CN108607819A - Material sorting system and method - Google Patents
Material sorting system and method Download PDFInfo
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- CN108607819A CN108607819A CN201810380261.9A CN201810380261A CN108607819A CN 108607819 A CN108607819 A CN 108607819A CN 201810380261 A CN201810380261 A CN 201810380261A CN 108607819 A CN108607819 A CN 108607819A
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- image data
- material sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The embodiment of the present invention provides a kind of Material Sorting system and method.The Material Sorting system includes：First imaging sensor and the second imaging sensor, the image data for obtaining the object；The image acquisition device being connect with described first image sensor and second imaging sensor, for acquiring described image data；The processing equipment being connect with described image collector, the processing equipment are used to be calculated the three-dimensional information of the object and the volume of the object according to described image data；The processing equipment is additionally operable to generate the movement instruction of control robot according to the three-dimensional information and volume；The robot being connect with the processing equipment, the robot are used to receive the movement instruction of the processing equipment, to adjust end according to the movement instruction to capture the object.
Description
Technical field
The present invention relates to control technology fields, in particular to a kind of Material Sorting system and method.
Background technology
The Sorting Technique used at present, range of motion are the methods using teaching or off-line programing, and all is dynamic
The position made and put will carry out stringent setting in advance, once working environment changes, just will appear sorting mistake, intelligence
Energyization is horizontal low.Therefore, it is necessary to a kind of Material Sorting modes for capableing of more accurately positioning materials.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of Material Sorting system and method.
A kind of Material Sorting system provided in an embodiment of the present invention, the Material Sorting system include：
First imaging sensor, the first image data for obtaining object；
Second imaging sensor, the second image data for obtaining the object；
The image acquisition device being connect with described first image sensor and second imaging sensor, it is described for acquiring
The second image data that the first image data and the second imaging sensor that first imaging sensor obtains obtain；
The processing equipment being connect with described image collector, the processing equipment are used to obtain institute from described image collector
It states the first image data and the second image data, and is calculated according to described first image data and the second image data described
The volume of the three-dimensional information of object and the object；
The processing equipment is additionally operable to generate the movement instruction of control robot according to the three-dimensional information and volume；
The robot being connect with the processing equipment, the robot are used to receive the movement instruction of the processing equipment,
To adjust end according to the movement instruction to capture the object.
The embodiment of the present invention also provides a kind of Material Sorting method, including：
Obtain the first image data of the object of the first collecting device acquisition and the object of the second collecting device acquisition
The second image data；
The three-dimensional information and volume of the object are positioned using described first image data and the second image data；
The movement instruction of control robot is generated according to the three-dimensional information and volume；
The movement instruction is sent to robot, so that the robot adjusts end to grab according to the movement instruction
Take the object.
Compared with prior art, the Material Sorting system and method for the embodiment of the present invention, by two that obtain object
The three-dimensional information and volume of object are calculated using two image datas, can make the movement instruction of generation for image data
It can preferably make robot localization to the position of the object, to reduce the error that robot captures object.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, special embodiment below, and appended by cooperation
Attached drawing is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the running environment schematic diagram of Material Sorting system provided in an embodiment of the present invention.
Fig. 2 is the flow chart of Material Sorting method provided in an embodiment of the present invention.
Fig. 3 is the partial process view of Material Sorting method provided in an embodiment of the present invention.
Fig. 4 is the partial process view of Material Sorting method provided in an embodiment of the present invention.
Icon：10- Material Sorting systems；The first imaging sensors of 110-；The second imaging sensors of 120-；200- images are adopted
Storage；300- processing equipments；400- robots；500- robot controllers；600- holders；610- transverse arms；620- support arms；
700- conveyer belts；800- trigger control devices.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
For the robot being operated in structuring or unstructured moving grids, vision system is very important, will
Vision and robot control the important research direction and raising robot that the Robot Visual Servoing combined is current
One of research hotspot of intelligent level.Previous sorting is not arranged in pairs or groups vision system, needs to carry out machinery to material in sorting
Positioning, inefficiency, process is very long, and speed is slow.Therefore, the Visual servoing control technology of binocular stereo vision and industrial robot
It is combined and plays an important roll for improving sorting guiding in real time.Currently, in industries such as logistic industry, stacking and pipelinings
Intelligent, efficient development trend is presented in middle Sorting Technique.The mixture that industrial robot and binocular stereo vision are formed
On the one hand the sorting dynamic guiding method of material has efficient, strong environmental adaptability, can obtain the three-dimensional letter of material in real time
On the other hand breath uses binocular stereo vision to carry out positioning with efficient, precision is suitable, is very suitable for the control of real time job
System, in being positioned for moving object, the acquisition moment of image completes, and system can carry out contactless mode to material and identify, answer
With having a extensive future.But the Sorting Technique used at present, range of motion are the methods using teaching or off-line programing,
All actions and the position put will carry out stringent setting in advance, once working environment changes, just will appear point
Mistake is picked, intelligent level is low.It is as follows that it may specifically have problem：1) material on normal conditions lower conveyor belt is to pass through
Artificial or auxiliary robot assists blowing, therefore, will result in workpiece and occurs error on three dimensions in positioning；Including
Translation error and rotation error.So robot will carry out the attitude rectification of end effector when carrying out sorting guiding in real time,
To adapt to the operation of sorting, when the size of material is inconsistent, if without robot end's pose adjustment, will certainly reduce point
Pick quality.
Practice have shown that the material error put at random on conveyer belt is objective inevitable, relative to traditional artificial teaching
For sorting, the intelligent level and sorting efficiency of sorting system how are improved, is the key that solve the problems, such as.It is asked for above-mentioned
Topic, using the Visual servoing control based on position type, feature shows as robot end's pose and is compared with expected pose,
The end pose deviation of robot is calculated, error is defined in the working space of servo-drive system.Therefore, the advantage is that makes
Robot task is described with spatial pose information, control law design is easy and robustness is good.
Therefore, it is high that a set of of low cost, features simple structure, sorting efficiency are developed, meets and is based on position Visual servoing control
Mixed material three-dimensional information extraction control and processing system, provide technical support to vision sorting guiding in real time, market is latent
Power is huge.It studies in view of the above technology, the application is described in detail by following embodiment.
The embodiment of the present invention provides a kind of Material Sorting system 10, as shown in Figure 1, the Material Sorting system in the present embodiment
10 include：First imaging sensor 110, the second imaging sensor 120, image acquisition device 200, processing equipment 300 and robot
400。
Described first image sensor 110 is used to obtain the first image data of object.Second imaging sensor
120, the second image data for obtaining the object.In one embodiment, described first image sensor 110 with
Second imaging sensor 120 is identical at a distance from conveyer belt 620 shown in FIG. 1, relative to described first image sensor
110 and second imaging sensor 120 carrier rotational angle it is same or similar.For example, described first image sensor
110 and second imaging sensor 120 be installed on a cross bar parallel with the conveyer belt 620, described first image
Sensor 110 and second imaging sensor 120 are same or similar relative to the cross bar angle, described first image sensing
Device 110 and second imaging sensor 120 are same or similar relative to the angle of the conveyer belt 620.
Described image collector 200 is connect with described first image sensor 110 and second imaging sensor 120.
Described image collector 200 is used to acquire the first image data of the acquisition of described first image sensor 110 and the second image passes
The second image data that sensor 120 obtains.
The processing equipment 300 is connect with described image collector 200, and the processing equipment 300 is used for from described image
Collector 200 obtains described first image data and the second image data, and according to described first image data and the second image
The three-dimensional information of the object and the volume of the object is calculated in data.
The processing equipment 300 is additionally operable to generate the fortune for controlling the robot 400 according to the three-dimensional information and volume
Dynamic instruction.
The robot 400 is connect with the processing equipment 300, and the robot 400 is for receiving the processing equipment
300 movement instruction, to adjust end according to the movement instruction to capture the object.
In the present embodiment, by obtaining the volume of the object, it can make institute when generating the movement instruction
It states robot end to open or be closed along plane where the object in the volume magnitude range, so that the machine
People end can preferably capture the object.Further, the processing equipment can also calculate on the object
The length and width on surface.
For example, the width of the upper surface of the object is 20cm, length is 50cm, the opening and closing degree of the robot end
It can be opened within the scope of 17-60cm according to the width and length of the object, so that the robot can successfully capture institute
State object.
In the present embodiment, by calculating the position deviation between the first image data and the second image data corresponding points, to obtain
Take the object three-dimensional information.
The three-dimensional information of object can be transformed into robot from camera coordinate system by hand-eye system in the present embodiment
Ending coordinates system.
In the present embodiment, described first image sensor 110 can be cmos image sensor (CMOS Image
Sensor, abbreviation CIS).The cmos image sensor is contact sensor devices.The material that the cmos image sensor uses
Material can be the cadmium sulfide for manufacturing photo resistance.Described first image sensor 110 can also be CCD (charge
Coupled device) scanner.The ccd scanner is swept using a kind of semiconductor chip, CCD made of microelectric technique
Photosensitive unit there are many retouching on the chip of instrument, is transmitted image by a series of optical system being made of lens, speculum etc.
Onto CCD chip, photoelectric converting function is realized.In the present embodiment, second imaging sensor 120 can also be cmos image
Sensor or ccd scanner.
In the present embodiment, the processing equipment 300 can be network server, database server etc., can also be
People's computer (personal computer, PC), tablet computer, smart mobile phone, personal digital assistant (personal digital
Assistant, PDA) etc..
Image acquisition device 200 described in the present embodiment can be Multiplexing Image Grab Card, and the Multiplexing Image Grab Card is real
When picture signal is collected in the processing equipment 300.
In one embodiment, picture signal is collected in processing equipment 300 using Multiplexing Image Grab Card, with number
It is stored in hard disk according to the form of file.The Multiplexing Image Grab Card can be by described first image sensor 110 and described
Vision signal captured by two imaging sensors 120 is from described first image sensor 110 and second imaging sensor 120
On dump in the processing equipment 300, and completed to object with the image processing algorithm in the processing equipment 300
It is converted into 400 movement instruction of robot after fixation and recognition and reaches the object to control the end effector of robot 400
Physical location.
The essence for calculating object in three-dimensional Cartesian space position is realized in the present embodiment using technique of binocular stereoscopic vision
Really detection obtains the image of high quality by high-precision imaging sensor, and image procossing is carried out by the processing equipment 300
The exportable plane coordinates for the translation adjustment of robot end's pose, while rotational coordinates calculating can be carried out and transmit result
End rotation attitude is corrected to robot controller 500.The contents of the section is melted by Binocular Stereo Vision System and visual servo
Processing mode is closed, realizes sorting dynamic guiding of the robot 400 to object.
This hair applies for that embodiment uses technique of binocular stereoscopic vision, is built upon on the basis of the parallax of imaging point, to double
Mesh the first imaging sensor 110 and the second imaging sensor 120 to three dimensions in object feature be imaged at two it is flat
Face carries out Stereo matching, that is, finds the imager coordinate of the same characteristic point on two different imaging planes, once have
Correct Stereo matching relationship, so that it may to obtain the anaglyph of corresponding matching area, thus to obtain target in three dimensions
The three-dimensional information of object will make the end effector of robot 400 move to the set desired locations (position of the object
Set), it realizes the on-line tuning of terminal angle, needs the current pose for the end effector for calculating robot 400 and desired position
The relative position set or with the relative position between robot 400 basis coordinates, robot 400 with these relative position amounts according to
Inverse kinematics relationship solves the controlled quentity controlled variable in each joint, and then realizes the terminal angle on-line tuning of robot 400, realization pair
The real-time locating, sorting of mixed material.
Described first image sensor 110 is same by two viewing points above object with the second sensor
The two images of object calculate the parallax between different images respective pixel according to principle of triangulation, obtain depth information, from
And realize three-dimensionalreconstruction, obtain the three-dimensional information of the object.On this basis, it needs to carry out binocular stereo vision calibration,
Purpose is to calculate the first image described in described first image sensor 110 and the biocular systems of second sensor formation
Relative position relation between sensor 110 and the second sensor, that is, seek described first image sensor 110 with it is described
Spin matrix R between second sensor and translation matrix T.The triangulation trigonometry be geometrically one by survey
Measure the angle of the known endpoint of target point and fixed datum, the method for measuring target range.
In the present embodiment, as shown in Figure 1, the Material Sorting system 10 further includes robot controller 500, the machine
People's controller 500 is used to receive the movement instruction of the production of the processing equipment 300, to control the movement of the robot 400.
In the present embodiment, the robot 400 is additionally operable to object crawl being placed on setting regions.The processing
Equipment 300 is additionally operable to every remaining space placed and once calculate the setting regions.The processing equipment 300 is additionally operable to according to institute
The volume and the remaining space for stating object calculate whether the setting regions can accommodate the object, when cannot accommodate
When the object, prompting message will be generated.
In the present embodiment, the prompt disappearance can be shown in the word message in the processing equipment 300, can also
It is the speech message played by the audio frequency apparatus of the processing equipment 300, can also be the information for being sent to specified electric terminal
Message.
In one embodiment, the side of the object is calculated by the first image data and the second image data
The volume of the object is calculated according to multiple edge three-dimensional coordinates for edge three-dimensional coordinate.
In the present embodiment, the Material Sorting system 10 further includes：Trigger control device 800 in designated position is set,
The trigger control device 800, for when detecting the object, detection signal to be sent to the processing equipment 300.
The processing equipment 300 is after receiving the detection signal, for described first image sensor 110 and the
Two images send triggering command, trigger described first image sensor 110 and the work of the second imaging sensor 120.
The processing equipment 300 is additionally operable to send enabled instruction to the miscellaneous equipment connecting with the processing equipment 300, with
The miscellaneous equipment is set to open.
In one embodiment, the trigger control device 800 is mounted on one end of conveyer belt 620.For example, being mounted on
Conveyer belt 620 receives one end of object.The trigger control device 800 is illustrated only in figure, it is to be understood that described to touch
Hair control device 800 may be mounted on a mounting bracket.
When the scanning of the trigger control device 800 is to when having material, signal will be detected and pass to the processing equipment 300,
The processing equipment 300 sends out control instruction, triggers described first image sensor 110 and the second imaging sensor 120 carries out
Image Acquisition simultaneously makes other equipment open simultaneously, and to ensure the sweep speed of system, improves working efficiency.The miscellaneous equipment
May include image acquisition device 200, robot 400, robot controller 500 etc..
In the present embodiment, the Material Sorting system 10 further includes：Holder 600, the holder 600 include 610 He of transverse arm
Support arm 620.
Described first image sensor 110 and second imaging sensor 120 are mounted on the transverse arm of the holder 600
On 610.
In the present embodiment, multiple first installation positions are set, the transverse arm 610 is mounted on described more on the support arm 620
At any installation position in a first installation position.
First installation site can be provided in the mounting hole on the support arm 620, and the transverse arm 610 passes through solid
Part is determined at the mounting hole.
At least three second installation positions, described first image sensor 110 and second figure are set on the transverse arm 610
It is mounted on as sensor 120 on two the second installation positions of described at least three second installation positions.
In the present embodiment, second installation position can be provided in the groove on the transverse arm 610, be set on the groove
It is equipped with mounting hole, installation sheet, the peace are connected on described first image sensor 110 and second imaging sensor 120
There is through-hole corresponding with the mounting hole on load.It needs that described first image sensor 110 or the second imaging sensor are installed
When 120, it can be fixed by through-hole placement corresponding with the mounting hole, then by fixing piece.
In the present embodiment, as shown in Figure 1, the transverse arm 610 can be arranged in the surface of conveyer belt 620.Described first
Imaging sensor 110 and the second sensor can be rotated relative to the transverse arm 610.
The transverse arm 610 can be mounted on different the at a distance from the conveyer belt 620 by adjusting the transverse arm 610
To realize adjustment at one installation position.
It is arranged in the areas imaging of permission by above-mentioned, by described first image sensor 110 and second image
Sensor 120 height and horizontal direction adjusting, to adapt to the installation under varying environment, simultaneously
Binocular Stereo Vision System passes through processing system by acquiring the three dimensional depth image of material on conveyer belt 620
System will calculate direction, coordinate and the crawl point of mixed material in the image of acquisition.In view of the dimension information of material, permitting
Perhaps within the scope of measurement accuracy, the adjustable holder 600 of design height and binocular angle and the adjustable structure of horizontal direction.Using outstanding
Arm-type holder 600 can avoid the working space of robot 400, improve the safety that robot 400 works.
In the present embodiment, the first filter plate is installed at the camera lens of described first image sensor 110；Second image
Second filter plate is installed at the camera lens of sensor 120.
In the present embodiment, described first image sensor 110 is with 120 vertical angle of the second imaging sensor or to be in
Material on certain angle direct projection conveyer belt 620.
Specific wavelength is installed before the camera lens of described first image sensor 110 and second imaging sensor 120
Filter plate, effect are the interference for ensureing the high quality of Image Acquisition and preventing extraneous strong light.
Further, in this embodiment Material Sorting system 10 it is main include by two parts, one is vertical including binocular
Body vision imaging system mainly may include the described first image sensor 110 of parallel installation and second imaging sensor
120, holder 600 is constituted.The extraction of the coordinate of mixed material on conveyer belt 620, direction and crawl point is completed in main positioning.Secondly
Be processing equipment 300, image acquisition device 200, merge position Visual servoing control robot end's attitude rectification method, mainly
It is the three-dimensional information binding site Visual servoing control for the material for being obtained binocular stereo vision, realizes the reality to mixed material
When sort.
The embodiment of the present invention uses the control mode that technique of binocular stereoscopic vision is combined with Visual servoing control technology, fixed
Level is true, and accuracy is high, easily controllable realization.By single vision system, the three-dimensional wheel of arbitrary material can be extracted
Exterior feature, and the three-dimensional information of arbitrary point on profile can be obtained.The control mode based on processing equipment is realized simultaneously, in advantage
Binocular Stereo Vision System is merged on the basis of complementation proposes a kind of new Visual servoing control method.Using the peace that is mutually parallel
The first imaging sensor and the second imaging sensor of dress are as image capture device, not by industrial environment interference and temperature
It influences, reliable signal input can be provided for the real-time sorting of robot, be conducive to the intelligent water for improving robot sorting
It is flat.It is embodied in the following：
1. binocular stereo vision is used on imaging unit, with efficient, precision is suitable, system structure is simple, cost
Low advantage is very suitable for manufacture scene, using trigger control device, when detecting the material on conveyer belt, by signal
Processing equipment is passed to, computer is instructed by sending, and other systems is made to open simultaneously, and working efficiency is improved, using high-performance
Processing equipment, it is efficient to carry out image procossing and information processing.
2. realizing the real-time of mixed material with location-based Visual servoing control mode using technique of binocular stereoscopic vision
Sorting rebuilds material three-dimensional information on the one hand by technique of binocular stereoscopic vision, including the direction of mixed material, coordinate and
Point is captured, then by location-based Visual servoing control method, adjusts the terminal angle and relevant parameter of robot in real time, into
The accurate sorting operation task of row.The method that the embodiment of the present invention proposes has higher accuracy and real-time.
3. Material Sorting system provided in an embodiment of the present invention can carry out mixed material three-dimensional appearance visualization and rebuild,
Other than being used for material positioning crawl, the cubing to object is can be also used for, it is accurate to carry out data analysis reduction wharf explosion
Phenomenon.
4. the embodiment of the present invention can be also used for being cut by laser other than the sorting guiding of mixed material on production line
Operations such as Route guiding, welding, stacking, carrying and other real-time based on robot technology and Visual servoing control field
Production and processing.
The Material Sorting system of the embodiment of the present invention uses two images by obtaining two image datas of object
The three-dimensional information and volume of object is calculated in data, and the movement instruction of generation can be enable preferably to make robot localization
To the position of the object, to reduce the error that robot captures object.
Referring to Fig. 2, being the Material Sorting method provided in an embodiment of the present invention applied to processing equipment shown in FIG. 1
Flow chart.Detailed process shown in Fig. 2 will be described in detail below.
Step S101 obtains the first image data and the acquisition of the second collecting device of the object of the first collecting device acquisition
Object the second image data.
Step S102, using described first image data and the second image data position the object three-dimensional information and
Volume.
Step S103 generates the movement instruction of control robot according to the three-dimensional information and volume.
In the present embodiment, the step S103 includes：Calculate the current appearance in end of the three-dimensional information and the robot
The relative position of state, using the relative position as movement instruction described in trace generator.
In the present embodiment, the end that the robot is calculated in hand and eye calibrating mode can be used to need the position moved
It sets.
The movement instruction is sent to robot by step S104, so that the robot is according to the movement instruction tune
Whole end is to capture the object.
In the present embodiment, object crawl is placed on setting regions by the robot, as shown in figure 3, the side
Method further includes：Step S105 to step S107.
Step S105 often places the remaining space for once calculating the setting regions.
Step S106 calculates whether the setting regions can be held according to the volume of the object and the remaining space
Receive the object.
Step S107 will generate prompting message when that cannot accommodate the object.
In the present embodiment, as shown in figure 4, the method further includes：Step S108 to step S109.
Step S108, after the detection signal for receiving trigger control device transmission, to described first image sensor and the
Two images send triggering command, trigger described first image sensor and the work of the second imaging sensor.
Step S109 sends enabled instruction, so that the miscellaneous equipment to the miscellaneous equipment being connect with the processing equipment
It opens.
Further, the method further includes carrying out hand and eye calibrating to the robot.In the present embodiment, the material point
The system of picking further includes that the end effector optical target in the robot end and the target fortune mounted on other positions is arranged
Kinetoplast optical target (not shown in figure 1).For example, the target movable body optical target may be mounted at transmission shown in FIG. 1
The edge of band.In one embodiment, hand and eye calibrating can be carried out to the robot by following steps：
Step 1：Obtain end under the init state of described first image sensor and second imaging sensor acquisition
The location information image for holding actuator optical target and target movable body optical target, robot is calculated according to camera model
Pose homogeneous matrix expression formula M of the end effector optical target under camera coordinate system2VBulk optics target is moved with target
The pose homogeneous matrix expression formula M being marked under camera coordinate system1V, 2 are entered step later；
Step 2：End effector optical target is measured under end effector of robot coordinate system by survey tool
Pose homogeneous matrix expression formula M2T；Six joint angles that robot is obtained by joint angles sensor determine that robot end holds
Pose homogeneous matrix of the row device on initial position, then obtain M through Method of Calculation of Robotic MovementsTB；According to coordinate conversion relation, meter
It is M to calculate homogeneous matrix of the end effector optical target at robot base mark system B2B=MTB·M2T, enter step later
3；
Step 3：The transition matrix for determining robot base mark system is being imaged according to end effector of robot optical target
Homogeneous matrix under machine coordinate system and under robot base mark system, which is calculated from camera coordinate system, transforms to robot base mark
The transition matrix M of systemmap=M2B·M2V -1, 4 are entered step later；
Step 4：Calculate the position relationship M of target movable body and end effector of robotbind, robot is in progress target
A fixed bias relation is remained during tracking between end effector of robot and target movable body, according to step
First imaging sensor described in rapid 1 and second imaging sensor get end effector optical target homogeneous matrix M2V
With target movable body optical target homogeneous matrix M1VAfter calculate bias relation：Mbind=M2V -1·M1V, 5 are entered step later；
Step 5：Calculate the position of end effector optical target and target movable body optical target at camera coordinate system V
Error is set, described first image sensor and second imaging sensor constantly calculate new M with certain frequency1VWith
M2V, pass through MerrV=M1V-M2V·MbindThe site error M at camera vision coordinate system V is calculatederrV；Pass through public affairs again
Formula MerrB=Mmap·MerrVCalculate the site error M at robot basis coordinates BerrB, 6 are entered step later；
Step 6：Decision errors value, homogeneous matrix MerrBIn contain end effector of robot and target in three dimensions
The site error Δ of movable body in the X, Y, Z directionX、ΔY、ΔZIf error amount enters step in the range ε allowed
1, otherwise enter step 7；
Step 7：The speed control at end effector of robot coordinate system T is calculated using error amount according to pid algorithm
Amount V processedX、VY、VZ, and send and moved according to given speed by end effector of robot to robot controller, enter step later
Rapid 1, realize quick and accurately pursuit movement the target in certain spatial dimension inner machine people.
Other details about the present embodiment can also further refer to the description in above system embodiment, herein not
It repeats again.
The Material Sorting method of the embodiment of the present invention uses two images by obtaining two image datas of object
The three-dimensional information and volume of object is calculated in data, and the movement instruction of generation can be enable preferably to make robot localization
To the position of the object, to reduce the error that robot captures object.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of Material Sorting system, which is characterized in that the Material Sorting system includes：
First imaging sensor, the first image data for obtaining object；
Second imaging sensor, the second image data for obtaining the object；
The image acquisition device being connect with described first image sensor and second imaging sensor, for acquiring described first
The second image data that the first image data and the second imaging sensor that imaging sensor obtains obtain；
The processing equipment being connect with described image collector, the processing equipment are used to obtain described the from described image collector
One image data and the second image data, and the target is calculated according to described first image data and the second image data
The volume of the three-dimensional information of object and the object；
The processing equipment is additionally operable to generate the movement instruction of control robot according to the three-dimensional information and volume；
The robot being connect with the processing equipment, the robot is used to receive the movement instruction of the processing equipment, with root
End is adjusted to capture the object according to the movement instruction.
2. Material Sorting system as described in claim 1, which is characterized in that the robot is additionally operable to grab the object
It takes and is placed on setting regions；
The processing equipment is additionally operable to every remaining space placed and once calculate the setting regions；
The processing equipment is additionally operable to whether calculate the setting regions according to the volume of the object and the remaining space
The object can be accommodated, when the object cannot be accommodated, prompting message will be generated.
3. Material Sorting system as described in claim 1, which is characterized in that the Material Sorting system further includes：
Trigger control device in designated position is set, the trigger control device, for when detecting the object, to institute
It states processing equipment and sends detection signal；
The processing equipment sends triggering after receiving the detection signal, to described first image sensor and the second image
Instruction triggers described first image sensor and the work of the second imaging sensor；
The processing equipment is additionally operable to send enabled instruction to the miscellaneous equipment connecting with the processing equipment, so that described other
Opening of device.
4. Material Sorting system as claimed in claim 3, which is characterized in that the Material Sorting system further includes：
Holder, the holder include transverse arm and support arm；
Described first image sensor and the second imaging sensor are mounted on the transverse arm of the holder.
5. Material Sorting system as claimed in claim 4, which is characterized in that multiple first installations are arranged on the support arm
Position, the transverse arm are mounted at any installation position in the multiple first installation position；
At least three second installation positions, described first image sensor and second imaging sensor peace are set on the transverse arm
On two the second installation positions of described at least three second installation positions.
6. Material Sorting system as described in claim 1, which is characterized in that installed at the camera lens of described first image sensor
There is the first filter plate；The second filter plate is installed at the camera lens of second imaging sensor.
7. a kind of Material Sorting method, which is characterized in that including：
Obtain the of the first image data of the object of the first collecting device acquisition and the object of the second collecting device acquisition
Two image datas；
The three-dimensional information and volume of the object are positioned using described first image data and the second image data；
The movement instruction of control robot is generated according to the three-dimensional information and volume；
The movement instruction is sent to robot, so that the robot adjusts end to capture according to the movement instruction
State object.
8. Material Sorting method as claimed in claim 7, which is characterized in that the object is captured and placed by the robot
In setting regions, the method further includes：
Often place the remaining space for once calculating the setting regions；
Calculate whether the setting regions can accommodate the object according to the volume of the object and the remaining space；
When the object cannot be accommodated, prompting message will be generated.
9. Material Sorting method as claimed in claim 7, which is characterized in that be applied to processing equipment, the processing equipment with
Trigger control device connects, and the method further includes：
After receiving the detection signal that the trigger control device is sent, sent to described first image sensor and the second image
Triggering command triggers described first image sensor and the work of the second imaging sensor；
Enabled instruction is sent to the miscellaneous equipment being connect with the processing equipment, so that the miscellaneous equipment is opened.
10. Material Sorting method as claimed in claim 7, which is characterized in that described to be given birth to according to the three-dimensional information and volume
Include at the step of movement instruction for controlling robot：
Calculate the relative position of the end current pose of the three-dimensional information and the robot；
Using the relative position as movement instruction described in trace generator.
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| CN201810380261.9A CN108607819A (en) | 2018-04-25 | 2018-04-25 | Material sorting system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380261.9A CN108607819A (en) | 2018-04-25 | 2018-04-25 | Material sorting system and method |
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| CN201810380261.9A Pending CN108607819A (en) | 2018-04-25 | 2018-04-25 | Material sorting system and method |
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| CN111860358A (en) * | 2020-07-23 | 2020-10-30 | 广元量知汇科技有限公司 | Material acceptance method based on industrial internet |
| CN111993418A (en) * | 2020-08-06 | 2020-11-27 | 西安科技大学 | Multi-target multi-mechanical-arm collaborative sorting system and sorting strategy for coal and gangue sorting robot |
| CN111993418B (en) * | 2020-08-06 | 2021-09-14 | 西安科技大学 | Multi-target multi-mechanical-arm collaborative sorting system and sorting strategy for coal and gangue sorting robot |
| CN112150439A (en) * | 2020-09-23 | 2020-12-29 | 创新奇智(青岛)科技有限公司 | Automatic sorting equipment and sorting method for injection molding parts |
| CN112150439B (en) * | 2020-09-23 | 2023-10-20 | 创新奇智(青岛)科技有限公司 | Automatic sorting equipment and sorting method for injection molding parts |
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