CN107265129A - Using the system of image recognition auxiliary robot stacking - Google Patents
Using the system of image recognition auxiliary robot stacking Download PDFInfo
- Publication number
- CN107265129A CN107265129A CN201710407921.3A CN201710407921A CN107265129A CN 107265129 A CN107265129 A CN 107265129A CN 201710407921 A CN201710407921 A CN 201710407921A CN 107265129 A CN107265129 A CN 107265129A
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- module
- goods
- image
- processor
- image illumination
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/62—Extraction of image or video features relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the system using image recognition auxiliary robot stacking, the size of goods is scanned by goods scan module first, the size of goods is sent in processor, processor sends irradiation control signal to image illumination module according to the cargo size received, image illumination module is irradiated to corresponding stacking region, the pattern of picture recognition module identification image illumination module irradiation, control machine arm is by goods pile in corresponding region, due to adopting the above method, image illumination module can use the different multiple regions of pattern once irradiating, picture recognition module only needs to recognize that the team's robotic arm matched with oneself is controlled, pile disposably can be carried out to multiple goods.It is an advantage of the invention that pile disposably can be carried out to multiple goods；Using the method for image illumination, without carrying out machine rebuilding.
Description
Technical field
The present invention relates to a kind of stacking system, and in particular to using the system of image recognition auxiliary robot stacking.
Background technology
With the continuous development of China's economy being advanced by leaps and bounds with scientific and technical so that robot is in code-disc, gluing, point
The industries such as weldering, arc-welding, spraying, carrying, measurement, which have, to be quite widely applied.Species, the environment of plant and the customer demand of packaging
Become the bone that one piece of difficulty is gnawed in packaging plant Deng by code-disc.In order to overcome these difficult, the various aspects of code-disc equipment all exist
Development is improved, including from manipulator to its software of manipulation.In the market constantly increases to the demand of flexibility, and this trend is
Through having had influence on many aspects of packaging, the back segment of production line is no exception.Retail customer, especially those are influential
Large supermarket, it is often necessary to customize some random trays, but they have to customize each tray, and the form of tray is only
It is to have repetition once in a while.And the efficient production of this kind of random tray is relatively difficult.
Existing robot stacking system typically can only be one by one goods is subjected to stacking, and can not control simultaneously many
Individual robotic arm carries out stacking.
The content of the invention
The technical problems to be solved by the invention be that existing robot stacking system typically can only be one by one by goods
Thing carries out stacking, and multiple robotic arms can not be controlled to carry out stacking simultaneously, it is therefore intended that provides and uses image recognition auxiliary machinery
The system of people's stacking, what the existing robot stacking system of solution typically can only be one by one carries out stacking by goods, and can not
The problem of multiple robotic arms carry out stacking is controlled simultaneously.
The present invention is achieved through the following technical solutions：
Using the system of image recognition auxiliary robot stacking, including goods and robotic arm, in addition to it is connected with robotic arm
Picture recognition module, the image illumination module of described image identification module matching is connected with place in described image irradiation module
Manage and be connected with goods scan module on device, the processor；
Processor：The dimensional parameters that goods scan module is sent are received, irradiation control signal is sent after processing and is shone to image
Penetrate module；
Goods scan module：The size of goods is scanned, the dimensional parameters of goods are sent to processor；
Image illumination module：Reception processing device sends irradiation control signal, according to irradiation control signal to corresponding region
It is irradiated；
Picture recognition module：The pattern that identification image illumination module is irradiated, is tracked to the pattern irradiated, controls
Robotic arm is by goods pile in the region where pattern；
Robotic arm：According to the control of picture recognition module by goods pile in corresponding region.This programme is carried out to goods
During stacking, the size of goods is scanned by goods scan module first, the size of goods is sent in processor, processor root
Irradiation control signal is sent to image illumination module according to the cargo size received, and image illumination module is to corresponding stacking region
It is irradiated, the pattern of picture recognition module identification image illumination module irradiation, control machine arm is by goods pile corresponding
Region.Due to being irradiated using image illumination module to corresponding stacking region, picture recognition module identification image illumination mould
The pattern of block irradiation, the method for control machine arm, image illumination module can use the different multiple regions of pattern once irradiating,
Picture recognition module only needs to recognize that the team's robotic arm matched with oneself is controlled, can be disposably to multiple goods
Carry out pile.
Database is also associated with the processor.
Module of warning is also associated with the processor.
Signal input module is also associated with the processor.
The present invention compared with prior art, has the following advantages and advantages：
1st, the present invention disposably can carry out heap using the system of image recognition auxiliary robot stacking to multiple goods
Code；
2nd, the system that the present invention uses image recognition auxiliary robot stacking, using the method for image illumination, without carrying out
Machine rebuilding.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is present system structural representation.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the utility model, and
It is not as a limitation of the invention.
Embodiment
As shown in figure 1, system of the present invention using image recognition auxiliary robot stacking, including goods and robotic arm, also
The CB-2055 image illumination modules matched including the LJ-V picture recognition modules being connected with robotic arm, described image identification module,
It is connected with described image irradiation module on iMX.8 processors, the processor and is connected with RD8000 goods scan modules；It is described
Database is also associated with processor.Module of warning is also associated with the processor.Signal is also associated with the processor
Input module.
Processor：The dimensional parameters that goods scan module is sent are received, irradiation control signal is sent after processing and is shone to image
Penetrate module；
Goods scan module：The size of goods is scanned, the dimensional parameters of goods are sent to processor；
Image illumination module：Reception processing device sends irradiation control signal, according to irradiation control signal to corresponding region
It is irradiated；
Picture recognition module：The pattern that identification image illumination module is irradiated, is tracked to the pattern irradiated, controls
Robotic arm is by goods pile in the region where pattern；
Robotic arm：According to the control of picture recognition module by goods pile in corresponding region.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not used to limit this practicality
New protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should
Within protection scope of the present invention.
Claims (4)
1. using the system of image recognition auxiliary robot stacking, including goods and robotic arm, it is characterised in that also include and machine
In the picture recognition module of device arm connection, the image illumination module of described image identification module matching, described image irradiation module
It is connected with processor, the processor and is connected with goods scan module；
Processor：The dimensional parameters that goods scan module is sent are received, irradiation control signal is sent after processing to image illumination mould
Block；
Goods scan module：The size of goods is scanned, the dimensional parameters of goods are sent to processor；
Image illumination module：Reception processing device sends irradiation control signal, and corresponding region is carried out according to irradiation control signal
Irradiation；
Picture recognition module：The pattern that identification image illumination module is irradiated, is tracked, control machine to the pattern irradiated
Arm is by goods pile in the region where pattern；
Robotic arm：According to the control of picture recognition module by goods pile in corresponding region.
2. the system of use image recognition auxiliary robot stacking according to claim 1, it is characterised in that the processing
Database is also associated with device.
3. the system of use image recognition auxiliary robot stacking according to claim 1, it is characterised in that the processing
Module of warning is also associated with device.
4. the system of use image recognition auxiliary robot stacking according to claim 1, it is characterised in that the processing
Signal input module is also associated with device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407921.3A CN107265129A (en) | 2017-06-02 | 2017-06-02 | Using the system of image recognition auxiliary robot stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407921.3A CN107265129A (en) | 2017-06-02 | 2017-06-02 | Using the system of image recognition auxiliary robot stacking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107265129A true CN107265129A (en) | 2017-10-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710407921.3A Pending CN107265129A (en) | 2017-06-02 | 2017-06-02 | Using the system of image recognition auxiliary robot stacking |
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| CN (1) | CN107265129A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114933176A (en) * | 2022-05-14 | 2022-08-23 | 江苏经贸职业技术学院 | 3D vision stacking system adopting artificial intelligence |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3514988A1 (en) * | 1985-04-23 | 1986-10-30 | Somar Corp., Tokio/Tokyo | PROCESSING SYSTEM FOR A FILM ORIGINAL |
| DE3633357A1 (en) * | 1986-10-01 | 1988-04-14 | Fraunhofer Ges Forschung | Device for changing robot grippers and tools |
| CN1365943A (en) * | 2001-01-15 | 2002-08-28 | 村田机械株式会社 | Conveying apparatus |
| CN103753585A (en) * | 2014-01-10 | 2014-04-30 | 南通大学 | Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis |
| CN104511436A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Express sorting method and system based on robot visual servo technology |
| CN104626169A (en) * | 2014-12-24 | 2015-05-20 | 四川长虹电器股份有限公司 | Robot part grabbing method based on vision and mechanical comprehensive positioning |
-
2017
- 2017-06-02 CN CN201710407921.3A patent/CN107265129A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3514988A1 (en) * | 1985-04-23 | 1986-10-30 | Somar Corp., Tokio/Tokyo | PROCESSING SYSTEM FOR A FILM ORIGINAL |
| DE3633357A1 (en) * | 1986-10-01 | 1988-04-14 | Fraunhofer Ges Forschung | Device for changing robot grippers and tools |
| CN1365943A (en) * | 2001-01-15 | 2002-08-28 | 村田机械株式会社 | Conveying apparatus |
| CN104511436A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Express sorting method and system based on robot visual servo technology |
| CN103753585A (en) * | 2014-01-10 | 2014-04-30 | 南通大学 | Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis |
| CN104626169A (en) * | 2014-12-24 | 2015-05-20 | 四川长虹电器股份有限公司 | Robot part grabbing method based on vision and mechanical comprehensive positioning |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114933176A (en) * | 2022-05-14 | 2022-08-23 | 江苏经贸职业技术学院 | 3D vision stacking system adopting artificial intelligence |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171020 |
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| RJ01 | Rejection of invention patent application after publication |