CN109353778A - Caching and feeding method, device and computer-readable storage media - Google Patents
Caching and feeding method, device and computer-readable storage media Download PDFInfo
- Publication number
- CN109353778A CN109353778A CN201811315056.0A CN201811315056A CN109353778A CN 109353778 A CN109353778 A CN 109353778A CN 201811315056 A CN201811315056 A CN 201811315056A CN 109353778 A CN109353778 A CN 109353778A
- Authority
- CN
- China
- Prior art keywords
- caching
- article
- conveyer
- predeterminable area
- feeding method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of cache and feeding method, device and computer-readable storage media, to achieve the above object, caching and feeding method proposed by the present invention, a kind of caching and feeding method, it is led for wrapping up flow point, the caching and feeding method include: that control conveyer is fed forward；Judge on the predeterminable area on the conveyer with the presence or absence of article；In the predeterminable area there are when article, control conveyer stops；The article is moved to setting position by control manipulator；When article is not present on the predeterminable area, control conveyer is fed forward.There is the present invention automation to realize that cargo is put, and improve the effect of working efficiency.
Description
Technical field
The present invention relates to logistics Sorting Technique field, in particular to a kind of caching and feeding method, device and computer can
Read storage medium.
Background technique
Existing logistics sorts field, it usually needs induction robot scans and recognizes cargo.It is scanning and is identifying
When, usually there is limitation to the conditions such as put and be spaced of cargo, be otherwise difficult to effective scanning and be by cargo.
But due to cargo put it is neat before, it is usually in heaps arbitrarily to put, or mounted in the appearance such as big bag
In device, therefore, it is difficult to realize automation cargo is placed on the assembly line of induction robot.Therefore existing solution is logical
Cargo is put one by one frequently with manually to the assembly line for incuding robot, causes artificial demand big, working efficiency is low.
Summary of the invention
The main object of the present invention is to provide a kind of cache and feeding method, device and computer-readable storage media, purport
It realizes that cargo is put in automation, improves working efficiency.
To achieve the above object, caching and feeding method proposed by the present invention, a kind of caching and feeding method, for wrapping up
Flow point is led, and the caching and feeding method include:
Control conveyer is fed forward；
Judge on the predeterminable area on the conveyer with the presence or absence of article；
In the predeterminable area there are when article, control conveyer stops；
The article is moved to setting position by control manipulator；
When article is not present on the predeterminable area, control conveyer is fed forward.
Optionally, include: with the presence or absence of article on the judgement predeterminable area
Obtain the image including predeterminable area on the conveyer captured by capture apparatus；
Judge the predeterminable area with the presence or absence of article according to described image.
Optionally, the control manipulator by the article be moved to setting position include:
Obtain the image including predeterminable area on the conveyer captured by capture apparatus；
Classification and the location information of article are identified according to image；
The setting position that the article matches is obtained according to the classification information；
Control manipulator obtains the article according to the positional information, and moves the item to the setting position.
Optionally, described to include: according to the classification and location information of described image identification article
Described image is input to neural network trained in advance, the classification to obtain each object in described image is believed
Breath；
The position of each object is obtained according to the depth information of pixel each in the classification information and described image
Information.
Optionally, described to obtain the setting position that the article matches according to the classification information and include:
When the classification information belongs to normal goods classification, then the setting position to match is defeated for the next node that matches
Enter position；Otherwise, the setting position to match is to abandon case position.
The present invention also provides a kind of caching and feed arrangement, the caching and feed arrangement include capture apparatus, conveying
Machine, manipulator, cache box, reservoir and processor；
The cache box is equipped with stock up mouth and output port；
The conveyer is set to the lower section of the output port；
Predeterminable area of the camera lens of the capture apparatus towards the conveyer；
The adjacent conveyer setting of the manipulator；
The reservoir stores caching and feeding program；
The processor is configured to execute the caching and feeding program, to execute such as above-mentioned caching and feeding method
Step.
Optionally, the cache box is above-mentioned cache box.
Optionally, the cache box is equipped with buffer channel, and the stock channel includes stocking up mouth, output port and to be set to
The buffer part stocked up between mouth and output port；
The buffer part includes first end, lower than the second end of first end setting, and is connected to the first end
Cushioning supportive face between second end；The first end is corresponding with the mouth of stocking up, and the second end and the output port connect
It connects.
Optionally, multiple rolling elements are installed on the cushioning supportive face.
Optionally, the cache box is equipped with block in the position of the output port, and the block is into the output port
Between extend.
The present invention also provides a kind of computer readable storage medium, it is stored on the computer readable storage medium slow
Program is deposited and feeds, the caching and feeding program realize the step such as above-mentioned caching and feeding method when being executed by processor
Suddenly.
Caching and feeding method provided by the present invention are fed forward by controlling conveyer；Then judge the conveying
It whether there is article on predeterminable area on machine；Then in the predeterminable area there are when article, control conveyer stops；Then
The article is moved to setting position by control manipulator；Then when article is not present on the predeterminable area, control conveying
Machine is fed forward.It so as to realizing that machine automatization caches cargo, feeds, then takes away one by one, realizes automation goods
Object is put, and is improved work efficiency.
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 only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow diagram of present invention caching and one embodiment of feeding method；
Fig. 2 is the module diagram cached suitable for Fig. 1 with a caching and feed arrangement of feeding method；
Fig. 3 is caching and the module diagram of feed arrangement when looking down shown in Fig. 2；
Fig. 4 is the flow diagram of present invention caching and two embodiment of feeding method；
Fig. 5 is the flow diagram of present invention caching and three embodiment of feeding method；
Fig. 6 is the flow diagram of present invention caching and four embodiment of feeding method；
Fig. 7 is the structural schematic diagram of one embodiment of cache box of the present invention；
Fig. 8 is the flow diagram in the direction A-A in Fig. 7；
Fig. 9 is the application scenarios schematic diagram of cache box shown in Fig. 7.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment one
A kind of caching and feeding method are present embodiments provided, is led for wrapping up flow point.
Fig. 1 is please referred to, the caching and feeding method include:
Step S101, control conveyer are fed forward；
Step S102 judges on the predeterminable area on the conveyer with the presence or absence of article；
Step S103, in the predeterminable area there are when article, control conveyer stops；
The article is moved to setting position by step S104, control manipulator；
Step S105, when article is not present on the predeterminable area, control conveyer is fed forward.
In the present embodiment, control conveyer first is fed forward.Wherein, in the control program of traditional conveyer,
What is generallyd use is the scheme of continuous feed.And in the present embodiment, using the controlled advance of conveyer.And conveyer whether before
Into condition, can check on predeterminable area as described in subsequent step with the presence or absence of article.That is article if it does not exist, then control
Conveyer moves forward.Conveyer, which can be belt transmission or idler wheel transmission etc., can recycle the device forwarded.
In the present embodiment, it feeds forward and then is judged on the predeterminable area on the conveyer in control conveyer
With the presence or absence of article.Wherein, the predeterminable area on conveyer usually can be set to the region of the end section close to conveyer.
And the head end of conveyer and the container of stacked goods or channel connection, such as connected with baffle-box.It is rolled in conveyer, by head end
Caudad transmit cargo.It can judge whether predeterminable area has article by kinds of schemes on conveyer.For example, setting measurement
The device of weight, to then determine that there are articles when the weight of predeterminable area reaches threshold value；Or it is filled by infrared light detecting
It sets, when the access of infrared light is blocked and be truncated by cargo, then determines that there are articles；Or the dress by identifying video image
It sets, when recognizing on the predeterminable area in image, there are when cargo, then determine that there are articles.
In the present embodiment, determining the predeterminable area, there are after article, then control conveyer stopping, control machine
The article is moved to setting position by tool hand.Wherein, when controlling conveyer stopping, the cargo for being deposited in conveying machine tail end will
Stop movement, and is retained in the container where it.Therefore, when conveyer stops, all cargos on conveyer will stop
It is mobile.The article on conveyer on predeterminable area is caught at this point, then can control manipulator, is then moved to article accordingly
Setting position.Manipulator can be the function part including claw shape, grab cargo by collapsing；Manipulator is also possible to wrap
The function part for including sucker shape, by with cargo contacts, and generate negative pressure to draw cargo；Or manipulator can also be including
It is oriented to rod-shaped function part, pushes cargo to enter designated position or track etc. by switching swing etc..Manipulator is in crawl goods
Before object, the scheme of nonrecognition cargo location can also be used using the scheme of the position of identification cargo in advance.For example,
The scheme for identifying cargo location, can obtain the location information of cargo using three-dimensional camera, and then cooperative mechanical hand is mobile
To appropriate location, then cargo is grabbed.The scheme of nonrecognition cargo can cooperate device for pre-positioning using manipulator,
Device for pre-positioning is set in the position of corresponding predeterminable area, by the adjustment of device for pre-positioning so that cargo is in default position
It sets, fixed position is then moved to by manipulator and goes to grab or draw cargo.Setting position is set when being equipment debugging
It sets, for example, setting position can be on the conveyer of next node or dustbin etc. position.
In the present embodiment, after the article is moved to setting position by control manipulator, judge the preset areas
Domain whether there is article, and when article is not present on the predeterminable area, control conveyer is fed forward.Wherein, if preset areas
Domain is there are when multiple articles, such as multiple articles are overlapped up and down and appear in the adjacent shape of predeterminable area or multiple articles or so and go out
Present predeterminable area then controls manipulator and carries out corresponding repeatedly crawl cargo.When there are multiple cargos simultaneously in predeterminable area,
It then can first identify cargo location, then control manipulator and be moved to the scheme that cargo corresponding position grabs again to implement.Pre-
If there is no article and then control conveyer movements on region, so that above-mentioned step is repeated, until conveying machine tail end heap
Long-pending cargo is all disposed.
Caching and feeding method provided by the present embodiment are fed forward by controlling conveyer；Then judge described defeated
It send on the predeterminable area on machine with the presence or absence of article；Then in the predeterminable area there are when article, control conveyer stops；So
The article is moved to setting position by control manipulator afterwards；Then it when article is not present on the predeterminable area, controls defeated
Machine is sent to feed forward.It so as to realizing that machine automatization caches cargo, feeds, then takes away one by one, realizes automation
Cargo is put, and is improved work efficiency.
Caching and feeding method provided in this embodiment can be applied to caching and feed arrangement as follows.
Please refer to Fig. 2 and Fig. 3, the caching and feed arrangement include capture apparatus 300, conveyer 200, manipulator 400,
Cache box 100, reservoir (not shown) and processor (not shown).
The cache box 100 is equipped with stock up mouth 111 and output port 112.
The conveyer 200 is set to the lower section of the output port 112.
Predeterminable area 210 (Fig. 3 and Fig. 5 shown in) of the camera lens of the capture apparatus 300 towards the conveyer 200.
The adjacent conveyer 200 of the manipulator 400 is arranged.
The reservoir stores caching and feeding program.
The processor is configured to execute the caching and feeding program, to execute the step of above-mentioned caching and feeding method
Suddenly.
The conveyer 500 of external next node, the article put down for accepting manipulator 400.
Embodiment two
Present embodiments provide a kind of caching and feeding method.The present embodiment is based on above-described embodiment, to therein
Step is described in detail.It is specific as follows:
It please refers to Fig. 4, includes: with the presence or absence of article on the judgement predeterminable area
Step S201 obtains the image including predeterminable area on the conveyer captured by capture apparatus；
Step S202 judges the predeterminable area with the presence or absence of article according to described image.
Other steps in the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, herein no longer
It repeats.
In the present embodiment, after conveyer operation, it includes pre- on the conveyer for obtaining captured by capture apparatus
If the image in region.Wherein, capture apparatus is to be pre-installed on fixed position, passes through the preset areas of alignment lens conveyer
Domain, so that shooting includes the picture either video of predeterminable area.
In the present embodiment, judge that the predeterminable area whether there is when the acquisition image and then according to described image
Article.Wherein, by image judge predeterminable area with the presence or absence of article scheme there are many.For example, camera shoots conveyer
Overhead view image, reference image when retaining no cargo；Then new bat image is compared with referring to image, if two images
Different zones range be greater than preset value, then determine there are articles, otherwise, it is determined that for there is no.
It in the present embodiment, is identified by image with the presence or absence of article on conveyer, then has recognition efficiency high, equipment changes
It is small to make difficulty, and is easily achieved.
Embodiment three
Present embodiments provide a kind of caching and feeding method.The present embodiment is based on above-described embodiment, to therein
Step is described in detail.It is specific as follows:
Fig. 5 is please referred to, the article is moved to setting position and includes: by the control manipulator
Step S301 obtains the image including predeterminable area on the conveyer captured by capture apparatus；
Step S302 identifies classification and the location information of article according to image；
Step S303 obtains the setting position that the article matches according to the classification information；
Step S304 controls manipulator according to the positional information and obtains the article, and moves the item to described
Position is set.
Other steps in the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, herein no longer
It repeats.
It in the present embodiment, include described defeated determining predeterminable area there are when article, obtaining captured by capture apparatus
Send the image of predeterminable area on machine.Wherein, capture apparatus can be that identical shooting is set with the capture apparatus in above-described embodiment
It is standby, it is also possible to the dedicated capture apparatus being additionally arranged.The image including predeterminable area is shot by capture apparatus, with for rear
Continuous step is judged.
In the present embodiment, it is obtaining the image and then is identifying classification and the location information of article according to image.Its
In, the scheme of identification can be the cloud point data that article is obtained by 3-D image, the edge fitting of article is then carried out again,
To obtain the spatial position of object.Identification can also be using shooting is overlooked, and check which mark article has blocked, either
Which mark has been fallen on article, to calculate the spatial position for obtaining object by the position for obtaining pre-set mark.
Classification information may include closing rule article and irregularity article, i.e. foreign matter.Classification information can be by shape recognition, can also
To pass through the scheme of bar code scan.When scanning the contoured article that shape is gloves, spitball or plastics card etc. non-typing, then
It is identified as foreign matter, or when not recognizing effective bar code, is then identified as foreign matter.
In the present embodiment, institute is obtained when the classification and location information for obtaining article and then according to the classification information
State the setting position that article matches.Wherein, when classification information be foreign matter when, then preset setting position can be dustbin or
Abnormal area；When classification information belongs to normal goods classification, then preset setting position can be the input bit of next node
It sets, such as the assembly line of induction robot.
Caching and feeding method, obtain classification and the position of article by way of shooting image provided by the present embodiment
Information, thus have identification efficiently, identification is quick and structure simple fit range extensively etc. and other effects.
Example IV
Present embodiments provide a kind of caching and feeding method.The present embodiment is based on above-described embodiment, to therein
Step is described in detail.It is specific as follows:
Fig. 6 is please referred to, it is described to include: according to the classification and location information of described image identification article
Described image is input to neural network trained in advance, to obtain each object in described image by step S401
The classification information of body；
Step S402 obtains each object according to the depth information of pixel each in the classification information and described image
The location information of body.
In the present embodiment, after the image for obtaining predeterminable area, described image is input to nerve net trained in advance
Network, to obtain the classification information of each object in described image.Wherein, using 3-D image as the input of neural network.In advance
First trained neural network, can be when obtaining input value, the calculating formula obtained according to preparatory training, and calculating is exported
Value.Wherein, neural network can pass through Fully Convolutional Instance-aware Semantic
Segmentation scheme carries out convolution, classification and the operation for rising dimension.By carrying out process of convolution, Neng Gougao to 3-D image
Effect and accurate implementation pixel classifications.After the classification, it then carries out liter dimension to the picture after dimensionality reduction to handle, to obtain classification chart
Picture.And image of classifying is identical as 3-D image size, then can be convenient for the picture in subsequent step according to each classification object
The identification frame of vegetarian refreshments collection operates.To be the translation of manipulator, coordinate is provided.
In the present embodiment, in acquisition classification information and then according to each in the classification information and described image
The depth information of pixel obtains the location information of each object.Wherein, since classification information illustrates the big portion of article substantially
Divide information, therefore the frame for obtaining article usually can be calculated, such as can be according to the pixel point set of article and the side RANSAC
Method extracts the frame of article.Then the length of frame, institute overlay area etc. in two-dimensional coordinate are obtained from frame information.
Further, which can provide the mobile message for manipulator in direction all around, be usually denoted as X-axis and Y
The amount of movement of axis direction.Then it is obtained in the depth information (image is the image with depth, such as RGBD image) by image
Obtain the depth of article position.The depth information can provide the mobile message for manipulator in above-below direction, usually remember
For the amount of movement of Z-direction.
Caching and feeding method provided by the present embodiment, carry out picture recognition by introducing neural network, by mind
Learning ability through network, after carrying out suitable sample training, the object of identification required for neural network can then identify
Product.Such as samples pictures include multiple articles, then mark the article of top layer every time, so that the neural network after training then can
It identifies the article of top layer, then calculates the location information for obtaining top layer's article, finally manipulator is guided to take top layer away
Article.And then repeat to take top layer's article away, until storewide is taken away.Therefore, caching provided by the present embodiment and
Feeding method has identification efficiently and reliable effect.And it can identify the case where complicated cargo mutually covers.
Embodiment five
A kind of cache box 100 is present embodiments provided, is led for wrapping up flow point.Cache box 100 provided by the present embodiment,
The a part that can be used as above-mentioned caching and feed arrangement executes for the implementation of above-mentioned any caching and feeding method
Example.
Fig. 7 and Fig. 8 are please referred to, the cache box 100 is led for wrapping up flow point, and the cache box 100 is equipped with buffer channel
110, the stock channel includes stocking up mouth 111, output port 112 and to stock up between mouth 111 and output port 112 set on described
Buffer part 113.Wherein, cache box 100 can be timber-work, plastic products either metal product etc..It stocks up mouth 111
It is usually larger, and output port 112 is then smaller.Mouth 111 of stocking up is poured into for lot cargo accumulation, and the diameter of output port 112 is small
In the diameter for mouth 111 of stocking up, the number of articles of output port 112 is reduced while flowed out.Usually entire buffer channel 110 can also be all
It can be using gradually shrink mouth shape, thus funnel-shaped.
The buffer part 113 includes first end, lower than the second end of first end setting, and is connected to described first
Cushioning supportive face between end and second end；The first end is corresponding with the mouth 111 of stocking up, the second end and the shipment
Mouth 112 connects.Wherein, in the case where only using gravity as driving force, first end is usually located at the lower section for mouth 111 of stocking up, and goods
Object will be fallen on cushioning supportive face, and slide downward, until output port 112 blocks.Buffer part 113 can use coefficient of friction
Lesser material production, such as smooth glass plate, acrylic board or smooth panel beating plate etc.；Cushioning supportive face can also be with
The structure for increasing rolling support, comes so that frictional force of the article on cushioning supportive face is greatly reduced.
Fig. 9 is please referred to, cache box 100 provided by the present embodiment, when in use, the output port 112 of cache box 100 will be with
External conveyor 200 is corresponding.The article 600 come out from output port 112 will be stacked on conveyer 200.When conveyer 200 stops
When rotation, the accumulation of article 600 on conveyer 200 will cause the blocking of output port 112.And when the work of conveyer 200, output port
The front of the article 600 of 112 positions towards conveyer 200 is mobile so that the article 600 on cushioning supportive face have space to
Lower movement, so that article 600 is deposited in the position of output port 112 again.Therefore, when lot cargo pours into mouth 111 of stocking up, so that
When cargo is deposited in buffer channel 110, it is only necessary to control the advance of conveyer 200, then can keep persistently having on conveyer 200
There is article 600.In turn, it when being suitable for caching provided by above-described embodiment and feeding method, can control in conveyer 200
When transmission, article 600 flows out, and when the pause of conveyer 200, article 600 stays in buffer channel 110.So that the above method is not
It needs manually persistently to put on cargo to conveyer 200, and only a large amount of packages need to be poured into mouth 111 of stocking up.
Therefore, cache box 100 provided by the present embodiment can cooperate realization automation cargo to put, reach and improve
The effect of working efficiency.
Further, in the present embodiment, multiple rolling elements 120 are installed on the cushioning supportive face.Specifically, described
Rolling element is idler wheel.Further, the cache box 100 is equipped on the position of output port 112 among the output port 112
The block 130 of stretching.Specifically, the block 130 is rubber block.
Embodiment six
Present embodiments provide a kind of computer readable storage medium.
Caching and feeding program are stored on the computer readable storage medium, the caching and feeding program are processed
It realizes when device executes such as the step of above-mentioned caching and feeding method.
Since the present embodiment has all technical characteristics of above-mentioned caching and feeding method, the present embodiment also has upper
State beneficial effect possessed by caching and feeding method.Above-described embodiment specifically is please referred to, details are not described herein.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of caching and feeding method are led for wrapping up flow point, which is characterized in that the caching and feeding method include:
Control conveyer is fed forward；
Judge on the predeterminable area on the conveyer with the presence or absence of article；
In the predeterminable area there are when article, control conveyer stops；
The article is moved to setting position by control manipulator；
When article is not present on the predeterminable area, control conveyer is fed forward.
2. caching as described in claim 1 and feeding method, which is characterized in that described to judge whether deposit on the predeterminable area
Include: in article
Obtain the image including predeterminable area on the conveyer captured by capture apparatus；
Judge the predeterminable area with the presence or absence of article according to described image.
3. caching as described in claim 1 and feeding method, which is characterized in that the control manipulator is mobile by the article
Include: to setting position
Obtain the image including predeterminable area on the conveyer captured by capture apparatus；
Classification and the location information of article are identified according to image；
The setting position that the article matches is obtained according to the classification information；
Control manipulator obtains the article according to the positional information, and moves the item to the setting position.
4. caching as claimed in claim 3 and feeding method, which is characterized in that point for identifying article according to described image
Class and location information include:
Described image is input to neural network trained in advance, to obtain the classification information of each object in described image；
The location information of each object is obtained according to the depth information of pixel each in the classification information and described image.
5. caching as described in claim 1 and feeding method, which is characterized in that described according to classification information acquisition
The setting position that article matches includes:
When the classification information belongs to normal goods classification, then the setting position to match is the next node input bit that matches
It sets；Otherwise, the setting position to match is to abandon case position.
6. a kind of caching and feed arrangement, which is characterized in that described cache with feed arrangement includes capture apparatus, conveyer, machine
Tool hand, cache box, reservoir and processor；
The cache box is equipped with stock up mouth and output port；
The conveyer is set to the lower section of the output port；
Predeterminable area of the camera lens of the capture apparatus towards the conveyer；
The adjacent conveyer setting of the manipulator；
The reservoir stores caching and feeding program；
The processor is configured to execute the caching and feeding program, to execute as described in any one of claim 1 to 5 slow
It deposits and the step of feeding method.
7. caching as claimed in claim 6 and feed arrangement, which is characterized in that the cache box is equipped with buffer channel, described
Stock channel includes stock up mouth, output port and set on the buffer part stocked up between mouth and output port；
The buffer part includes first end, lower than the second end of first end setting, and is connected to the first end and the
Cushioning supportive face between two ends；The first end is corresponding with the mouth of stocking up, and the second end is connect with the output port.
8. caching as claimed in claim 7 and feed arrangement, which is characterized in that be installed with multiple rollings on the cushioning supportive face
Kinetoplast.
9. caching as claimed in claim 7 and feed arrangement, which is characterized in that the cache box is in the position of the output port
Equipped with block, the block extends to the intermediate of the output port.
10. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium caching and
Feed program, the caching and feeding program realize when being executed by processor such as caching described in any one of claim 1 to 5 and
The step of feeding method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315056.0A CN109353778A (en) | 2018-11-06 | 2018-11-06 | Caching and feeding method, device and computer-readable storage media |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315056.0A CN109353778A (en) | 2018-11-06 | 2018-11-06 | Caching and feeding method, device and computer-readable storage media |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109353778A true CN109353778A (en) | 2019-02-19 |
Family
ID=65344310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811315056.0A Pending CN109353778A (en) | 2018-11-06 | 2018-11-06 | Caching and feeding method, device and computer-readable storage media |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109353778A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109879009A (en) * | 2019-03-05 | 2019-06-14 | 江苏理工学院 | A kind of fan radiator automatic loading and unloading mechanism and its working method |
| CN110540042A (en) * | 2019-10-11 | 2019-12-06 | 宁夏广天夏电子科技有限公司 | Belt feeder material piles up detecting system based on three-dimensional image and video technology |
| CN117088105A (en) * | 2023-08-25 | 2023-11-21 | 斯德拉马机械(太仓)有限公司 | Automatic feeding control method and system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03172217A (en) * | 1989-11-28 | 1991-07-25 | Takaoka Electric Mfg Co Ltd | Handling robot |
| CN204423509U (en) * | 2015-02-04 | 2015-06-24 | 定州市宏源房地产经纪有限公司 | Bagged water vending machine |
| CN205471490U (en) * | 2016-01-07 | 2016-08-17 | 姜新荣 | Order letter sorting system based on manipulator |
| CN205500186U (en) * | 2016-04-15 | 2016-08-24 | 寻乌县宁达科机械设备开发有限公司 | Commodity circulation express delivery letter sorting and conveyer |
| CN206187798U (en) * | 2016-10-31 | 2017-05-24 | 大族激光科技产业集团股份有限公司 | Storage sorting device |
| CN206624369U (en) * | 2017-03-17 | 2017-11-10 | 王怡 | It is a kind of to detect robot with the medicine uniformity |
| CN107891350A (en) * | 2017-12-19 | 2018-04-10 | 安徽创星实业有限公司 | A kind of heald burnishing device |
| CN108190419A (en) * | 2017-12-26 | 2018-06-22 | 重庆市中光电显示技术有限公司 | A kind of flexible circuit plate conveying device |
| CN108230391A (en) * | 2017-12-13 | 2018-06-29 | 深圳市鸿益达供应链科技有限公司 | Intelligent identification method |
| CN108537841A (en) * | 2017-03-03 | 2018-09-14 | 株式会社理光 | A kind of implementation method, device and the electronic equipment of robot pickup |
-
2018
- 2018-11-06 CN CN201811315056.0A patent/CN109353778A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03172217A (en) * | 1989-11-28 | 1991-07-25 | Takaoka Electric Mfg Co Ltd | Handling robot |
| CN204423509U (en) * | 2015-02-04 | 2015-06-24 | 定州市宏源房地产经纪有限公司 | Bagged water vending machine |
| CN205471490U (en) * | 2016-01-07 | 2016-08-17 | 姜新荣 | Order letter sorting system based on manipulator |
| CN205500186U (en) * | 2016-04-15 | 2016-08-24 | 寻乌县宁达科机械设备开发有限公司 | Commodity circulation express delivery letter sorting and conveyer |
| CN206187798U (en) * | 2016-10-31 | 2017-05-24 | 大族激光科技产业集团股份有限公司 | Storage sorting device |
| CN108537841A (en) * | 2017-03-03 | 2018-09-14 | 株式会社理光 | A kind of implementation method, device and the electronic equipment of robot pickup |
| CN206624369U (en) * | 2017-03-17 | 2017-11-10 | 王怡 | It is a kind of to detect robot with the medicine uniformity |
| CN108230391A (en) * | 2017-12-13 | 2018-06-29 | 深圳市鸿益达供应链科技有限公司 | Intelligent identification method |
| CN107891350A (en) * | 2017-12-19 | 2018-04-10 | 安徽创星实业有限公司 | A kind of heald burnishing device |
| CN108190419A (en) * | 2017-12-26 | 2018-06-22 | 重庆市中光电显示技术有限公司 | A kind of flexible circuit plate conveying device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109879009A (en) * | 2019-03-05 | 2019-06-14 | 江苏理工学院 | A kind of fan radiator automatic loading and unloading mechanism and its working method |
| CN110540042A (en) * | 2019-10-11 | 2019-12-06 | 宁夏广天夏电子科技有限公司 | Belt feeder material piles up detecting system based on three-dimensional image and video technology |
| CN117088105A (en) * | 2023-08-25 | 2023-11-21 | 斯德拉马机械(太仓)有限公司 | Automatic feeding control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106000904B (en) | A kind of house refuse Automated Sorting System | |
| CN109353778A (en) | Caching and feeding method, device and computer-readable storage media | |
| US8967365B2 (en) | Component feeder system and method for feeding and displaying components | |
| CN109279373B (en) | Flexible unstacking and stacking robot system and method based on machine vision | |
| JP5295828B2 (en) | Object gripping system and interference detection method in the system | |
| CN109926342B (en) | Express efficient sorting system and sorting method thereof | |
| JP2023528728A (en) | Pick and place robot system | |
| CN107031938B (en) | The actuating of conveyer system | |
| CN107597600A (en) | Sorting system and method for sorting | |
| CN108273761A (en) | A kind of device and method of sorting building waste | |
| CN104850117B (en) | Robot automatic production line experiment platform and control method thereof | |
| EP2930264A1 (en) | Method for detecting an item of laundry | |
| CN111015662A (en) | Method, system and equipment for dynamically grabbing object and method, system and equipment for dynamically grabbing garbage | |
| CN109384039B (en) | Article carrying device | |
| CN108789499B (en) | Article retrieval system | |
| CN104807832A (en) | Automatic fine inspection production line of silicon ingot | |
| CN109956251A (en) | A kind of cargo identification grasping means, equipment and storage medium | |
| CN108328274A (en) | A kind of device and method of operation of automatic barcode scanning sorting express delivery | |
| CN112845143A (en) | Household garbage classification intelligent sorting system and method | |
| CN109127445B (en) | Bar code reading method and bar code reading system | |
| CN112079154A (en) | Paper-plastic composite bag differential speed deviation rectifying method and system based on visual positioning | |
| CN103964214A (en) | Detecting device and detecting method | |
| CN107051907A (en) | A kind of X-ray check machine | |
| CN111359915A (en) | Material sorting method and system based on machine vision | |
| CN110125044A (en) | A kind of apple sorting equipment based on binocular vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190219 |