CN109297433A - 3D vision guide de-stacking measuring system and its control method - Google Patents
3D vision guide de-stacking measuring system and its control method Download PDFInfo
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- CN109297433A CN109297433A CN201811360245.XA CN201811360245A CN109297433A CN 109297433 A CN109297433 A CN 109297433A CN 201811360245 A CN201811360245 A CN 201811360245A CN 109297433 A CN109297433 A CN 109297433A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000011218 segmentation Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 6
- 210000000038 chest Anatomy 0.000 description 9
- 238000001514 detection method Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
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- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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Abstract
The invention discloses a kind of 3D vision guide de-stacking measuring system and its control methods.3D vision guide de-stacking measuring system, comprising: image capture module obtains length and width information and crawl coordinate to workpiece in de-stacking for acquiring the image information to de-stacking；Robot, for being decoupled according to crawl coordinate to the workpiece in de-stacking；Elevation carrection module, the workpiece for grabbing to the robot carry out elevation carrection to obtain the elevation information of workpiece.The height that realization 3D vision guide de-stacking measuring system is capable of automatic measurement workpiece meets the de-stacking requirement of different height dimension workpiece, to improve the accuracy and timeliness of de-stacking information to widen use scope.
Description
Technical field
The present invention relates to refrigeration equipment more particularly to a kind of 3D vision guide de-stacking measuring systems and its control method.
Background technique
3D vision guide de-stacking system is completed the phase with measured object by the camera that traditional laser triangulation principle forms
The three-dimensional data of object is obtained to movement or object is obtained by solution coding mode using structure light principle static shooting object
Three-dimensional data, by camera calibration obtain camera inside and outside ginseng, data are transformed under camera coordinates system from image coordinate system,
And be transformed into the three-dimensional information of workpiece under robot coordinate system by camera coordinates system by hand and eye calibrating relationship, robot is sat
Three-dimensional data under mark system chooses template, and the crawl coordinate that matched algorithm process obtains workpiece is then carried out with template, communication
Mode sends robot to, to achieve the purpose that guided robot carries out de-stacking.The system is in workpiece loading and unloading, logistic storage
There is very extensive application in equal fields.It, can only be by workpiece from pile currently, 3D vision guide de-stacking measuring system in the prior art
It is picked up in shape, workpiece is then placed into another station (at conveyer belt or piling station), still, in actual use process
In, due to the having differences property of height dimension of workpiece, the elevation information of workpiece can not be obtained, for the different workpiece of height dimension
When carrying out de-stacking, the outer dimension of split workpiece also can not be completely provided, causes the accuracy of de-stacking information and timeliness poor,
There is significant limitation in practical application, use scope is restricted.How a kind of height of being capable of automatic measurement workpiece is designed
Size, with improve the information of de-stacking accuracy and timeliness and expand use scope de-stacking measuring system be the present invention wanted
The technical issues of solution.
Summary of the invention
The present invention provides a kind of 3D vision guide de-stacking measuring system and its control methods, realize the de-stacking of 3D vision guide
Measuring system is capable of the height of automatic measurement workpiece, to improve the accuracy and timeliness of de-stacking information, meets different height ruler
The de-stacking requirement of very little workpiece, to widen use scope.
To reach above-mentioned technical purpose, the present invention is implemented with the following technical solutions:
A kind of 3D vision guide de-stacking measuring system, comprising:
Image capture module obtains the length and width information to workpiece in de-stacking for acquiring the image information to de-stacking and grabs
Take coordinate；
Robot, for being decoupled according to crawl coordinate to the workpiece in de-stacking；
Elevation carrection module, the workpiece for grabbing to the robot carry out elevation carrection to obtain the height letter of workpiece
Breath.
Further, the elevation carrection module is dot laser rangefinder or sonar ranging instrument, the elevation carrection module
The side of the robot is set and carries out elevation carrection from the lower section of the workpiece of crawl.
Further, the elevation carrection module is line laser sensor or structured light sensor, the elevation carrection mould
Block is arranged in the side of the robot and carries out elevation carrection from the side of the workpiece of crawl.
Further, described image acquisition module is mounted on the robots arm of the robot.
Further, the 3D vision guide de-stacking measuring system further includes support frame, the top installation of support frame as described above
Described image acquisition module.
Further, electronic slide unit is additionally provided at the top of support frame as described above, described image acquisition module is mounted on described
On electronic slide unit.
Further, described image acquisition module is line laser camera, structure light camera or more mesh cameras.
The present invention also provides a kind of control methods of above-mentioned 3D vision guide de-stacking measuring system, comprising:
Step 1 is acquired the image information to de-stacking by image capture module, and is calculated according to acquired image information
Obtain crawl coordinate；
Step 2, according to crawl coordinate, the robots arm of robot grabs to the correspondence workpiece in de-stacking；
In step 3, robot grabbing workpiece moving process, be first moved at elevation carrection module to workpiece measure with
After the elevation information for obtaining workpiece, then workpiece movement is launched and arrives setting position；
Step 4 repeats step 3 after the workpiece of current layer all grabs, then executes step 1.
Further, the step 1 specifically includes:
Step 11, according to acquired image information, obtain the component image imageX of X-direction, the component image of Y-direction
The component image imageZ of imageY, Z-direction；
Step 12, the height value for calculating the workpiece nearest from image capture module, are screened most upper on the basis of this height value
The workpiece of layer, and match cognization is carried out according to the appearance information of workpiece and completes shape segmentations, to obtain the outline shape letter of workpiece
Breath；
Step 13 is sat according to the X-direction coordinate Px of the extracted each workpiece centre of outline shape acquisition of information, Y-direction
Mark Py, Z-direction coordinate Pz；
Step 14, according to formulaObtain the crawl coordinate of the grabbing workpiece of robot
Qx,Qy,Qz；
Wherein, Qx be the crawl coordinate of workpiece centre X-direction, Qy workpiece centre Y-direction crawl coordinate, Qz be in workpiece
The crawl coordinate of heart Z-direction；
Tx is the translational movement of X-direction, and Ty is the translational movement of Y-direction, and Tz is the translational movement of Z-direction；
Workpiece is R around the rotation angle of X-axis00, workpiece around Y-axis rotation angle R01, the rotation angle R of workpiece about the z axis02,
Rotation angle R of the Y-direction around X-axis10, Y-direction around Y-axis rotation angle R11, the rotation angle R of Y-direction about the z axis12, Z-direction around
The rotation angle R of X-axis20, Z-direction around Y-axis rotation angle R21, the rotation angle R of Z-direction about the z axis22。
Further, the step 13 specifically: according to the angle point information for the workpiece that step 12 obtains, obtain the workpiece institute
In the X-direction coordinate Cx, Y-direction coordinate Cy, Z-direction coordinate Cz of the central pixel point in region；ImageX at Cx, Cy is taken respectively
Value is the center X-direction coordinate Px of workpiece；Cx is taken respectively, and the value of imageY is the center Y-direction coordinate Py of workpiece at Cy；Respectively
Cx is taken, the value of imageZ is the center Z-direction coordinate Pz of workpiece at Cy.
Compared with prior art, the advantages and positive effects of the present invention are: by increasing elevation carrection module, so that machine
People can detect the height and position of workpiece, according to detection in grabbing workpiece moving process by elevation carrection module
Height value calculate and can obtain the elevation information of corresponding workpiece itself, in this way, the length, width and height information of institute's grabbing workpiece
It can accurately obtain, the height and position for discharging workpiece can be adjusted, by robot for the workpiece of different height to meet
The de-stacking requirement of different specification size pile type, realizes that 3D vision guide de-stacking measuring system is capable of the height of automatic measurement workpiece,
To improve the accuracy and timeliness of de-stacking information, meet the de-stacking requirement of different height dimension workpiece, to widen use scope.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structure principle chart of 3D vision guide de-stacking measuring system embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present embodiment 3D vision guide de-stacking measuring system, comprising:
Image capture module 1, for acquiring the image information to de-stacking with obtain to workpiece in de-stacking length and width information and
Grab coordinate；
Robot 2, for being decoupled according to crawl coordinate to the workpiece 100 in de-stacking；
Elevation carrection module 3, the workpiece 100 for grabbing to the robot 2 carry out elevation carrection to obtain workpiece
Elevation information.
Specifically, the present embodiment 3D vision guide de-stacking measuring system is molding to stacking by image capture module 1
After workpiece carries out the acquisition process of pile type image, the crawl coordinate of each workpiece positioned at top layer can be calculated,
In, grab coordinate acquisition modes can using 3D visual pattern processing technique in the prior art (such as: Chinese Patent Application No.
In relation to the technology of image procossing disclosed in 201610676653.0 and 201710662010.5), herein with no restrictions.Wherein,
Through robots arm's grabbing workpiece 100 in moving process, workpiece 100 is moved to elevation carrection module by robots arm for robot
At 3, the height where workpiece 100 is measured by elevation carrection module 3, the height gauge of workpiece 100 can be calculated
It is very little, in this way, the corresponding length, width and height information of workpiece 100 can be obtained.Wherein, the performance entity of elevation carrection module 3 has more
Kind mode, corresponding, for different performance entities, the mode for measuring height is also different, such as: elevation carrection module 3 is
The side of the robot 2 and the work from crawl is arranged in dot laser rangefinder or sonar ranging instrument, the elevation carrection module 3
The lower section of part carries out elevation carrection；Alternatively, elevation carrection module 3 is line laser sensor or structured light sensor, the height
Measurement module 3 is arranged in the side of the robot 2 and carries out elevation carrection from the side of the workpiece of crawl.
Further, in order to preferably acquire the graphical information of pile type, there are many shapes for 1 mounting means of image capture module
Formula, such as: image capture module 1 is mounted on the robots arm of the robot 2, and in actual use, robot 2 exists
During carrying out de-stacking, robots arm drives the movement above pile type of figure acquisition module 1 to be scanned to obtain top layer's work
The image information of part realizes that image capture module 1 dynamically shoots image using robot 2.Alternatively, the present embodiment 3D vision is drawn
Leading de-stacking measuring system further includes support frame 11, and described image acquisition module 1, Image Acquisition are installed in the top of support frame as described above 11
Module 1 will be located at the top position of pile type, realize the static shooting image of image capture module 1；And the top of support frame 11 is also set
It is equipped with electronic slide unit, described image acquisition module 1 is mounted on the electronic slide unit, i.e., realizes Image Acquisition using electronic slide unit
Module 1 dynamically shoots image.Wherein, for 1 specific manifestation entity of image capture module, line laser camera, structure can be used
The image capture devices such as light camera or more mesh cameras.
The present invention also provides a kind of control methods of above-mentioned 3D vision guide de-stacking measuring system, comprising:
Step 1 is acquired the image information to de-stacking by image capture module, and is calculated according to acquired image information
Obtain crawl coordinate.Specifically, during carrying out de-stacking, Three-dimensional Gravity of the image capture module based on structure light and binocular vision
Structure principle obtains the three-dimensional point cloud information of whole pile type, and carries out data processing according to three-dimensional point cloud information and finally calculate acquisition
The crawl coordinate of workpiece.It is illustrated so that the workpiece of crawl is chest as an example.
Step 1 specifically includes:
Step 11, according to acquired image information, obtain the component image imageX of X-direction, the component image of Y-direction
The component image imageZ of imageY, Z-direction.Specifically, having m row * n according to the three-dimensional point cloud information that image capture module obtains
Column pixel, each pixel are saved with a structural body, and structural body includes the gray scale (Byte) of pixel and the x value of the point, y
Value, image imageX, imageY, the imageZ of three width m*n sizes is respectively created in z value, takes every x, tri- value assignment of y, z,
Complete the component projection of 3 width images.
Step 12, the height value for calculating the workpiece nearest from image capture module, are screened most upper on the basis of this height value
The workpiece of layer, and match cognization is carried out according to the appearance information of workpiece and completes shape segmentations, to obtain the outline shape letter of workpiece
Breath.Specifically, being directed to the chest of maximum layer, Z component image is processed: known camera mounting height is right according to this height
It answers numerical value that one range is set, noise region is screened out according to chest areal extent；Calculate the height nearest from image capture module
Angle value is screened the workpiece of top layer on the basis of this height value, and carries out match cognization according to the appearance information of workpiece and complete shape
Shape segmentation, does angle point grid to the region divided to obtain angle point information, extracts workpiece according to shape and angle point information
Outline shape information.
Step 13 is sat according to the X-direction coordinate Px of the extracted each workpiece centre of outline shape acquisition of information, Y-direction
Mark Py, Z-direction coordinate Pz.Specifically, judging outline shape information according to the outline shape information of the extracted chest of step 12
Whether it is convex polygon, if it is extracts center X-direction the coordinate Px, Y of its carton under the coordinate system of image capture module
Direction coordinate Py, Z-direction coordinate Pz；If not convex polygon, then current region is selected, takes the region all pixels point respectively
X, y, z value, form three-dimensional point cloud image, using PCL surpass body cluster point cloud segmentation, be partitioned into all chests, acquisition segments
At center X-direction coordinate Px of the rear all chests under the coordinate system of image capture module, Y-direction coordinate Py, Z-direction coordinate
Pz.Further, the step 13 specifically: according to the angle point information for the workpiece that step 12 obtains, obtain the workpiece location
X-direction coordinate Cx, Y-direction coordinate Cy, the Z-direction coordinate Cz of the central pixel point in domain；The value for taking imageX at Cx, Cy respectively is
The center X-direction coordinate Px of workpiece；Cx is taken respectively, and the value of imageY is the center Y-direction coordinate Py of workpiece at Cy；It takes respectively
The value of imageZ is the center Z-direction coordinate Pz of workpiece at Cx, Cy.
Step 14, according to formulaObtain the crawl coordinate of the grabbing workpiece of robot
Qx,Qy,Qz.Specifically, being demarcated using classical scaling method to image capture module before de-stacking, i.e., in Image Acquisition mould
4 different circular objects of height are put under block, are taken pictures and are obtained the three-dimensional point cloud information of four circular objects, utilize step 11-
13 obtain circular object center X-direction coordinate Px under image capture module coordinate system, center Y-direction coordinate Py, and center Z-direction is sat
Pz is marked, robot is directed toward the center of four circular objects, obtains center X-direction coordinate Qx under robot coordinate system, Y-direction coordinate
Qy, Z-direction coordinate Qz；Respectively according to the robot coordinate value and image capture module coordinate value of four circular object central points,
Utilize lower spin matrix formulaCalculate rotation angle R of the circular object around X-axis00, around the rotation angle of Y-axis
R01, rotation angle R about the z axis02Obtain the rotation of X-direction, rotation angle R of the Y-direction around X-axis10, to the rotation angle around Y-axis
R11, rotation angle R about the z axis12Obtain the rotation of Y-direction, rotation angle R of the Z-direction around X-axis20, around the rotation angle of Y-axis
R21, rotation angle R about the z axis22Obtain the rotation of Z-direction, the translational movement Tx of X-direction, the translational movement Ty of Y-direction, Z-direction
Translational movement Tz.
Step 2, according to crawl coordinate, the robots arm of robot grabs to the correspondence workpiece in de-stacking；
In step 3, robot grabbing workpiece moving process, be first moved at elevation carrection module to workpiece measure with
After the elevation information for obtaining workpiece, then workpiece movement is launched and arrives setting position.Specifically, robot grabs a chest movement
To elevation carrection module position, present level data are obtained, due to the mechanical arm of robot and the height of elevation carrection module
It is altitude datum value, then subtracts altitude datum value, the elevation information of chest, the elevation information of each chest can be calculated
It can be accurately obtained together with length and width information, and length, width and height information is sent to controller and is stored and is used.
Step 4 repeats step 3 after the workpiece of current layer all grabs, then executes step 1.
Compared with prior art, the advantages and positive effects of the present invention are: by increasing elevation carrection module, so that machine
People can detect the height and position of workpiece, according to detection in grabbing workpiece moving process by elevation carrection module
Height value calculate and can obtain the elevation information of corresponding workpiece itself, in this way, the length, width and height information of institute's grabbing workpiece
It can accurately obtain, the height and position for discharging workpiece can be adjusted, by robot for the workpiece of different height to meet
The de-stacking requirement of different specification size pile type, realizes that 3D vision guide de-stacking measuring system is capable of the height of automatic measurement workpiece,
To improve the accuracy and timeliness of de-stacking information, meet the de-stacking requirement of different height dimension workpiece, to widen use scope.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, the spirit for the present invention embodiment technical solution that it does not separate the essence of the corresponding technical solution and
Range.
Claims (10)
1. a kind of 3D vision guide de-stacking measuring system characterized by comprising
Image capture module is sat with obtaining to the length and width information of workpiece in de-stacking and crawl for acquiring the image information to de-stacking
Mark；
Robot, for being decoupled according to crawl coordinate to the workpiece in de-stacking；
Elevation carrection module, the workpiece for grabbing to the robot carry out elevation carrection to obtain the elevation information of workpiece.
2. 3D vision guide de-stacking measuring system according to claim 1, which is characterized in that the elevation carrection module is
The side of the robot and the workpiece from crawl is arranged in dot laser rangefinder or sonar ranging instrument, the elevation carrection module
Lower section carry out elevation carrection.
3. 3D vision guide de-stacking measuring system according to claim 1, which is characterized in that the elevation carrection module is
The side of the robot and the work from crawl is arranged in line laser sensor or structured light sensor, the elevation carrection module
The side of part carries out elevation carrection.
4. 3D vision guide de-stacking measuring system according to claim 1, which is characterized in that described image acquisition module peace
On the robots arm of the robot.
5. 3D vision guide de-stacking measuring system according to claim 1, which is characterized in that the 3D vision guide de-stacking
Measuring system further includes support frame, and described image acquisition module is installed at the top of support frame as described above.
6. 3D vision guide de-stacking measuring system according to claim 5, which is characterized in that the top of support frame as described above is also
It is provided with electronic slide unit, described image acquisition module is mounted on the electronic slide unit.
7. 3D vision guide de-stacking measuring system according to claim 5, which is characterized in that described image acquisition module is
Line laser camera, structure light camera or more mesh cameras.
8. a kind of control method of 3D vision guide de-stacking measuring system as claimed in claim 1, which is characterized in that
Include:
Step 1 is acquired the image information to de-stacking by image capture module, and is calculated and obtained according to acquired image information
Grab coordinate；
Step 2, according to crawl coordinate, the robots arm of robot grabs to the correspondence workpiece in de-stacking；
In step 3, robot grabbing workpiece moving process, first it is moved at elevation carrection module and workpiece is measured to obtain
After the elevation information of workpiece, then workpiece movement is launched and arrives setting position；
Step 4 repeats step 3 after the workpiece of current layer all grabs, then executes step 1.
9. the control method of 3D vision guide de-stacking measuring system according to claim 8, which is characterized in that the step
1 specifically includes:
Step 11, according to acquired image information, obtain the component image imageX of X-direction, the component image of Y-direction
The component image imageZ of imageY, Z-direction；
Step 12, the height value for calculating the workpiece nearest from image capture module screen top layer on the basis of this height value
Workpiece, and match cognization is carried out according to the appearance information of workpiece and completes shape segmentations, to obtain the outline shape information of workpiece；
Step 13, according to extracted wheel profile
X-direction coordinate Px, Y-direction coordinate Py, the Z-direction coordinate Pz of each workpiece centre of state acquisition of information；
Step 14, according to formulaCrawl coordinate Qx, Qy of the grabbing workpiece of acquisition robot,
Qz；
Wherein, Qx be the crawl coordinate of workpiece centre X-direction, Qy workpiece centre Y-direction crawl coordinate, Qz be workpiece centre Z
The crawl coordinate in direction；
Tx is the translational movement of X-direction, and Ty is the translational movement of Y-direction, and Tz is the translational movement of Z-direction；
Workpiece is R around the rotation angle of X-axis00, workpiece around Y-axis rotation angle R01, the rotation angle R of workpiece about the z axis02, the side Y
To the rotation angle R around X-axis10, Y-direction around Y-axis rotation angle R11, the rotation angle R of Y-direction about the z axis12, Z-direction is around X-axis
Rotation angle R20, Z-direction around Y-axis rotation angle R21, the rotation angle R of Z-direction about the z axis22。
10. the control method of 3D vision guide de-stacking measuring system according to claim 8, which is characterized in that the step
Rapid 13 specifically: according to the angle point information for the workpiece that step 12 obtains, obtain the side X of the central pixel point of the workpiece region
To coordinate Cx, Y-direction coordinate Cy, Z-direction coordinate Cz；
Take the value of imageX at Cx, Cy for the center X-direction coordinate Px of workpiece respectively；
Cx is taken respectively, and the value of imageY is the center Y-direction coordinate Py of workpiece at Cy；
Cx is taken respectively, and the value of imageZ is the center Z-direction coordinate Pz of workpiece at Cy.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110322457A (en) * | 2019-07-09 | 2019-10-11 | 中国大恒(集团)有限公司北京图像视觉技术分公司 | A kind of de-stacking method of 2D in conjunction with 3D vision |
| CN110533717A (en) * | 2019-08-06 | 2019-12-03 | 武汉理工大学 | A kind of target grasping means and device based on binocular vision |
| CN110681614A (en) * | 2019-08-08 | 2020-01-14 | 南通大学 | Robot palletizer sorting device based on computer vision |
| CN111028231A (en) * | 2019-12-27 | 2020-04-17 | 易思维（杭州）科技有限公司 | Workpiece position acquisition system based on ARM and FPGA |
| CN111422630A (en) * | 2020-03-06 | 2020-07-17 | 宝开(上海)智能物流科技有限公司 | Unstacking control device and method based on laser ranging guidance |
| CN111563871A (en) * | 2019-10-23 | 2020-08-21 | 深圳市今天国际物流技术股份有限公司 | Image processing method, device and equipment and visual guidance unstacking method and system |
| CN111932490A (en) * | 2020-06-05 | 2020-11-13 | 浙江大学 | Method for extracting grabbing information of visual system of industrial robot |
| CN112150427A (en) * | 2020-09-17 | 2020-12-29 | 山东洛杰斯特物流科技有限公司 | Mixed unstacking method, device and equipment based on point cloud information |
| CN112509043A (en) * | 2020-11-30 | 2021-03-16 | 西安中科光电精密工程有限公司 | Robot intelligent unstacking method suitable for randomly mixing carton stacks |
| CN113192058A (en) * | 2021-05-21 | 2021-07-30 | 中国矿业大学(北京) | Intelligent brick pile loading system based on computer vision and loading method thereof |
| CN114240960A (en) * | 2021-11-11 | 2022-03-25 | 三一建筑机器人(西安)研究院有限公司 | Method, device, equipment, medium and product for extracting uppermost layer workpiece |
| CN114777648A (en) * | 2022-04-20 | 2022-07-22 | 中冶赛迪重庆信息技术有限公司 | Slab sensing measurement method and system |
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