CN109389351A - A kind of sorting equipment and sorting system and method for sorting - Google Patents

A kind of sorting equipment and sorting system and method for sorting Download PDF

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Publication number
CN109389351A
CN109389351A CN201811490089.9A CN201811490089A CN109389351A CN 109389351 A CN109389351 A CN 109389351A CN 201811490089 A CN201811490089 A CN 201811490089A CN 109389351 A CN109389351 A CN 109389351A
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CN
China
Prior art keywords
jewelry
camera
information
chunking
gripper components
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
Application number
CN201811490089.9A
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Chinese (zh)
Inventor
方辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jinfu Intelligent Software (shenzhen) Co Ltd
Original Assignee
Jinfu Intelligent Software (shenzhen) Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jinfu Intelligent Software (shenzhen) Co Ltd filed Critical Jinfu Intelligent Software (shenzhen) Co Ltd
Priority to CN201811490089.9A priority Critical patent/CN109389351A/en
Publication of CN109389351A publication Critical patent/CN109389351A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/24Measuring arrangements characterised by the use of optical means for measuring contours or curvatures
    • G01B11/245Measuring arrangements characterised by the use of optical means for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/16Sorting according to weight
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/34Sorting according to other particular properties
    • B07C5/342Sorting according to other particular properties according to optical properties, e.g. colour
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/87Investigating jewels

Abstract

The present invention relates to a kind of sorting equipment and sorting system and method for sorting, a kind of sorting equipment, including gripper components, the grabbing device component includes manipulator;First camera;Control circuit mould group, the control circuit mould group includes control and acquisition module, data processing module and memory module, the data processing module is separately connected with the control with acquisition module, the memory module, the data processing module is connect with first camera, and the gripper components are connect with the control with acquisition module.A kind of sorting system, including sorting equipment, the first weighing unit, the second weighing unit, information collecting device, printing equipment and stocking device.A kind of method for sorting, including separation step, build library step and printing step.The sorting equipment can carry out accurate crawl point to jewelry and identify and grab.

Description

A kind of sorting equipment and sorting system and method for sorting
Technical field
The present invention relates to jewelry to sort field, specially a kind of sorting equipment and sorting system and method for sorting.
Background technique
It is higher and higher to jewelry daily management requirement as jewellery sector develops, from packing, the storage to sale etc. of jewelry Process is excessive by manually participating in, and consumes a large amount of man power and material, causes cost that can not reduce;For jewelry warehouse pipe The horizontal of reason is then still in relatively low degree, can not subsequent realization automated warehouse management;Due to jewellery sector pearl itself Precious particularity and uniqueness results in most of Jewel Company in management, packing, storage, the sale, after sale to company's jewelry Etc. management can not accomplish that rapid and convenient is accurate.On line in terms of electric business, the numerous jewelry of style are directed to, consider its pearl Precious characteristic itself, by picture presentation, picture shooting above, the manpower and material resources of required consuming are at high cost and artificial nothing Method picks out similar picture from numerous picture libraries, this is also that current many Jewel Companies can not be sold on line on a large scale One of reason.In terms of intra-company's warehousing management, due to the uniqueness of jewelry, the management of jewelry is also only capable of accurately Jewelry to certain a kind of style is placed on some position, and some inventory can not be accurately positioned and pass in and out metering (SKU) category The specific location of some jewelry of property, the management for resulting in storage can only manage style, and can not be accurate to Piece-management.
At present on the market, the intelligent recognition for being directed to jewellery sector jewelry is still in very low level, can not be to jewelry Key point identified, automatic sorting, automatic clustering management.RFID can only be passed through by manual inspection for jewelry inventory Technology, which can only also accomplish to reduce, makes an inventory the time, and can not accomplish the function of making an inventory automatically;The shooting of jewelry picture can only be done It is shown after to shooting picture by screen, shooting still needs that the shooting of jewelry can not be unified by manually being shot Standard and the quality for guaranteeing picture
Therefore it needs to provide a kind of new technical solution upper to solve the problems, such as.
Summary of the invention
In order to solve the problems, such as above-mentioned background technique, reach the integrated purpose of jewelry stock management, the present invention It is proposed a kind of sorting equipment and sorting system and method for sorting.
A kind of sorting equipment can be used for jewelry sorting, function and information collection function with crawl point identification, energy Identification classification is carried out to the classification of jewelry.A kind of sorting equipment includes: gripper components, the first camera, control circuit mould group, institute Stating gripper components includes manipulator;First camera is used to acquire the pictorial information of jewelry;The control circuit mould group packet Include control and acquisition module, data processing module and memory module, the data processing module and the control and acquisition mould Block, the memory module are separately connected, and the data processing module is connect with first camera, the gripper components and institute It states control to connect with acquisition module, the control circuit mould group is connect with peripheral operation end.
Preferably, the data processing module further includes calculating chunking and classification chunking;The control and acquisition mould group packet Include the collector for acquiring the gripper components coordinate value;The collector is set in the gripper components, for acquiring The coordinate value of the gripper components, the collector are connect with the calculating chunking, and the collector sits the gripper components Scale value is transferred in the calculating chunking;The pictorial information of the jewelry is transferred to the calculating group by first camera In block and classification chunking;The calculating chunking is used to extract jewelry ring wall thinnest part in the jewelry pictorial information, obtains It takes position coordinate value of the ring wall thinnest part in the jewelry pictorial information and calculates the gripper components coordinate value and institute State the difference of position coordinate value, the mobile route of the output gripper components;The classification chunking is used for the jewelry picture Information style, material carry out identification classification, obtain classification information, in classification information storage to the memory module; The mobile route is sent to the control and acquisition mould group by the data conversion module by the calculating chunking, controls institute It states gripper components and the crawl point crawl is carried out to jewelry.
Preferably, the manipulator includes first clamping piece, second intermediate plate and Working-Clip seat, the first clamping piece, second intermediate plate With on the Working-Clip seat, the first clamping piece, second intermediate plate are equipped with first and receive power item and the second receipts power item for connection;Described first It receives power item and engages the first top machine that is equipped with the second receipts power item, the Working-Clip seat is connected equipped with the second top machine, first top Machine, the second top machine are connect with the control with acquisition module.
Preferably, the gripper components further include cursor and pedestal, and the cursor is connect with the manipulator, described Pedestal is equipped with rotating part, and the rotating part is connect with the cursor, and the swing arm connects, is respectively equipped with third rudder on rotating part Machine, the 4th steering engine are connect with the control with acquisition module module.
A kind of sorting system is mainly used for solving to carry out the key point of jewelry identification crawl, realizes automatic sorting, certainly Dynamic the problem of sorting out management.The sorting system includes: gripper components, the first camera, control circuit mould group, the crawl section Part includes manipulator;First camera is used to acquire the pictorial information of jewelry;The control circuit mould group include control with Acquisition module, data processing module and memory module, the data processing module and the control and acquisition module described are deposited Storage module be separately connected, the data processing module connect with first camera, the gripper components and it is described control and Acquisition module connection, the control circuit mould group are connect with the peripheral operation end.
Preferably, the data processing module further includes calculating chunking and classification chunking;The control and acquisition mould group packet Include the collector for acquiring the gripper components coordinate value;The collector is set in the gripper components, for acquiring The coordinate value of the gripper components, the collector are connect with the calculating chunking, and the collector sits the gripper components Scale value is transferred in the calculating chunking;The pictorial information of the jewelry is transferred to the calculating group by first camera In block and classification chunking;The calculating chunking is used to extract jewelry ring wall thinnest part in the jewelry pictorial information, obtains It takes position coordinate value of the ring wall thinnest part in the jewelry pictorial information and calculates the gripper components coordinate value and institute State the difference of position coordinate value, the mobile route of the output gripper components;The classification chunking is used for the jewelry picture The style of information, material carry out identification classification, obtain classification information, and the classification information is stored to the memory module and is worked as In;The mobile route is sent to the control and acquisition mould group, control by the data conversion module by the calculating chunking It makes the gripper components and the crawl point crawl is carried out to jewelry.
Preferably, a kind of sorting system further includes the first weighing unit, and first weighing unit is used to place to be sorted Jewelry and gross mass information collection is carried out to it, first weighing unit is connect with the memory module, so that total matter Information storage is measured into the memory module.
Preferably, a kind of sorting system further includes the second weighing unit, and second weighing unit is transparent material, is used to It places sorted single jewelry and the quality information of single jewelry is acquired, the second weighing unit memory module connects It connects, so that the quality information of the single jewelry is stored.
Preferably, a kind of sorting system further includes information collecting device, and the information collecting device includes:
Second camera, third camera, the 4th camera, the 5th camera, the 6th camera, the 7th camera, institute Second camera, third camera, the 4th camera, the 5th camera, the 6th camera, the 7th camera is stated to be respectively used to adopt Collect six face pictorial informations of jewelry, the second camera, third camera, the 4th camera, the 5th camera, the 6th camera shooting Head, the 7th camera are connect with the memory module and calculating chunking, described to calculate chunking for believing the size of the jewelry Breath is calculated, and the dimension information is transferred in the memory module and is stored, and the memory module is to the jewelry Six face pictorial informations are saved.
Preferably, a kind of sorting system further includes the first support arm, the second support arm, third support arm, the 4th Brace, the 5th support arm, the second camera, third camera, the 4th camera, the 5th camera, the 6th camera with First support arm, the second support arm, third support arm, the 4th support arm, the 5th support arm are separately connected, and described first Brace, the second support arm, third support arm, the 4th support arm, the 5th support arm are connect with second weighing unit, and described second Camera, third camera, the 4th camera, the 5th camera correspond to the surrounding that jewelry is set to second weighing unit, described 6th camera corresponds to the top that jewelry is set to second weighing unit, the 7th camera correspond to jewelry be installed on it is described The bottom of second weighing unit.
Preferably, partition is surrounded by second weighing unit, the second camera, third camera, the 4th take the photograph It as head, the 5th camera, is set on the partition, the 6th support arm, the 6th support is additionally provided on a wherein partition Arm is connect with the 6th camera, and the 7th camera corresponds to the bottom that jewelry is installed on second weighing unit.
Preferably, a kind of sorting system further includes corner camera head, and the corner camera head is set to the setting On the partition or the 6th support arm.
Preferably, a kind of sorting system further includes printing equipment, and the printing equipment is connect with the memory module, So that the single jewelry quality information, classification information and six face pictorial informations of jewelry, size in the memory module Information is transferred to the printing equipment and is printed, and obtains information storage item, and information storage item is set to corresponding jewelry On.
Preferably, the sorting system further includes stocking device, and the stocking device includes scanner and the storage box, described Stocking device is connect with the storage device.Conveyer belt, the transmission are equipped between the stocking device and the printing equipment The jewelry for being provided with information storage item is transported to stocking device by band.
A kind of method for sorting is applied to sorting system, and the sorting system includes sorting equipment, the first weighing unit, and second Weighing unit, information collecting device, printing equipment and loading device.The sorting equipment includes gripper components, the first camera, control Circuit module processed;The gripper components component includes manipulator;The control circuit mould group includes control and acquisition module, data Processing module and memory module, the data processing module are separately connected with the control with acquisition module, the memory module, The data processing module is connect with first camera, and the gripper components are connect with the control with acquisition module, institute It states control circuit mould group to connect with the peripheral operation end, the data processing module further includes calculating chunking and classification chunking; The control and the collector that acquisition mould group includes for acquiring the gripper components coordinate value;The collector and the calculating The gripper components coordinate value is transferred in the calculating chunking by chunking connection, the collector.
The separation step includes:
Quality acquisition step: jewelry to be sorted is placed on second weighing unit;Second weighing unit acquires institute It states the first mass of jewelry to be sorted and first mass is transmitted to the memory module;
Image acquisition step: first camera is acquired the jewelry pictorial information to be sorted, and will be described Jewelry pictorial information to be sorted is sent in the data processing module;
Data analysis step:
The data processing module parses the pictorial information and extracts appearance information, coordinate information;
Operation mould group in the data processing module calculates the picture according to the appearance information, the coordinate information Jewelry ring wall thinnest part in information obtains the ring wall thinnest part in the current jewelry picture and believes corresponding coordinate value conduct Crawl coordinate value simultaneously calculates the difference of the gripper components coordinate value and the crawl coordinate value, exports the gripper components Mobile route;
The mobile route is sent to the gripper components by the data transmission module by the data processing module In, it is grabbed described in the jewelry to be sorted and adjustment with driving the manipulator to go to and being directed at the crawl coordinate value wait divide Pick jewelry camera position.
Preferably, the data analysis step further includes classifying step:
The sorting group root tuber of the data processing module is calculated according to the appearance information, first quality information wait divide The classification results of jewelry are picked, and are matched according to the classification results with the default classification in the memory module;
Work as successful match, default classification corresponding with the classification results adds 1, and saves classification information.
Preferably, further include total amount acquisition step before the quality acquisition step:
One first weighing unit is provided, several jewelry to be sorted are placed on first weighing unit and form jewelry group;Institute It states the first weighing unit to be acquired the gross mass information of the jewelry group, obtains the second quality information;By second information It is transferred in the memory module and stores.
First camera acquires the group picture information of the jewelry group, and the group picture information is transferred to the calculating Chunking;
The calculating chunking calculates jewelry number to be sorted and corresponding single coordinate value in the group picture information;Meter Calculate difference;
The single coordinate value is sent to the crawl section by the data transmission module by the data processing module In part, to drive the manipulator that first weighing unit is gone to successively to grab corresponding to each single coordinate value wait divide Jewelry is picked, and the jewelry to be sorted is moved to second weighing unit.
Preferably, the data analysis step further includes building library step:
The jewelry to be sorted for reaching camera position is acquired using the peripheral camera being set to around second point of weighting platform Six face views of the jewelry to be sorted;The peripheral cameras is connect with the memory module, and six face view is sent It is saved to the memory module.
Preferably, the library step of building further includes size calculation step:
The peripheral cameras is connect with the data processing module;
The calculating mould group in the data processing module calculates the jewelry according to the information of six face view Dimension information sends the memory module for the dimension information and stores;
Preferably, the library step of building further includes later printing step: the printing step is used for printing equipment, described to beat Printing equipment is set to be connect with the memory module.
The printing step includes:
The control controls the gripper components with acquisition module and the jewelry that sorted is placed into the printing equipment Above;
The memory module believes the classification information of the corresponding jewelry, the first mass, six face views, length size Breath is transferred to the printing equipment;
The printing equipment is by the classification information for having sorted product, the first mass, six face views, length Dimension information is set in an information bar, and the information bar is set on corresponding jewelry, and the jewelry with information bar claims For mark jewelry.
Preferably, the printing step further includes storage step, and the stocking device is additionally provided with scanner and the storage box, institute It states scanner to connect with the memory module, the storage item of the scanner by the jewelry on scanning conveyer belt, root The jewelry is subjected to storage record according to information storage item, generates corresponding storage number, it will be described according to storage number Jewelry is put into the storage box of respective number.The storage number is stored in the memory module.
The beneficial effects of the present invention are: the present invention is by providing a kind of sorting equipment and sorting system and method for sorting, point The crawl point of jewelry can be accurately identified by picking device, be completed and the intelligent sorting of jewelry is stored and entered with information collection Library solves particularity and uniqueness due to jewellery sector jewelry itself, results in most of Jewel Company to company's jewelry Management, packing, storage, sale, management after sale etc. can not accomplish the accurate problem of rapid and convenient.
On the other hand in terms of solving electric business on line, the numerous jewelry of style is directed to, consider the characteristic of its jewelry itself, By picture presentation, picture shooting above, the manpower and material resources of required consuming are at high cost and manually can not be from numerous picture libraries In the problem of identifying comparison picture;
It solves in terms of intra-company's warehousing management, due to the uniqueness of jewelry, essence is only capable of for the management of jewelry The jewelry for really arriving certain a kind of style is placed on some position, and can not prepare to navigate to some some inventory disengaging metering Some jewelry specific location, the management for resulting in storage can only manage style, and can not be accurate to Piece-management Problem.
It is more to solve Jewelry Style, heavy workload when doing information data, and when by manually being operated, hold Easily there is the problem of mistake, through the invention, reduces artificial participation link, it is ensured that data accuracy and reliability.
Detailed description of the invention
Fig. 1 is sorting system circuit part connection schematic diagram;
Fig. 2 is gripper components structural schematic diagram;
Fig. 3 is storage case schematic diagram of internal structure in embodiment 2;
Fig. 4 is 3 method for sorting flow diagram of embodiment;
Fig. 5 is storage schematic diagram.
Label declaration: 11, gripper components, 1110, first clamping piece, 1111, second intermediate plate, 1112, first receives power item, 1113, second power item is received, the 1114, first steering engine, the 1115, second steering engine, the 12, first camera, the 2, first weighing unit, 21, the Two weighing units, 3, information collecting device, 30, second camera, 31, third camera, the 32, the 4th camera, the 33, the 5th take the photograph Picture head, the 34, the 6th camera, the 35, the 7th camera, the 36, first support arm, the 37, the 5th support arm, 38, corner camera head, 4, Printing equipment, 5, storage case, 6, conveyer belt, 7, stocking device, 71, scanner, 72, the storage box.8, jewelry to be sorted, 81, Sort jewelry, 82, mark jewelry, 13, control circuit mould group, 130, control and acquisition module, 131, collector, 14, data Processing module, 141, calculating chunking, 142, classification chunking, 15, memory module.
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.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention In explanation in the phase under a certain particular pose (as shown in the picture) between each component
To positional relationship, motion conditions etc., if the particular pose changes, directionality is indicated also correspondingly It changes correspondingly.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense, For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral;It can be mechanical connection, be also possible to Electrical connection;It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ", The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor Within the scope of shield.
With reference to attached drawing, the present invention provides a kind of sorting equipment and sorting system and method for sorting.
Embodiment 1
To achieve the above object, the invention provides the following technical scheme: a kind of sorting equipment, the function with crawl point identification Energy and information collection function can do a simple classification to the classification of jewelry.A kind of sorting equipment includes: gripper components 11, First camera 12, control circuit mould group;11 component of gripper components includes manipulator, and the material of the manipulator can foundation The material and crawl environment for grabbing product make change;First camera 12 is for acquiring jewelry pictorial information;Specifically , the control circuit mould group includes control and acquisition module, data processing module and memory module 15, institute according to Fig. 1 Data processing module is stated to be separately connected with the control with acquisition module, the memory module 15, the data processing module and First camera 12 connects, and the gripper components 11 are connect with the control with acquisition module, the control circuit mould group It is connect with the peripheral operation end.
Specifically, the data processing module further includes calculating chunking 141 and classification chunking 142;The control and acquisition Mould group includes the collector 131 for acquiring 11 coordinate value of gripper components;The collector 131 is set to the crawl On component 11, for acquiring the coordinate value of the gripper components 11, the collector 131 is connect with the calculating chunking 141, institute It states collector 131 11 coordinate value of gripper components is transferred in the calculating chunking 141;First camera 12 will The pictorial information of the jewelry is transferred in the calculating chunking 141 and classification chunking 142;The calculating chunking 141 is used In extracting jewelry ring wall thinnest part in the jewelry pictorial information, the ring wall thinnest part is obtained in the jewelry pictorial information In position coordinate value and calculate the difference of 11 coordinate value of gripper components and the position coordinate value, the output crawl The mobile route of component 11;The classification chunking 142 is used for the style to the jewelry pictorial information using picture recognition algorithm, Material carries out identification classification, obtains classification information, in classification information storage to the memory module 15;The calculating The mobile route is sent to the control and acquisition mould group by the data conversion module by chunking 141, is grabbed described in control It takes component 11 to carry out the crawl point to jewelry to grab, in the present embodiment specifically a kind of software mould of the data processing module Block, the calculating chunking 141 include one kind, including picture recognition algorithm, plus and minus calculation etc., the collector 131 can be one Such as imaging sensor of the kind with positioning dress function, laser sensor, red light sensor, GPS locator etc., the control It assists realizing by software with the control function of acquisition, the memory module 15 can be a USB storage.
Specifically, the manipulator includes gripper components 1110, second intermediate plate 1111 and Working-Clip seat, institute in the present embodiment Grabbing device is stated to be mainly used to grab the jewelry, the material selection of the gripper components 1110 and the second intermediate plate 1111 Be the soft materials such as rubber, the gripper components 1110, second intermediate plate 1111 connection connect with the Working-Clip seat, the crawl Component 1110, second intermediate plate 1111 are equipped with first and receive power item 1112 and the second receipts power item 1113;Described first receives power item 1112 One end connect with the gripper components 1110, it is described second receipts power item 1113 one end connect with the second intermediate plate 1111, The other end of the first receipts power item 1112 connect engaging with the other end of the second receipts power item 1113 and is connected to described first On steering engine 1114, first steering engine 1114 is by controlling the described first receipts for receiving power item 1112 and the second receipts power item 1113 Power size degree controls the gripper components 1110 and clamping of the second intermediate plate 1111 to the jewelry, described second Rotation of the steering engine 1115 to control the manipulator, first steering engine 1114, the second steering engine 1115 are controlled and are adopted with described Collect module connection, the control controls the track of the movement of first steering engine 1114, the second steering engine 1115 with acquisition module.
Further, the gripper components 11 further include cursor and pedestal, and the cursor is connect with the manipulator, The pedestal is equipped with rotating part, and the rotating part connect with the cursor, and the is respectively equipped in the swing arm company, rotating part Three steering engines, the 4th steering engine connects with the control with acquisition module, the control and the acquisition module control third steering engine, the The track of the movement of four steering engines.
Embodiment 2
A kind of sorting system according to Fig. 1 is mainly used for solving to carry out the key point of jewelry identification crawl, realize The problem of automatic sorting, automatic clustering manages.A kind of sorting equipment includes: gripper components 11, the first camera 12, control circuit Mould group;11 component of gripper components includes manipulator, the material of the manipulator can according to crawl product material and grab Environment is taken to make change;First camera 12 is for acquiring jewelry pictorial information;The control circuit mould group includes control With acquisition module, data processing module and memory module 15, the data processing module and the control and acquisition module, described Memory module 15 is separately connected, and the data processing module is connect with first camera 12, the gripper components 11 and institute It states control to connect with acquisition module, the control circuit mould group is connect with the peripheral operation end.
Specifically, the data processing module further includes calculating chunking 141 and classification chunking 142;The control and acquisition Mould group includes the collector 131 for acquiring 11 coordinate value of gripper components;The collector 131 is set to the crawl On component 11, for acquiring the coordinate value of the gripper components 11, the collector 131 is connect with the calculating chunking 141, institute It states collector 131 11 coordinate value of gripper components is transferred in the calculating chunking 141;First camera 12 will The pictorial information of the jewelry is transferred in the calculating chunking 141 and classification chunking 142;The calculating chunking 141 is used In extracting jewelry ring wall thinnest part in the jewelry pictorial information, the ring wall thinnest part is obtained in the jewelry pictorial information In position coordinate value and calculate the difference of 11 coordinate value of gripper components and the position coordinate value, the output crawl The mobile route of component 11;The classification chunking 142 is used for the style to the jewelry pictorial information using picture recognition algorithm, Material carries out identification classification, obtains classification information, in classification information storage to the memory module 15;The calculating The mobile route is sent to the control and acquisition mould group by the data conversion module by chunking 141, is grabbed described in control It takes component 11 to carry out the crawl point to jewelry to grab, in the present embodiment specifically a kind of software mould of the data processing module Block, the calculating chunking 141 include one kind, including picture recognition algorithm, plus and minus calculation etc., the collector 131 can be one Such as imaging sensor of the kind with positioning dress function, laser sensor, red light sensor, GPS locator etc., the control It assists realizing by software with the control function of acquisition, the memory module 15 can be a USB storage.
Specifically, the manipulator includes gripper components 1110, second intermediate plate 1111 and Working-Clip seat according to Fig.2, Grabbing device described in the present embodiment is mainly used to grab the jewelry, the gripper components 1110 and the second intermediate plate 1111 material selection is the soft materials such as rubber, the gripper components 1110, the connection of second intermediate plate 1111 and the intermediate plate Seat connection, the gripper components 1110, second intermediate plate 1111 are equipped with first and receive power item 1112 and the second receipts power item 1113;Institute The one end for stating the first receipts power item 1112 is connect with the gripper components 1110, and described second receives one end of power article 1113 and described the The connection of two intermediate plates 1111, described first, which receives the other end of power item 1112 and described second, receives the other end connection card of power item 1113 Conjunction is connected on first steering engine 1114, first steering engine 1114 by control it is described first receive power item 1112 with it is described Second receives the receipts power size degree of power item 1113 to control the gripper components 1110 with the second intermediate plate 1111 to the pearl Precious clamping, rotation of second steering engine 1115 to control the manipulator, first steering engine 1114, the second steering engine 1115 connect with the control with acquisition module, and the control controls first steering engine 1114, the second steering engine with acquisition module The track of 1115 movement.Wherein first steering engine 1114, the second steering engine 1115 can be chosen different according to different products Model described in Working-Clip seat connect with second steering engine 1115, the first steering engine 1114 described in that of the present embodiment choosing That select is burn-out-proof steering engine LDX-335MG, and that second steering engine 1115 selects is blocking rotation steering engine LFD-06.
Further, the gripper components 11 further include cursor and pedestal, and the cursor is connect with the manipulator, The pedestal is equipped with rotating part, and the rotating part connect with the cursor, and the is respectively equipped in the swing arm company, rotating part Three steering engines, the 4th steering engine connects with the control with acquisition module, the control and the acquisition module control third steering engine, the The track of the movement of four steering engines.
Specifically, a kind of sorting system further includes the first weighing unit 2, first weighing unit 2 is (in the present embodiment First weighing unit is the first electronic scale) it is used to place jewelry to be sorted and carry out gross mass information collection to it, specifically , in the present embodiment, first camera 12 further includes supporting leg, the supporting leg connection and first weighing unit Connection, first camera 12 are correspondingly arranged in the top at the center of first weighing unit, and first camera 12 is clapped The pictorial information is transferred to the data processing module, first weighing by the pictorial information for taking the photograph the jewelry to be sorted 8 Platform is connect with the memory module 15, so that the gross mass information is transferred to the storage of memory module 15.
Further, a kind of sorting system further includes 21 (second weighing in the present embodiment of the second weighing unit Platform 21 is the second electronic scale), second weighing unit 21 is transparent material, for placing sorted single jewelry and to it Quality information acquisition is carried out, second weighing unit 21 is connect with the memory module 15, so that the quality of the single jewelry Information is transferred to the storage of memory module 15.
Specifically, a kind of sorting system further includes information collecting device 3 according to Fig.3, the information collection dress Setting 3 includes: second camera 30, third camera 31, the 4th camera 32, the 5th camera 33, the 6th camera the 34, the 7th Camera 35, the second camera 30, third camera 31, the 4th camera 32, the 5th camera 33, the 6th camera 34, the 7th camera 35 acquires six face pictorial informations of picture, the second camera 30, third camera the 31, the 4th respectively Camera 32, the 5th camera 33, the 6th camera 34, the 7th camera 35 and the control circuit mould group the storage mould Block 15 connects, so that pictorial information storage in six face is to memory module 15, it is spare;
Specifically, further including the first support arm 36, the second support arm, third support arm, the 4th support arm, the 5th support arm 37, the second camera 30, third camera 31, the 4th camera 32, the 5th camera 33, the 6th camera 34 with it is described First support arm 36, the second support arm, third support arm, the 4th support arm, the 5th support arm 37 are separately connected, and described first Brace 36, the second support arm, third support arm, the 4th support arm, the 5th support arm 37 are connect with second weighing unit 21, institute It states the corresponding jewelry of second camera 30, third camera 31, the 4th camera 32, the 5th camera 33 and is set to second weighing The surrounding of platform 21, the corresponding jewelry of the 6th camera 34 are set to the top of second weighing unit 21, and the described 7th takes the photograph As first 35 corresponding jewelry are installed on the bottom of second weighing unit 21, described jewelry 81 has been sorted to guarantee to collect The information of the six views is transferred in the memory module 15 and stores by six views, spare.The second camera 30, Three cameras 31, the 4th camera 32, the 5th camera 33 with the jewelry position in same level, and two opposites On the same line, the 6th camera 34, the 7th camera 35 are with the jewelry in same level for camera and jewelry And on same straight line, to guarantee to obtain six face views of jewelry standard.
Further, due to being provided with the supporting leg and described on first weighing unit in the present embodiment One camera 12, thus the initial weight information of first weighing unit 2 is by manually correcting.
Specifically, the six views are also transmitted to the calculating chunking 141, the calculating chunking 141 passes through pictorial information The dimension information of the length of the outer profile width for going out the jewelry and Internal periphery width and jewelry that calculate, will be described Dimension information is stored into the memory module 15, spare.
Specifically, further including corner camera head 38, the corner camera head 38 is set on the setting partition.? The present embodiment corner camera head 38 described in is set to the preceding one side left upper of second weighing unit 21, for acquiring The perspective view of jewelry is stated, the corner camera head 38 is connect with the memory module 15, to save perspective view.
Specifically, further including printing equipment 4, the printing equipment 4 is connect with the memory module 15, so that the storage The single jewelry quality information, classification information and dimension information and six face pictorial information in module 15 pass through institute It states data transmission module and is transferred to the printing equipment 4 and printed, obtain information storage item, the printing equipment 4 can be RFID printing equipment 4.
Specifically, the sorting system further includes stocking device 7 according to Fig.5, the stocking device 7 is additionally provided with electricity Scanner 71 described in sub- induction module and the storage box 72, the scanner 71 are connect with the memory module 15, the scanner 71 pass through the storage item of the jewelry on scanning conveyer belt 6, store item according to the information and are put in storage the jewelry Record generates corresponding storage number, the jewelry is put into the storage box 72 of respective number according to storage number.By it is described enter Library number is stored in the memory module 15.
The transmission device in the present embodiment, the sorting equipment, the first weighing unit 2, the second weighing unit 21, information Acquisition module, printing equipment 4 are set within a storage case 5, and the conveyer belt 6 that is provided on one side of the storage case 5 exports, described Transmission device connection makes the jewelry sorted be transported to stocking device 7, and four apex angles of the storage case 5 are equipped with illumination dress It sets.
The second camera, third camera, the 4th camera, the 5th camera, the 6th camera shooting in the present embodiment Head is respectively by being arranged in first support arm, the second support arm, third support arm, the 4th support arm, the 5th support arm The circuit connection of interior electric wire and second weighing unit 21,21 electricity of the circuit of the 7th camera and second weighing unit Road connection, the circuit of the printing equipment and 21 circuit connection of the second weighing unit, first camera circuit with it is described Second weighing unit, 21 circuit connection, the first weighing unit circuit and first list claim circuit and the gripper components Circuit with it is described summarize to summarize for one connect for a total electric wire with the control circuit mould group, but every in way circuit Circuit be it is independent, only in form converge be one.
Embodiment 3
A kind of method for sorting according to Fig. 4 is applied to sorting system, and the sorting system includes sorting equipment, and first Weighing unit 2, the second weighing unit 21, information collecting device 3, printing equipment 4 and loading device.The sorting equipment includes crawl section Part 11, the first camera 12, control circuit mould group;11 component of gripper components includes manipulator;The control circuit mould group Including control and acquisition module, data processing module and memory module 15, the data processing module and the control and acquisition Module, the memory module 15 are separately connected, and the data processing module is connect with first camera 12, the crawl Component 11 is connect with the control with acquisition module, and the control circuit mould group is connect with the peripheral operation end, the data Processing module further includes calculating chunking 141 and classification chunking 142;The control includes for acquiring the crawl with acquisition mould group The collector 131 of 11 coordinate value of component;The collector 131 is connect with the calculating chunking 141, and the collector 131 is by institute 11 coordinate value of gripper components is stated to be transferred in the calculating chunking 141.
The separation step includes:
S1: total amount acquisition step:
One first weighing unit 2 is provided, several jewelry 8 to be sorted are placed on first weighing unit 2 and form jewelry group; First weighing unit 2 is acquired the gross mass information of the jewelry group, obtains the second quality information;Described second is believed Breath is transferred in the memory module 15 and stores.
First camera 12 acquires the group picture information of the jewelry group, and the group picture information is transferred to the meter Calculate chunking 141;
The calculating chunking 141 calculates 8 numbers of the jewelry to be sorted in the group picture information and corresponding single coordinate Value;Calculating difference;
The single coordinate value is sent to the crawl section by the data transmission module by the data processing module In part 11, to drive the manipulator that first weighing unit 2 is gone to successively to grab corresponding to each single coordinate value Jewelry 8 to be sorted, and the jewelry 8 to be sorted is moved to second weighing unit 21.
S2: image acquisition step: first camera 12 is acquired 8 pictorial information of jewelry to be sorted, and 8 pictorial information of jewelry to be sorted is sent in the data processing module;
S21: data analysis step:
The data processing step includes calculating step: the data processing module parses the pictorial information and extracts shape Information, coordinate information;
Operation mould group in the data processing module calculates the picture according to the appearance information, the coordinate information Jewelry ring wall thinnest part in information obtains the ring wall thinnest part in the current jewelry picture and believes corresponding coordinate value conduct Crawl coordinate value simultaneously calculates the difference of 11 coordinate value of gripper components and the crawl coordinate value, the output gripper components 11 mobile route;
The mobile route is sent to the gripper components by the data transmission module by the data processing module In 11, with drive the manipulator to go to and be aligned the crawl coordinate value grab the jewelry 8 to be sorted and adjust it is described to Sort 8 camera position of jewelry.
S22: classifying step: the classification chunking 142 of the data processing module is according to the appearance information, first matter Amount information calculates the classification results of jewelry 8 to be sorted, and according to default in the classification results and the memory module 15 Classification is matched;Work as successful match, default classification corresponding with the classification results adds 1, and saves classification information.
S23: jewelry 8 to be sorted quality acquisition step: is placed in second weighing unit 21;Second weighing unit 21 It acquires the first mass of the jewelry to be sorted 8 and first mass is transmitted to the memory module 15;
S3: library step is built:
S31: six face view acquisition steps: reaching the jewelry to be sorted 8 of camera position, is claimed using being set to described second point Peripheral camera around platform acquires six face views of the jewelry to be sorted 8;The peripheral cameras and the memory module 15 connections, send the memory module 15 for six face view and save.
S32: size calculation step: the peripheral cameras is connect with the data processing module;The data processing mould The calculating mould group in block calculates the length dimension information of the jewelry according to the information of six face view, by institute It states length dimension information and is sent to the storage of memory module 15;
S4: printing step: the printing step is used for printing equipment 4, and the printing equipment 4 connects with the memory module 15 It connects;
The printing step includes: that the control and acquisition module control the gripper components 11 and sorted jewelry for described 81 are placed into above the printing equipment 4;
The memory module 15 is by the classification information of the corresponding jewelry, the first mass, six face views, length size Information is transferred to the printing equipment 4;The printing equipment 4 by the classification information for having sorted product, the first mass, Six face views, length dimension information are set in an information bar, and the information bar is set on corresponding jewelry, the band There is the jewelry of information bar to be known as mark jewelry 82.
S5: storage step, the stocking device 7 are additionally provided with scanner 71 described in electronic induction module and the storage box 72, institute It states scanner 71 to connect with the memory module 15, the scanner 71 is deposited by the described of the jewelry on scanning conveyer belt 6 Item is stored up, item is stored according to the information, the jewelry is subjected to storage record, corresponding storage number is generated, according to storage number The jewelry is put into the storage box 72 of respective number.The storage number is stored in the memory module 15.
Further specifically, when completing the sorting of the jewelry group, the calculating chunking 141 is by first quality information Additional calculation is carried out, is made comparisons with second quality information, verification inspection is carried out, without completion sorting process of mistaking, when wrong, The calculating chunking 141 issues error message to peripheral operation end.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly It is included in other related technical areas in scope of patent protection of the invention.

Claims (10)

1. a kind of sorting equipment characterized by comprising
Gripper components, the gripper components include manipulator;
First camera, first camera are used to acquire the pictorial information of jewelry;
Control circuit mould group, the control circuit mould group include control and acquisition module, data processing module and memory module, The data processing module is separately connected with the control with acquisition module, the memory module, the data processing module and First camera connection, the gripper components are connect with the control with acquisition module, the control circuit mould group with outside The connection of portion operating side.
2. sorting equipment according to claim 1, which is characterized in that the data processing module further include calculate chunking and Classification chunking;The control and the collector that acquisition mould group includes for acquiring the gripper components coordinate value;The collector It is set in the gripper components, for acquiring the coordinate value of the gripper components, the collector and the calculating chunking connect It connects, the gripper components coordinate value is transferred in the calculating chunking by the collector;First camera will be described The pictorial information of jewelry is transferred in the calculating chunking and classification chunking;The calculating chunking is used in the jewelry figure Jewelry ring wall thinnest part is extracted in piece information, obtains position coordinates of the ring wall thinnest part in the jewelry pictorial information Value and the difference for calculating the gripper components coordinate value and the position coordinate value, export the mobile route of the gripper components;
The classification chunking is used to carry out identification classification to the style of the jewelry pictorial information, material, obtains classification information, will In the classification information storage to the memory module;
The mobile route is sent to the control and acquisition mould group, control by the data conversion module by the calculating chunking It makes the gripper components and the crawl point crawl is carried out to jewelry.
3. a kind of sorting system, which is characterized in that including sorting equipment, wherein the sorting equipment includes:
Gripper components, the gripper components include manipulator;
First camera, first camera are used to acquire the pictorial information of jewelry;
Control circuit mould group, the control circuit mould group include control and acquisition module, data processing module and memory module, The data processing module is separately connected with the control with acquisition module, the memory module, the data processing module and First camera connection, the gripper components are connect with the control with acquisition module, the control circuit mould group with outside The connection of portion operating side.
4. sorting system according to claim 3, which is characterized in that the data processing module further include calculate chunking and Classification chunking;The control and the collector that acquisition mould group includes for acquiring the gripper components coordinate value;The collector It is set in the gripper components, for acquiring the coordinate value of the gripper components, the collector and the calculating chunking connect It connects, the gripper components coordinate value is transferred in the calculating chunking by the collector;First camera will be described The pictorial information of jewelry is transferred in the calculating chunking and classification chunking;
The calculating chunking is used to extract jewelry ring wall thinnest part in the jewelry pictorial information, obtains the ring wall thinnest part Position coordinate value in the jewelry pictorial information, and calculate the difference of the gripper components coordinate value and the position coordinate value Value, exports the mobile route of the gripper components;
The classification chunking is used for the style to the jewelry pictorial information, and material carries out identification classification, obtains classification information, will In the classification information storage to the memory module;
The mobile route is sent to the control and acquisition mould group, control by the data conversion module by the calculating chunking It makes the gripper components and the crawl point crawl is carried out to jewelry.
5. sorting system according to claim 3, which is characterized in that it further include the first weighing unit, first weighing unit For placing jewelry to be sorted and carrying out gross mass information collection to it, first weighing unit and the memory module connect It connects, so that gross mass information storage is into the memory module;And/or including the second weighing unit, second weighing unit It equipped with transparent objective table, is acquired for the quality information to single jewelry, second weighing unit and the memory module Connection, so that the quality information of the single jewelry is stored.
6. sorting system according to claim 3, which is characterized in that it further include information collecting device, the information collection Device includes:
Second camera, third camera, the 4th camera, the 5th camera, the 6th camera, the 7th camera, described Two cameras, third camera, the 4th camera, the 5th camera, the 6th camera, the 7th camera are respectively used to acquisition pearl Six precious face pictorial informations, the second camera, third camera, the 4th camera, the 5th camera, the 6th camera, 7th camera and the memory module and calculate chunking and connect, the calculating chunking for by the dimension information of the jewelry into Row calculates, and the dimension information is transferred in the memory module and is stored, six faces of the memory module to the jewelry Pictorial information is saved;With, including the first support arm, the second support arm, third support arm, the 4th support arm, the 5th support Arm, the second camera, third camera, the 4th camera, the 5th camera, the 6th camera and first support Arm, the second support arm, third support arm, the 4th support arm, the 5th support arm are separately connected, first support arm, second Brace, third support arm, the 4th support arm, the 5th support arm are connect with second weighing unit, the second camera, third Camera, the 4th camera, the 5th camera correspond to the surrounding that jewelry is set to second weighing unit, the 6th camera pair Jewelry is answered to be set to the top of second weighing unit, the 7th camera corresponds to jewelry and is installed on second weighing unit Transparent objective table bottom.
7. a kind of method for sorting is applied to sorting system, which is characterized in that
The sorting system includes sorting equipment, and the sorting equipment includes: gripper components, the first camera, control circuit mould Group;The gripper components component includes manipulator;The control circuit mould group includes control and acquisition module, data processing module And memory module, the data processing module are separately connected with the control with acquisition module, the memory module, the data Processing module is connect with first camera, and the gripper components are connect with the control with acquisition module, the control electricity Road mould group is connect with the peripheral operation end, and the data processing module further includes calculating chunking and classification chunking;The control With the collector that acquisition mould group includes for acquiring the gripper components coordinate value;The collector and the calculating chunking connect It connects, the gripper components coordinate value is transferred in the calculating chunking by the collector;
First weighing unit, first weighing unit are connect with the memory module;
The separation step includes:
Quality acquisition step: jewelry to be sorted is placed in second weighing unit;The second weighing unit acquisition is described wait divide It picks the first mass of jewelry and first mass is transmitted to the memory module;
Image acquisition step: first camera is acquired the jewelry pictorial information to be sorted, and will be described wait divide Jewelry pictorial information is picked to be sent in the data processing module;
Data analysis step:
The data processing module parses the pictorial information and extracts appearance information, coordinate information;
Operation mould group in the data processing module calculates the pictorial information according to the appearance information, the coordinate information In jewelry ring wall thinnest part, obtain the ring wall thinnest part and believe corresponding coordinate value as crawl in the current jewelry picture Coordinate value simultaneously calculates the difference of the gripper components coordinate value and the crawl coordinate value, exports the movement of the gripper components Route;
The mobile route is sent in the gripper components by the data processing module by the data transmission module, with It drives the manipulator to go to and is directed at the crawl coordinate value and grab the jewelry to be sorted and adjust the jewelry to be sorted Camera position.
8. method for sorting according to claim 7, which is characterized in that the sorting group root tuber of the data processing module is according to institute State pictorial information, first quality information calculates the classification results of jewelry to be sorted, and according to the classification results and institute The default classification stated in memory module is matched,
Work as successful match, default classification corresponding with the classification results adds 1, and saves classification information.
9. method for sorting according to claim 7, which is characterized in that further include total amount before the quality acquisition step Acquisition step:
One first weighing unit is provided, several jewelry to be sorted are placed on first weighing unit and form jewelry group;Described One weighing unit is acquired the gross mass information of the jewelry group, obtains the second quality information;Second information is transmitted It is stored in the memory module;
First camera acquires the group picture information of the jewelry group, and the group picture information is transferred to the calculating group Block;
The calculating chunking calculates jewelry number to be sorted and corresponding single coordinate value in the group picture information;It is poor to calculate Value;
The single coordinate value is sent in the gripper components by the data processing module by the data transmission module, To drive the manipulator that first weighing unit is gone to successively to grab pearl to be sorted corresponding to each single coordinate value Treasured, and the jewelry to be sorted is moved to second weighing unit.
10. method for sorting according to claim 7, which is characterized in that the data analysis step further includes building library step, The library step of building includes:
Six face view acquisition steps:
The jewelry to be sorted for reaching camera position, using described in the peripheral camera acquisition being set to around second point of weighting platform Six face views of jewelry to be sorted;The peripheral cameras is connect with the memory module;
Six face view is sent to the memory module and saves;
Size calculation step:
The peripheral cameras is connect with the data processing module;
The calculating mould group in the data processing module calculates the ruler of the jewelry according to the information of six face view Very little information sends the memory module for the dimension information and stores.
CN201811490089.9A 2018-12-06 2018-12-06 A kind of sorting equipment and sorting system and method for sorting Pending CN109389351A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110369315A (en) * 2019-06-28 2019-10-25 广东鑫能机器人科技有限公司 A kind of jewelry machining production line
CN111389750A (en) * 2020-04-07 2020-07-10 苏州瀚德光电科技有限公司 Vision measurement system and measurement method
WO2020254059A1 (en) * 2019-06-21 2020-12-24 De Beers Uk Ltd Measurement of rough gemstones
CN112304411A (en) * 2019-07-31 2021-02-02 梅特勒-托利多(常州)测量技术有限公司 Weighing system with object recognition and weighing method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020254059A1 (en) * 2019-06-21 2020-12-24 De Beers Uk Ltd Measurement of rough gemstones
GB2592551A (en) * 2019-06-21 2021-09-08 De Beers Uk Ltd Measurement of rough gemstones
CN110369315A (en) * 2019-06-28 2019-10-25 广东鑫能机器人科技有限公司 A kind of jewelry machining production line
CN112304411A (en) * 2019-07-31 2021-02-02 梅特勒-托利多(常州)测量技术有限公司 Weighing system with object recognition and weighing method
CN111389750A (en) * 2020-04-07 2020-07-10 苏州瀚德光电科技有限公司 Vision measurement system and measurement method

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