CN106670757A - Stacked item automatic sorting system based on stereo vision - Google Patents
Stacked item automatic sorting system based on stereo vision Download PDFInfo
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- CN106670757A CN106670757A CN201611034154.8A CN201611034154A CN106670757A CN 106670757 A CN106670757 A CN 106670757A CN 201611034154 A CN201611034154 A CN 201611034154A CN 106670757 A CN106670757 A CN 106670757A
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- stereo vision
- charging tray
- vision sensor
- article
- processing system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/008—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes the parts being continuously transported through the machine during assembling or disassembling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
Abstract
A stacked item automatic sorting system based on stereo vision is characterized by comprising a stereo vision sensor (1), a sorting device (2), a charging tray (3), a control and processing system (4) and a rotary vibration mechanism (5); the stereo vision sensor (1) is used for collecting three-dimensional depth images of items in the charging tray (3) and sending the three-dimensional depth images to the control and processing system (4); and the control and processing system (4) works out the directions, the coordinates and the grasping points of the graspable items from the images obtained by the stereo vision sensor (1) and sends the directions, the coordinates and the grasping points of the graspable items to the sorting device (2), so that the corresponding graspable items in the charging tray (3) are grasped. According to the stacked item automatic sorting system based on the stereo vision, the sorting operation efficiency of the stacked items is improved; the manpower and the cost are reduced; the portability is high; the adaptability is wide; and the stacked item automatic sorting system can be matched with the automatic detection, assembling or encasing and box packing operation process, so that intelligent and automatic production is achieved.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of stacked items automatic sorting system based on stereoscopic vision
System.
Background technology
During assembling between the instrument of carrying out mounted box or part, many times workman needs the heap first from such as Turnover Box
Individual tool or part required for sorting out in folded article, the laggard luggage box of detection rejecting faulty materials or assembling, but manually
Sorting takes time and effort, inefficiency, is also possible to break or wrong segregating articles when tired.
The content of the invention
For above-mentioned deficiency, the present invention provides a kind of stacked items Automated Sorting System based on stereoscopic vision, the invention
By stereovision technique position in stacked items can the coordinate of segregating articles, direction and crawl point, and be sent to automatic sorting
Device, after automatic sorting device crawl article, will according to the demand of subsequent automated detection, assembling or vanning mounted box work flow
Article is placed in the specified location of subsequent job flow process with specifying attitude.
The purpose of the present invention is achieved through the following technical solutions：A kind of stacked items based on stereoscopic vision are divided automatically
Pick system, it is characterised in that including stereo vision sensor, sorting equipment, charging tray, control and processing system and rotation jarring machine
Structure.
The stereo vision sensor is used to gather the three dimensional depth image of article in the charging tray and send to the control
System and processing system；Calculating in the image that the control and processing system are obtained from the stereo vision sensor can capture thing
The direction of product, coordinate and crawl point are simultaneously sent to the sorting equipment and capture and corresponding in the charging tray capture article.
The rotation percussion mechanism is arranged on the charging tray bottom, when the control and processing system cannot be calculated and can grabbed
When taking article, the rotation percussion mechanism drives the charging tray and the article rotating vibrations being placed in the charging tray, changes charging tray
Interior article stacking state.
The stereo vision sensor is the combination of camera and laser instrument；The stereo vision sensor is arranged on straight line shifting
In dynamic model group, the rectilinear movement module drives the stereo vision sensor movement.
The sorting equipment includes robot and fixture；The fixture is arranged on the robot actuating station.
The rotation percussion mechanism is arranged on automatic guided vehicle.
The present invention improves the efficiency of stacked items sorting operation, reduces manpower reduces cost, and portable strong, adaptation
Property it is wide, can be supporting with Aulomatizeted Detect, assembling or mounted box work flow of casing, realize intelligence production automatically.
Description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the structural representation of sorting equipment 2 in the present invention；
Labelling is described as follows in figure：1st, stereo vision sensor；2nd, sorting equipment；21st, robot；22nd, fixture；3rd, charging tray；4、
Control and processing system；5th, percussion mechanism is rotated；6th, move linearly module；7th, automatic guided vehicle.
Specific embodiment
It is further elaborated with reference to case is embodied as.
One kind is based on solid
The stacked items Automated Sorting System of vision, as shown in figure 1, including stereo vision sensor 1, sorting equipment 2, charging tray 3,
Control and processing system 4 and rotation percussion mechanism 5.
The stereo vision sensor 1 is used to gather the three dimensional depth image of article in the charging tray 3 and send to described
Control and processing system 4；Calculating in the image that the control and processing system 4 are obtained from the stereo vision sensor 1 can
The crawl direction of article, coordinate and crawl point are simultaneously sent to the sorting equipment 2 and capture and corresponding in the charging tray 3 capture thing
Product.
The rotation percussion mechanism 5 is arranged on the charging tray bottom, and when the control and processing system 4, cannot calculate can
During crawl article, the rotation percussion mechanism 5 drives the charging tray 3 and the article rotating vibrations being placed in the charging tray 3, change
Article stacking state in charging tray.
The stereo vision sensor 1 is the combination of camera and laser instrument；The stereo vision sensor 1 is arranged on straight line
On mobile module 6, the rectilinear movement module 6 drives the stereo vision sensor 1 to move.
The rotation percussion mechanism 5 is arranged on automatic guided vehicle 7.
The sorting equipment 2 is as shown in Fig. 2 including robot 21 and fixture 22；The fixture 22 is arranged on the machine
The actuating station of people 21.
Compared with prior art, a kind of stacked items Automated Sorting System based on stereoscopic vision that the present invention is provided,
By stereovision technique position in stacked items can the coordinate of segregating articles, direction and crawl point, and be sent to automatic sorting
Device, after automatic sorting device crawl article, will according to the demand of subsequent automated detection, assembling or vanning mounted box work flow
Article improves the efficiency of stacked items sorting operation to specify attitude to be placed in the specified location of subsequent job flow process, reduces
Manpower reduces cost, and portable strong, wide adaptability, can be supporting with Aulomatizeted Detect, assembling or mounted box work flow of casing,
Realize intelligence production automatically.
Claims (4)
1. a kind of stacked items Automated Sorting System based on stereoscopic vision, it is characterised in that including stereo vision sensor
（1）, sorting equipment（2）, charging tray（3）, control and processing system（4）With rotation percussion mechanism（5）；
The stereo vision sensor（1）For gathering the charging tray（3）The three dimensional depth image of interior article is simultaneously sent to described
Control and processing system（4）；The control and processing system（4）From the stereo vision sensor（1）The image of acquisition is fallen into a trap
Calculating can capture direction, coordinate and the crawl point of article and be sent to the sorting equipment（2）Capture the charging tray（3）Middle correspondence
Captured article；
The rotation percussion mechanism（5）The charging tray bottom is arranged on, when the control and processing system（4）Cannot calculate can
During crawl article, the rotation percussion mechanism（5）Drive the charging tray（3）And it is placed in the charging tray（3）Interior article rotating shake
It is dynamic, change the article stacking state in charging tray.
2. a kind of stacked items Automated Sorting System based on stereoscopic vision as claimed in claim 1, it is characterised in that described
Stereo vision sensor（1）For the combination of camera and laser instrument；The stereo vision sensor（1）It is arranged on rectilinear movement module
（6）On, the rectilinear movement module（6）Drive the stereo vision sensor（1）It is mobile.
3. a kind of stacked items Automated Sorting System based on stereoscopic vision as claimed in claim 1, it is characterised in that described
Sorting equipment（2）Including robot（21）And fixture（22）；The fixture（22）It is arranged on the robot（21）Actuating station.
4. a kind of stacked items Automated Sorting System based on stereoscopic vision as claimed in claim 1, it is characterised in that described
Rotation percussion mechanism（5）It is arranged at automatic guided vehicle（7）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034154.8A CN106670757A (en) | 2016-11-24 | 2016-11-24 | Stacked item automatic sorting system based on stereo vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034154.8A CN106670757A (en) | 2016-11-24 | 2016-11-24 | Stacked item automatic sorting system based on stereo vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106670757A true CN106670757A (en) | 2017-05-17 |
Family
ID=58866414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611034154.8A Withdrawn CN106670757A (en) | 2016-11-24 | 2016-11-24 | Stacked item automatic sorting system based on stereo vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106670757A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161392A (en) * | 2017-06-16 | 2017-09-15 | 东莞晶苑毛织制衣有限公司 | Automatic detection, crawl clothes packaging system and its application method |
| CN108080289A (en) * | 2018-01-22 | 2018-05-29 | 广东省智能制造研究所 | Robot sorting system, robot sorting control method and device |
| CN108480239A (en) * | 2018-02-10 | 2018-09-04 | 浙江工业大学 | Workpiece quick sorting method based on stereoscopic vision and device |
| CN109697730A (en) * | 2018-11-26 | 2019-04-30 | 深圳市德富莱智能科技股份有限公司 | IC chip processing method, system and storage medium based on optical identification |
| CN110196568A (en) * | 2018-02-26 | 2019-09-03 | 宝山钢铁股份有限公司 | The method of driving crawl slab |
-
2016
- 2016-11-24 CN CN201611034154.8A patent/CN106670757A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161392A (en) * | 2017-06-16 | 2017-09-15 | 东莞晶苑毛织制衣有限公司 | Automatic detection, crawl clothes packaging system and its application method |
| CN108080289A (en) * | 2018-01-22 | 2018-05-29 | 广东省智能制造研究所 | Robot sorting system, robot sorting control method and device |
| CN108480239A (en) * | 2018-02-10 | 2018-09-04 | 浙江工业大学 | Workpiece quick sorting method based on stereoscopic vision and device |
| CN108480239B (en) * | 2018-02-10 | 2019-10-18 | 浙江工业大学 | Workpiece quick sorting method and device based on stereoscopic vision |
| CN110196568A (en) * | 2018-02-26 | 2019-09-03 | 宝山钢铁股份有限公司 | The method of driving crawl slab |
| CN109697730A (en) * | 2018-11-26 | 2019-04-30 | 深圳市德富莱智能科技股份有限公司 | IC chip processing method, system and storage medium based on optical identification |
| CN109697730B (en) * | 2018-11-26 | 2021-02-09 | 深圳市德富莱智能科技股份有限公司 | IC chip processing method, system and storage medium based on optical identification |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170517 |
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| WW01 | Invention patent application withdrawn after publication |