, can be compatible with photos with different sizes, has high testing efficiency, controls the action of a mechanical arm unit to place photos passing verification in an NG photo storage box, and can systematically reproduce and identify photos in the NG photo storage box after the photos failing verification are placed in the OK photo storage box, thereby improving and upgrading an access control software program, ensuring that the photos can not pass the test at the corresponding angles or positions of the recorded passing of the photos, and avoiding the possibility of passing through an access control when the photos are changed at different angles, thereby improving the reliability of the access control collecting system.
Drawings
Fig. 1 is a schematic diagram of the general assembly structure of the present invention.
Fig. 2 is a schematic view of the structure of the manipulator unit of the present invention.
FIG. 3 is a schematic view of the installation structure of the magnetic attraction block in the horizontal direction.
Fig. 4 is a schematic diagram of the structure of the access control acquisition unit of the present invention.
Fig. 5 is a schematic view of the photo frame unit according to the present invention.
Fig. 6 is a schematic flow chart of the present invention.
In the figure: 1. a main body frame; 2. a robot unit; 3. a manipulator unit; 301. a connecting frame; 302. a stepping servo motor; 303. a screw rod; 304. a nut sleeve; 305. lifting the adapter plate; 306. a central lifting plate; 307. a central suction cup; 308. a folding sucker; 309. a thin sucker; 310. four sides sucking disc fixed plate place seat; 311. four sides sucking disc fixed plate; 312. a magnetic attraction block in the vertical direction; 313. an electromagnet in the vertical direction; 314. a vertical ejection mechanism; 315. a fold sucker limiting frame; 316. fold sucker mounting rack; 317. a horizontal direction link; 318. an electromagnet in the horizontal direction; 319. a magnetic attraction block in the horizontal direction; 320. a horizontal ejection mechanism; 321. a vertical direction connecting rod; 322. a fold sucker switching frame; 323. four sides sucking discs; 324. placing a board mounting groove; 325. a clamping shaft; 326. a return spring; 4. a photo placement unit; 401. providing a photo box; 402. OK photo storage box; 403. NG a photo storage box; 5. an access control acquisition unit; 501. an entrance guard acquisition unit driving mechanism; 502. an access control acquisition mechanism; 503. an entrance guard acquisition unit rack; 504. a slide rail.
Detailed Description
The photo sorting equipment for face collection is shown in a general assembly structure diagram in fig. 1, and comprises a main body frame 1, a photo placement unit 4, a robot unit 2, a manipulator unit 3 and an access collection unit 5, wherein the photo placement unit and the robot unit are fixedly arranged on the main body frame, the photo placement unit is shown in fig. 5 and is provided with a photo box 401, an OK photo storage box 402 and a NG photo storage box 403, the manipulator unit is arranged on the robot unit, the access collection unit is arranged in front of the main body frame and is responsible for face information collection, the manipulator unit is shown in fig. 2 and comprises a connecting frame 301, a central lifting plate 306, a front-back driving mechanism, a vertical ejection mechanism, a horizontal ejection mechanism, a folding sucker 308, a middle sucker, a vertical magnetic suction mechanism and a horizontal magnetic suction mechanism, the middle sucker comprises a central sucker 307 and four side suckers 323, the four side suckers 307 are fixedly arranged on the central lifting plate and are driven to move back and forth by a front-back driving mechanism, and the center sucker and the four sides on the sucker are respectively sucked at the center position to be tested.
The folding sucker and the four-side sucker are connected through the multi-link mechanism, the central lifting plate is driven to move by the magnetic suction mechanism in the vertical direction, so that the folding sucker is driven to move left and right, photos absorbed by the middle sucker and the folding sucker are inwards sunken or outwards curled in the vertical direction to form wrinkles in the vertical direction, the magnetic suction mechanism in the horizontal direction is pushed out by the horizontal ejection mechanism, so that the central lifting plate drives the multi-link mechanism to move up and down, the photos absorbed by the middle sucker and the folding sucker are inwards sunken or outwards curled in the horizontal direction to form wrinkles in the horizontal direction, and the folding sucker is respectively positioned at four vertex angles of the connecting frame and can absorb four vertex angles of the photos to be tested.
Further, the front-back driving mechanism comprises a stepping servo motor 302, a screw 303, a nut sleeve 304 and a lifting adapter plate 305, wherein the stepping servo motor is fixedly arranged on the connecting frame, the screw is rotatably arranged on the connecting frame and driven to rotate by the stepping servo motor and guided by a guide rod, the lifting adapter plate is fixedly arranged on the connecting frame, and the central lifting plate is fixedly connected with the nut sleeve. The stepping servo motor drives the screw rod to rotate and drives the nut sleeve to move back and forth along the screw rod, so that the central lifting plate is driven to move back and forth.
Further, the lifting adapter plate is fixedly provided with a corresponding four-side sucker fixing plate placing seat 310, the four-side sucker fixing plate placing seat is provided with a placing plate mounting groove 324, a clamping shaft 325 is arranged in the placing plate mounting groove, and a yielding hole (not shown) can be formed in the bottom of the placing plate mounting groove, so that the corresponding ejection cylinder piston rod can move conveniently, and the clamping shaft can be jacked up.
The clamping shaft is sleeved with four-side sucker fixing plates 311, reset springs 326 are arranged between the clamping shaft and the four-side sucker fixing plates, four-side suckers are respectively and fixedly arranged on the corresponding four-side sucker fixing plates, the vertical ejection mechanism and the vertical direction magnetic attraction mechanism are two sets, the vertical direction magnetic attraction mechanism comprises vertical direction electromagnets 313 and vertical direction magnetic attraction blocks 312, the vertical direction electromagnets are fixedly arranged on a central lifting plate, the vertical ejection mechanism is fixedly arranged on corresponding four-side sucker fixing plate placing seats, the vertical direction magnetic attraction blocks are fixedly arranged at corresponding clamping shaft ends, fold sucker limiting frames 315 are fixedly arranged at four vertex angle positions of the lifting adapter plate, L-shaped folding sucker limiting frames are provided with L-shaped sliding grooves, folding sucker mounting frames 316 are slidably arranged at the L-shaped sliding grooves, and the folding sucker mounting frames are respectively and fixedly arranged on the corresponding folding sucker mounting frames, and the folding sucker mounting frames are hinged with the corresponding four-side sucker fixing plates through horizontal direction connecting rods 317.
Further, the horizontal ejection mechanism and the horizontal direction magnetic attraction mechanism are two sets, the horizontal direction magnetic attraction mechanism comprises a horizontal direction electromagnet 318 and a horizontal direction magnetic attraction block 319, the horizontal ejection mechanism is fixedly installed on a corresponding four-side sucker fixing plate placing seat, the horizontal direction electromagnet is fixedly installed on a central lifting plate, the horizontal direction magnetic attraction block is fixedly installed at the end part of a corresponding clamping shaft, and the fold sucker installation frame is hinged to the corresponding four-side sucker fixing plate through a vertical direction connecting rod 321.
Further, the thin object sucker 309 is mounted on the pleated sucker mounting frame, so that thinner photo paper can be conveniently grabbed, and only one piece of grabbed photo paper is ensured.
Further, fold sucking disc switching frame 322 is fixedly installed on the lower portion of the fold sucking disc mounting frame, and the fold sucking disc and the thin object sucking disc are fixedly installed on the fold sucking disc switching frame, so that replacement of the fold sucking disc and the thin object sucking disc is facilitated, and testing of photo paper with different sizes is achieved.
The robot unit is a six-degree-of-freedom robot, can drive the manipulator unit to move at multiple positions and multiple angles, and realizes multi-azimuth information acquisition.
Further, the schematic structure of the door control collection unit is shown in fig. 4, and comprises a door control collection unit frame 503 and a door control collection mechanism 502, wherein a slide rail 504 is arranged on the door control collection unit frame, and the door control collection mechanism is slidably arranged on the slide rail and driven by a door control collection unit driving mechanism 501 to reciprocate along the slide rail. The entrance guard acquisition unit and the main body mechanism are independently arranged and can be detached, so that the shooting distance can be conveniently adjusted, and the storage and transportation are convenient.
According to the photo sorting equipment for face collection, photos to be collected are manually placed into the photo box 401 before the equipment starts to operate, 500 photos can be placed at one time, then the equipment is started, the robot unit 2 drives the manipulator unit 3 to operate above the photo box 401, namely, the suction disc surface is parallel to photo paper, at the moment, the fold suction disc 308 is opened in vacuum, the robot unit 2 drives the manipulator unit 3 to slowly operate downwards, when the fold suction disc 308 contacts the photo paper, the vacuum value reaches the set value requirement, signals are fed back to the robot unit 2, the robot unit stops operating downwards, at the moment, the fold suction disc is disconnected in vacuum, the thin suction disc 309 is opened in vacuum, the thin suction disc is used for sucking, a plurality of photos can be prevented from being sucked to a great extent, after the thin suction disc is used for sucking the photo paper, the robot unit drives the manipulator unit to slowly operate upwards, and the probability of slightly shaking the photos after the appointed position is reached is reduced, and the plurality of photos are sucked to a great extent. Then the robot unit drives the manipulator unit to move to the position where the photo is right against the entrance guard acquisition mechanism 502, at the moment, the fold sucker is opened in vacuum, the thin object is disconnected in vacuum by the sucker, the photo is adsorbed by the fold sucker, then the robot unit drives the photo to move upwards, downwards, leftwards, rightwards, upwards, leftwards, rightwards, and rightwards to be acquired in various directions and in various angles, such as an upward angle, a downward angle, a leftward angle, a rightward angle, and the like, the entrance guard acquisition mechanism is always in an acquisition state, and the robot unit drives the manipulator unit to return to a display position after the process is finished.
Then vertical ejection mechanism 314 is that vertical ejecting cylinder will block the position axle and place the seat from four sides sucking disc fixed plate and place the inboard ejecting of board mounting groove of seat to make four sides sucking disc fixed plate and corresponding four sides sucking disc fixed plate place the seat and break away from, vertical direction magnet 312 is ejecting to in the vertical direction electro-magnet 313, vertical direction electro-magnet circular telegram is with vertical direction magnet suction, vertical ejecting cylinder withdrawal, then step servo motor 302 drive lead screw 303 is rotatory, thereby make nut cover 304 drive center lifter plate 306 and center sucking disc 307 forward and backward at the uniform velocity pulling, vertical direction electro-magnet drives two four sides sucking disc fixed plates 311 of vertical direction and fixes four sides sucking disc 323 motion on four sides sucking disc fixed plate 311, because horizontal direction connecting rod 317 is articulated with fold sucking disc mounting bracket and corresponding four sides sucking disc fixed plate, thereby drive fold sucking disc mounting bracket 316 along fold sucking disc spacing 315's L shape spout left and right movement, and then make fold sucking disc 308 fixed on fold sucking disc 316 left and right movement, realize inwards sunken and outwards convex fold photograph of vertical direction.
After the operation is finished, the stepping servo motor drives the screw rod to drive the vertical electromagnet to return to the original point, then the vertical electromagnet is powered off, the vertical magnetic attraction block returns to the original point under the action of the reset spring, and at the moment, the two four-side sucker fixing plates 311 in the vertical direction are placed in the four-side sucker fixing plate placing seat 310.
Then the horizontal ejection mechanism 320, namely a horizontal ejection cylinder ejects the corresponding clamping shaft from the installation groove of the placing plate, so that the corresponding four-side sucker fixing plate is separated from the corresponding four-side sucker fixing plate placing seat, the horizontal magnetic attraction block 319 is ejected into the horizontal electromagnet 318, the horizontal electromagnet is electrified to attract the horizontal magnetic attraction block, the horizontal ejection cylinder retracts, then the stepping servo motor drives the screw rod to rotate to drive the nut sleeve to move back and forth, thereby driving the central lifting plate and the central sucker to pull the horizontal electromagnet forward and backward at uniform speed, driving the two four-side sucker fixing plates 311 in the horizontal direction and the four-side sucker fixed on the two four-side sucker fixing plates 311 to move, and driving the fold sucker mounting frame 316 to move up and down along the L-shaped chute of the fold sucker limiting frame 315 through the vertical connecting rod 321, so as to realize inward concave and outward convex folds in the horizontal direction of the photo. After the process is finished, the stepping servo motor drives the lead screw to drive the horizontal electromagnet to return to the original point, then the horizontal electromagnet is powered off, the horizontal magnetic attraction block returns to the original point under the action of the reset spring, and at the moment, the two four-side sucker fixing plates 311 in the horizontal direction are placed in the four-side sucker fixing plate placing seat 310 in the horizontal direction. At this time, the robot unit drives the manipulator unit to put the photo back to the OK photo storage box 402 or the NG photo storage box 403 according to the information fed back by the entrance guard acquisition mechanism, so that the whole test action of the photo to be tested is completed.
The specific installation diagram of the magnetic attraction block in the horizontal direction is shown in fig. 3, and the installation diagram of the magnetic attraction block in the vertical direction is shown in fig. 3.
If the photo paper is to be switched from A4 to A3, the whole set of switching is carried out by manually detaching the fold sucker switching frame, the fold sucker and the thin object sucker on the fold sucker switching frame from the fold sucker mounting frame, the replacement is very convenient, and the applicability of the equipment is relatively strong.
The photo sorting device for face collection performs the following steps, and the specific flow diagram is shown in fig. 6:
s1: stacking a plurality of photos which are shot in advance and need to be acquired in a photo supply box;
s2: the robot unit drives the manipulator unit to run above the photo feeding box to enable the manipulator unit to be opposite to the photos, the fold sucker vacuumizing device of the manipulator unit opens and adsorbs the photos, the robot unit drives the manipulator unit to move up, down, left and right to set moving distances and set angles of inclination to serve as first parameters, the entrance guard acquisition unit acquires photo images of corresponding positions respectively, and the entrance guard acquisition unit and the manipulator unit upload the first parameters and the acquired photo images to the main control system;
s3: the mechanical arm unit bends the photo upwards, downwards, bends leftwards and bends rightwards to set angles as second parameters, the entrance guard acquisition unit acquires photo images of corresponding bending angles respectively, and the entrance guard acquisition unit and the mechanical arm unit upload the second parameters and the acquired photo images to the main control system;
s4: after analyzing and processing the photo images of each position and each bending angle, the main control system judges whether the photo images can pass verification or not, and transmits a verification result to the robot unit, the robot unit controls the action of the robot unit to place the photo passing verification in the NG photo storage box and records a first parameter or a second parameter when the photo passes verification, and the robot unit controls the action of the robot unit to place the photo failing to pass verification in the OK photo storage box;
s5: and carrying out system reproduction and identification on the photos in the NG photo storage box, and modifying and upgrading the access control software program to ensure that the photos cannot pass the test under the corresponding first parameters or second parameters.
The research personnel carries out system reproduction and identification on photos in the NG photo storage box, reforms and upgrades the access control software program, so that the photos cannot pass the test at the corresponding angle or position where the records pass, the misjudgment phenomenon of the subsequent access control is prevented, and the access control is prevented from being possibly passed by someone holding the photos at a certain angle or position when the photos pass through the access control, thereby improving the reliability of the access control system, and how to reform and upgrade the access control software program does not belong to the protection scope of the application.
Further, after the folding sucker vacuumizing device of the manipulator unit is opened to adsorb the photo in step S2, the thin object sucker vacuumizing device is opened, the folding sucker vacuumizing device is closed, after the thin object sucker adsorbs the photo, the robot unit shakes to shake off the adsorbed redundant photo, the thin object sucker vacuumizing device is closed, and after the folding sucker vacuumizing device is opened again to adsorb the photo, the subsequent acquisition test is performed.
In summary, according to the photo sorting equipment and the photo sorting optimization method for face collection provided by the invention, the photo sorting equipment can smoothly realize automatic photo taking and placing, multi-azimuth, multi-angle and multi-position automatic photo collecting, the robot unit controls the mechanical arm unit to act to place the photo passing verification in the NG photo storage box, after sorting is completed after the photo failing verification is placed in the OK photo storage box, a researcher can systematically reproduce and identify the photo in the NG photo storage box, and further reform and upgrade an entrance guard software program, so that the photo can not pass the test in the corresponding angle or position passing record, and the possibility that the photo passes through the entrance guard in different angles is avoided, thereby improving the reliability of the entrance guard collection system. The whole photo sorting equipment is compact in structure, high in stability, complete in function, compatible with photos of different sizes and high in detection efficiency.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The photo sorting equipment for face collection is characterized by comprising a main body frame, a photo placement unit, a robot unit, a manipulator unit and an access control collection unit, wherein the photo placement unit and the robot unit are fixedly arranged on the main body frame, the photo placement unit is provided with a photo box, an OK photo storage box and an NG photo storage box, the manipulator unit is arranged on the robot unit, the access control collection unit is arranged in front of the main body frame and is responsible for face information collection, the manipulator unit comprises a connecting frame, a central lifting plate, a front-back driving mechanism, a vertical ejection mechanism, a horizontal ejection mechanism, a fold sucker, a middle sucker, a vertical magnetic attraction mechanism and a horizontal magnetic attraction mechanism, the middle sucker comprises a central sucker and four-side suckers, the center sucker is fixedly arranged on the center lifting plate and is driven to move back and forth by the front-back driving mechanism, the fold sucker and the four-side sucker are connected through the multi-link mechanism, the vertical ejection mechanism ejects the vertical direction magnetic attraction mechanism to enable the corresponding four-side sucker fixing plate to drive the multi-link mechanism to move, so that the fold sucker is driven to move left and right, a photo adsorbed by the center sucker and the fold sucker is enabled to be inwards sunken or outwards curled in the vertical direction to form a fold in the vertical direction, the horizontal ejection mechanism ejects the horizontal direction magnetic attraction mechanism to enable the corresponding four-side sucker fixing plate to drive the multi-link mechanism to move, so that the fold sucker is driven to move up and down, and the photo adsorbed by the center sucker and the fold sucker is enabled to be inwards sunken or outwards curled in the horizontal direction to form a fold in the horizontal direction;
the front-back driving mechanism comprises a stepping servo motor, a screw rod, a nut sleeve and a lifting adapter plate, wherein the stepping servo motor is fixedly arranged on the connecting frame, the screw rod is rotatably arranged on the connecting frame and driven to rotate by the stepping servo motor, the nut sleeve is arranged on the screw rod and guided by a guide rod, the lifting adapter plate is fixedly arranged on the connecting frame, and the central lifting plate is fixedly connected with the nut sleeve;
the lifting adapter plate is fixedly provided with a corresponding four-side sucker fixing plate placement seat, the four-side sucker fixing plate placement seat is provided with a placement plate installation groove, a clamping shaft is arranged in the placement plate installation groove, the clamping shaft is sleeved with a four-side sucker fixing plate, a reset spring is arranged between the clamping shaft and the four-side sucker fixing plate, four-side suckers are respectively and fixedly arranged on the corresponding four-side sucker fixing plate, the vertical ejection mechanism and the vertical direction magnetic attraction mechanism are respectively and fixedly arranged on the two sets, the vertical direction magnetic attraction mechanism comprises a vertical direction electromagnet and a vertical direction magnetic attraction block, the vertical direction electromagnet is fixedly arranged on a central lifting plate, the vertical direction magnetic attraction block is fixedly arranged on the corresponding four-side sucker fixing plate placement seat, four vertex angle positions of the lifting adapter plate are fixedly provided with fold sucker limiting frames, the fold sucker limiting frames are provided with L-shaped sliding grooves, the L-shaped sliding groove positions are slidably provided with sucker mounting frames, and the sucker frames are respectively and fixedly arranged on the corresponding sucker frames, and the vertical direction electromagnet is fixedly arranged on the corresponding fold mounting frames and the corresponding fold mounting frames through the folding sucker mounting frames, and the corresponding horizontal sucker frames;
the horizontal ejection mechanism and the horizontal magnetic attraction mechanism are two sets, the horizontal magnetic attraction mechanism comprises a horizontal electromagnet and a horizontal magnetic attraction block, the horizontal ejection mechanism is fixedly arranged on a corresponding four-side sucker fixing plate placing seat, the horizontal electromagnet is fixedly arranged on a central lifting plate, the horizontal magnetic attraction block is fixedly arranged at the end part of a corresponding clamping shaft, and the fold sucker mounting frame is hinged with the corresponding four-side sucker fixing plate through a vertical connecting rod;
and the fold sucker mounting rack is provided with a thin sucker.
2. The photo sorting apparatus for face collection according to claim 1, wherein the fold suction cup transfer frame is fixedly installed at a lower portion of the fold suction cup mounting frame, and the fold suction cup and the thin object suction cup are fixedly installed on the fold suction cup transfer frame.
3. A photo sorting apparatus for face collection as claimed in claim 1, wherein the robotic unit is a six degree of freedom robot.
4. The photo sorting device for face collection according to claim 1, wherein the entrance guard collection unit comprises an entrance guard collection unit frame and an entrance guard collection mechanism, a slide rail is arranged on the entrance guard collection unit frame, and the entrance guard collection mechanism is slidably mounted on the slide rail and driven by an entrance guard collection unit driving mechanism to reciprocate along the slide rail.
5. A method for optimizing the acquisition of a face, characterized in that the following steps are performed by a photo sorting device for face acquisition according to any one of claims 1-4:
s1: stacking a plurality of photos which are shot in advance and need to be acquired in a photo supply box;
s2: the robot unit drives the manipulator unit to run above the photo feeding box to enable the manipulator unit to be opposite to the photos, the fold sucker vacuumizing device of the manipulator unit opens and adsorbs the photos, the robot unit drives the manipulator unit to move up, down, left and right to set moving distances and set angles of inclination to serve as first parameters, the entrance guard acquisition unit acquires photo images of corresponding positions respectively, and the entrance guard acquisition unit and the manipulator unit upload the first parameters and the acquired photo images to the main control system;
s3: the mechanical arm unit bends the photo upwards, downwards, bends leftwards and bends rightwards to set angles as second parameters, the entrance guard acquisition unit acquires photo images of corresponding bending angles respectively, and the entrance guard acquisition unit and the mechanical arm unit upload the second parameters and the acquired photo images to the main control system;
s4: after analyzing and processing the photo images of each position and each bending angle, the main control system judges whether the photo images can pass verification or not, and transmits a verification result to the robot unit, the robot unit controls the action of the robot unit to place the photo passing verification in the NG photo storage box and records a first parameter or a second parameter when the photo passes verification, and the robot unit controls the action of the robot unit to place the photo failing to pass verification in the OK photo storage box;
s5: and carrying out system reproduction and identification on the photos in the NG photo storage box, and modifying and upgrading the access control software program to ensure that the photos cannot pass the test under the corresponding first parameters or second parameters.
6. The method according to claim 5, wherein in the step S2, after the suction device for the folding sucker of the manipulator unit is turned on to absorb the photo, the suction device for the thin sucker is turned on, the suction device for the folding sucker is turned off, after the thin sucker absorbs the photo, the robot unit shakes to shake off the absorbed redundant photo, the suction device for the thin sucker is turned off, and the suction device for the folding sucker is turned on again to absorb the photo for subsequent acquisition test.
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| FR2785323A1 (en) * | 1998-11-02 | 2000-05-05 | Unitechniques | Lock for office door has lock release and control cables mounted in rectangular section trunking on architrave |
| CN209483178U (en) * | 2019-07-31 | 2019-10-11 | 天天安途(江苏)信息技术有限公司 | A kind of novel campus access control equipment |
| CN110450149A (en) * | 2019-08-22 | 2019-11-15 | 哈尔滨工业大学 | It is a kind of to grow the continuous transfer of soft robot and method certainly |
| CN113808718A (en) * | 2021-09-22 | 2021-12-17 | 河北科技大学 | Seal accuse formula obstetrical department intelligent management system |
| CN219683334U (en) * | 2023-05-24 | 2023-09-15 | 芜湖驿龙科技有限公司 | Express sorting device and express sorting system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190039838A1 (en) * | 2017-08-03 | 2019-02-07 | Soft Robotics, Inc. | Robotic gripper for handling meat products |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2785323A1 (en) * | 1998-11-02 | 2000-05-05 | Unitechniques | Lock for office door has lock release and control cables mounted in rectangular section trunking on architrave |
| CN209483178U (en) * | 2019-07-31 | 2019-10-11 | 天天安途(江苏)信息技术有限公司 | A kind of novel campus access control equipment |
| CN110450149A (en) * | 2019-08-22 | 2019-11-15 | 哈尔滨工业大学 | It is a kind of to grow the continuous transfer of soft robot and method certainly |
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