C-4P5Automatic Beer Bottle Fil ler and CapperSpecial Sensor

RASPBERRY PI CAMERA

FOR MEASURING BOTTLE SIZE

Aaron LandyIMDL Fall 2013

October 31, 2013

DESIGN AND OPERATION

Varying bottle size:12 oz or 22 oz

CapElectromagnet

Filling Wand

BottleClaw

OVERVIEW

Objective: Identify bottles in feed line Estimate volume of bottle for accurate filling Determine bottle height for positioning capper actuators

Raspberry Pi Camera Dedicated serial LVDS interface to SoC, no USB interface Open source drivers from Raspberry Pi Foundation

Processing using OpenCv

BOTTLE DETECTOR

Simple Filtering and Area

1. Inverse Binary thresholding to isolate bottle against background, fi lter noise

2. Count pixels for bottle area

3. Measure longest range of pixels for bottle height

Blob DetectionOpenCV

SimpleBlobDetector:1. Successive binary

thresholding2. Find contours in binary

images to extract connected components

3. Group keypoint centers across binary images

4. Estimate blob centers, radii from grouped components

BOTTLE DETECTOR APPROACHES

THRESHOLD CALIBRATION

12oz

22oz

Source 24 32 40 48 64 96

PIXEL AREA CONVERSION

Area Width

2058790

2246896

29708135

• Area in pixels must be converted to real 2D area measure

• Requires calibration calibration based on bottle sizes

• Must factor in relative positions of bottle and moving camera

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QUESTIONS

Homebrewing is fun, bottling beer is hard

Time consuming process requires individually filling and capping bottles of different shapes and sizes

~50 bottles per 5 gal batch

MOTIVATION

Fill bottles with precise amountsCap bottles securely without breakingSupport inconsistent bottle shapes and sizesSeek/retrieve bottles automaticallyDo not contaminate, oxidize, damage, or waste beer

OBJECTIVES

Four primary mechanisms:1. Bottle searching/retrieving claw

Infrared and bump sensors to locate bottle

2. Filling tube Stainless steel tube lowered into bottle Tube opening must be pressed against

bottom of bottle to minimize agitation to prevent oxidation or contamination

3. Cap retrieving/placing magnet Caps must be picked up from top of

bottle and held during fi lling Cap must be replaced precisely on top

of bottle

4. Capping actuator Forceful linear actuator with capping

“bell” crimps/seals cap onto bottle

MECHANISMS

Raspberry Pi (Model B rev. 2) Infrared Range Finder and bump to detect bottlesRaspberry Pi Camera module to calculate bottle

height and volumeArduino + Stepper Motors + Motor Driver to drive

linear motion axesServos to open and close, turn claw

ELECTRONICS