CN109396053A - Intelligent sorting method - Google Patents
Intelligent sorting method Download PDFInfo
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- CN109396053A CN109396053A CN201811281596.1A CN201811281596A CN109396053A CN 109396053 A CN109396053 A CN 109396053A CN 201811281596 A CN201811281596 A CN 201811281596A CN 109396053 A CN109396053 A CN 109396053A
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- Prior art keywords
- coordinate
- grabbed
- controller
- sorting
- conveyer belt
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The invention discloses a kind of intelligent sorting methods, conveyer belt on transmitting device transmits object to be grabbed, motor on the transmitting device is connected with encoder, the data of the encoder detection when conveyer belt is run are acquired using controller, establishing in the controller has sorting to execute end coordinates system and imaging terminal coordinate system, it passes sequentially through data acquisition, image procossing, coordinate judgement, coordinate conversion, coordinate real-time update, crawl and crawl object transfer to place, realizes the sorting for treating crawl object.Compared with prior art, sorting executes terminal and can sort to the object to be grabbed on conveyer belt, without manually being sorted, high degree of automation, and improve the working efficiency of sorting.
Description
Technical field
The present invention relates to method for sorting, more specifically to a kind of intelligent sorting method.
Background technique
With the fast development of building material industry in recent years, the continuous improvement of yield and cost of labor, brick class production industry
Also transition and upgrade has been carried out, and in particular to brick class packaging facilities is arrived, original hand-filling is gradually transformed into automatic packaging, but
It is that finished bricks still need to be stacked together by the way of artificial, the degree of automation and life on whole the Automation Bottle Packaging Line
It is all relatively low to produce efficiency.
Summary of the invention
The object of the present invention is to provide a kind of intelligent sorting method, high degree of automations, and production efficiency is also high.
In order to achieve the above objectives, solution of the invention is:
A kind of intelligent sorting method transmits object to be grabbed using the conveyer belt on transmitting device, on the transmitting device
Motor is connected with encoder, and the data of the encoder detection when conveyer belt is run, the control are acquired using controller
Establishing in device has sorting to execute end coordinates system and imaging terminal coordinate system, and this method comprises the following steps:
A1: data acquisition: the object to be grabbed enters shooting area under conveyer belt transmission, and imaging terminal is to described
Object discontinuous shooting to be grabbed obtains image, while the controller obtains the data of the encoder detection in real time and calculates every
The moving distance of object to be grabbed described in when secondary shooting；
A2: image procossing: the controller handles each image of the imaging terminal transmission, obtains clapping in corresponding image
According to coordinate A of the object to be grabbed described in the moment under imaging terminal coordinate system；
A3: coordinate judgement；The controller is according to the coordinate A corresponding in two images being continuously shot and every time
The moving distance for shooting the object to be grabbed, judges whether the object to be grabbed in two images corresponds to same object to be grabbed, and
The one-to-one coordinate A of object to be grabbed under imaging terminal coordinate system is determined according to judging result；
A4: coordinate conversion: coordinate A of the object to be grabbed under imaging terminal coordinate system is converted into sorting by the controller
Execute the coordinate B under end coordinates system；
A5: coordinate real-time update: the controller determines the corresponding image capture moment of coordinate A to institute according to object to be grabbed
Object to be grabbed is stated in the moving distance of this period at current time, the coordinate B of object to be grabbed described in real-time update；
A6: crawl: the grasping end that the sorting executes terminal tracks the object to be grabbed, and the controller is grabbed according to
End is taken to judge the object to be grabbed whether in the grasping end with coordinate of the object to be grabbed in the case where sorting end coordinates system
It grabs in range, if so, the grasping end grabs the object to be grabbed；If it is not, then the grasping end does not execute grasping movement；
A7: crawl object transfer is placed: the controller executes working as under end coordinates system in sorting according to the grasping end
Preceding coordinate B and preset crawl object position coordinates B ' to be placed, cooks up the motion profile of the grasping end, and issue instruction
Terminal is executed to the sorting, the grasping end is placed in corresponding position for object is grabbed, the sorting of the crawl object can be completed.
In step A2, the controller also obtains the material data of the object to be grabbed according to image, and by described wait grab
It takes the material data of object to be compared with preset material data, determines the type of the object to be grabbed.
The material data includes length, width and the textured pattern of material profile.
It is divided on the conveyer belt and needs capture area, the coordinate model to capture area is preset in the controller
Enclose, the controller according to the changing coordinates A and the coordinate range to capture area of the object to be grabbed, judgement it is described to
Whether crawl object is in described to if being in, then follow the steps A6, otherwise do not execute step A6 in capture area.
Using the direction of transfer of the conveyer belt as X-direction under imaging terminal coordinate system, Y direction is vertical in plane
The direction of X-axis, in step A3, the controller is to the coordinate A obtained in the image being continuously shotAs 1With coordinate AAs 2It is compared,
If coordinate AAs 1With coordinate AAs 2Y-axis numerical value it is not identical, then the controller determines coordinate AAs 1With coordinate AAs 2It has respectively corresponded not
Same object to be grabbed, then the controller stores coordinate A respectivelyAs 1With coordinate AAs 2Real-time current seat as corresponding object to be grabbed
Mark AAs working as；If coordinate AAs 1With coordinate AAs 2Y-axis numerical value it is identical, then the controller is by coordinate AAs 2With coordinate AAs 1Between transmitting
The difference and coordinate A in directionAs 2The moving distance of object to be grabbed is compared when shooting, if determining coordinate AAs 2With coordinate AAs 1It
Between direction of transfer difference it is consistent with moving distance, then coordinate AAs 1With coordinate AAs 2Same object to be grabbed is corresponded to, by the seat
MarkAs 2It is stored as the object changing coordinates A to be grabbedAs working as；If determining coordinate AAs 2With coordinate AAs 1Between direction of transfer difference and shifting
Dynamic distance is not identical, then coordinate AAs 1With coordinate AAs 2Different objects to be grabbed are respectively corresponded, then the controller stores seat respectively
Mark AAs 1With coordinate AAs 2Real-time changing coordinates A as corresponding object to be grabbedAs working as。
After adopting the above method, the invention has the following beneficial effects: sorting execute terminal can on conveyer belt to
Crawl object is sorted and is stacked, without manually being sorted, high degree of automation, and improve the working efficiency of sorting.
Further, sorting machine people can also identify the object to be grabbed on conveyer belt, so as to by same kind
Object to be grabbed be sorted to same position.
Further, object to be grabbed is transformed into the seat under sorting execution end coordinates system in the coordinate under imaging coordinate system
The plane coordinates that mark, i.e. controller obtain object to be grabbed according to image turns over into the three-dimensional coordinate that sorting executes terminal, controller
Can simply, accurately obtain plane coordinates, and be transformed into sorting execute end coordinates system under after, controller can be obtained wait grab
Object is taken accurately to execute the coordinate of terminal based on sorting, executing sorting, terminal crawl is more accurate, and accuracy is high.
Detailed description of the invention
Fig. 1 is the flow diagram of intelligent sorting method.
Fig. 2 is the sorting structure schematic diagram that sorting executes terminal in the stacking baling line based on intelligent sorting method.
Fig. 3 is the circuit connection block diagram using intelligent stacking baling line.
Fig. 4 is the structural schematic diagram using intelligent stacking baling line.
In figure:
10- sorting machine people's 20- packing apparatus
31- meets brick conveyer belt 32- and folds brick conveyer belt
33- transmits conveyer belt 4- industrial camera
50- stacking belt dressing 60- robot palletizer
Specific embodiment
In order to further explain the technical solution of the present invention, being explained in detail below by specific embodiment the present invention
It states.
As shown in Figs. 1-2, a kind of intelligent sorting method of the present invention, is applied in a kind of stacking baling line, i.e., of the invention
In addition to disclosing a kind of intelligent sorting method, a kind of stacking baling line based on intelligent sorting is also disclosed.
Stacking baling line includes that controller, transmitting device, encoder, imaging terminal and sorting execute terminal, object to be grabbed
It is placed on the conveyer belt of transmitting device.
Encoder is existing rotary encoder, this encoder couples with the motor coaxle of transmitting device in the usual way,
Wherein, controller can be by the length for calculating conveyer belt movement by obtaining the data of data and counting module that encoder detects
Degree, that is, the moving distance of object to be grabbed, this is calculated as conventional calculating, therefore not reinflated narration.
It is direction from front to back with the direction of transfer of conveyer belt, the front end of conveyer belt is divided into shooting in the present embodiment
Region, its rear end are divided into capture area, and imaging terminal, the side of the rear end of conveyer belt are equipped with above the front end of conveyer belt
Sorting is installed and executes terminal.Wherein, controller is built-in with counting module, and threshold value to be grabbed, preset is preset in controller
There are the placement location coordinate of crawl object and the coordinate range of capture area, is sat in controller by plane of the direction of transfer of conveyer belt
Target X-direction, establishing respectively with the perpendicular direction of X-direction for Y direction has sorting to execute end coordinates system and imaging
End coordinates system.
Controller has data acquisition unit and image processing unit, this data acquisition unit is used to acquire the number of encoder
According to；The picture that this image processing unit shoots imaging terminal is handled, the conventional image binaryzation of picture processing application, peace
Loaded in controller OpenCV software or other usual manners can obtain.Also there is data processing unit in controller, this
Data processing unit is used to calculate the data of image processing unit treated data and data acquisition unit acquisition.
In the present embodiment, this imaging terminal is existing conventional industrial camera 4, and it is existing conventional point that sorting, which executes terminal,
Pick robot 10.
In the present invention, the expansion of intelligent sorting method is described and application is described in detail, it is specific as follows.
Embodiment one
A kind of intelligent sorting method of the present embodiment, includes the following steps:
A1: data acquisition: object to be grabbed enters shooting area under the transmission of conveyer belt, and imaging terminal is treated between crawl object
Disconnected formula shooting obtains image, and imaging terminal can shoot two images to same object to be grabbed in shooting area, meanwhile, control
Device obtains the data of encoder detection in real time, and according to the current data of counting module, calculates object to be grabbed when each shooting
Moving distance；
A2: image procossing: for imaging terminal by the image transmitting of shooting to controller, controller carries out each image of transmission
Processing, obtains coordinate A of the object to be grabbed under imaging terminal coordinate system；
A3: coordinate judgement: controller compares the coordinate A obtained on the image that imaging terminal is continuously shotAs 1With coordinate AAs 2,
If coordinate AAs 1With coordinate AAs 2Y-axis numerical value it is not identical, then controller determine coordinate AAs 1With coordinate AAs 2It has corresponded to different wait grab
Object is taken, then controller stores coordinate A respectivelyAs 1With coordinate AAs 2Real-time changing coordinates A as corresponding object to be grabbedAs working as；If they are the same,
Then controller coordinate AAs 1With coordinate AAs 2Between X-direction difference and coordinate AAs 2Shifting to be captured when corresponding image taking
Dynamic distance is compared, if determining coordinate AAs 1With coordinate AAs 2Between X-direction difference it is consistent with moving distance, then coordinate
AAs 1With coordinate AAs 2Same object to be grabbed is corresponded to, by coordinateAs 2It is stored as the object changing coordinates A to be grabbedAs working as；If determining coordinate
AAs 2With coordinate AAs 1Between direction of transfer difference and moving distance it is not identical, then coordinate AAs 1With coordinate AAs 2It respectively corresponds
Different objects to be grabbed, then controller stores coordinate A respectivelyAs 1With coordinate AAs 2Changing coordinates A as corresponding object to be grabbedAs working as；
Wherein, imaging terminal may take an object to be grabbed on an image, can also clap after each shooting
It takes the photograph to two wait grab, or takes multiple objects to be grabbed.Specifically:
When only taking one when grabbing object on an image, it is compared by step A3；
When an image taking to two when grabbing object, controller can obtain two objects to be grabbed on this image at
As the coordinate A under end coordinates system, this two coordinate A can be compared in controller, if the Y-axis numerical value of two coordinate A is not identical,
Determine that two coordinate pairs have answered different objects to be grabbed；Subsequent controller will be on this two coordinate and another image being continuously shot
Two coordinates are compared, and are compared by step A3；Wherein, an image taking is also schemed by one to multiple when grabbing object
It is compared as taking two wait grab described mode in the case of object.In the present embodiment, with the image of imaging terminal shooting
In, one is only taken on an image wait for grabbing object.
A4: coordinate conversion: coordinate A of the controller by object to be grabbed under imaging terminal coordinateAs working asIt is converted into executing in sorting
Coordinate B under end coordinates systemObject is picked to work as；
A5: coordinate real-time update: controller is according to the coordinate B of object to be grabbedObject is picked to work asCorresponding image capture moment is to current
The moving distance at moment, the changing coordinates B of real-time update object to be grabbedObject is picked to work as；
A6: crawl: changing coordinates of the controller according to the coordinate range of capture area, with the object to be grabbed obtained in real time
BObject is picked to work asIt is compared, if controller determines the changing coordinates B of object to be grabbedObject is picked to work asIt is in coordinate range in capture area, then defeated
Control instruction executes terminal to sorting out, and the grasping end adjustment posture that sorting executes terminal tracks object to be grabbed, controller according to
The grasping end that sorting executes terminal executes the real-time changing coordinates B under end coordinates system in sortingCrawl is worked asWith the coordinate of object to be grabbed
BObject is picked to work as, grasping end is calculated and wait grab the difference between object along the x axis, when to be less than controller preset wait grab for the difference
When threshold value, controller issues control instruction, and the grasping end that sorting executes terminal grabs object to be grabbed, and executes step A7；If should
Difference is preset when grabbing threshold value more than or equal to controller, which does not execute grasping movement；
A7: crawl object transfer is placed: controller executes the coordinate B of the grasping end of terminal according to sortingCrawl is worked asWith crawl object
Placement location coordinate B 'Object is put, the motion profile of grasping end is cooked up, and issue instructions to sorting and execute terminal, grasping end will grab
Object is placed in specified position, and the sorting of the crawl object can be completed.
In step A2, controller also obtains the material data of object to be grabbed according to image, and material data includes material wheel
Wide length, width and textured pattern, also, length, width and the texture of different type object to be grabbed are preset in controller
Pattern；In step A3, controller will processing obtained profile length to be captured, width and textured pattern, with it is preset not
Length, width and the textured pattern of same type material are compared, and judge the type of object to be grabbed.
A kind of intelligent sorting method of the present invention, can sort the object to be grabbed on conveyer belt, carry out without artificial
Sorting, high degree of automation, and improve the working efficiency of sorting.
Embodiment two
As shown in Figs. 1-2, in the present embodiment, intelligent sorting method described in embodiment one is applied to, conveyer belt is uploaded
The sorting of defeated all types of finished bricks, and same type finished bricks can be also transferred to corresponding position and stacked by this intelligent sorting method
Together.Wherein, by taking the plane coordinates of industrial camera and sorting machine people is parallel to each other as an example.
It is stored with various types finished bricks in controller and executes the position coordinates placed under end coordinates system in sorting.
A kind of intelligent sorting method, includes the following steps: in the present embodiment
A1: data acquisition: each finished bricks are scattered on a moving belt, are clapped when finished bricks to be grabbed enter under conveyer belt transmission
Take the photograph region, industrial camera 4 can shoot two images in shooting area to same object to be grabbed, industrial camera 4 treat crawl at
The shooting of product brick discontinuous obtains image, while controller obtains the data of encoder detection in real time, and when calculating each shooting
The moving distance △ X of finished bricks to be grabbed；
A2: image procossing: for industrial camera 4 by the image transmitting of shooting to controller, controller transmits industrial camera 4
Each image is handled, and the seat of the corresponding material data of each finished bricks and finished bricks to be grabbed under imaging terminal coordinate system is obtained
Mark A；
A3: coordinate judgement: controller carries out the material data of preset material data and the finished bricks to be grabbed obtained
It compares, determines the type of finished bricks to be grabbed, meanwhile, controller compares the seat obtained on the image that industrial camera 4 is continuously shot
Mark AAs 1With coordinate AAs 2, and be compared, wherein with coordinate AAs 1For (XAs 1,YAs 1), coordinate AAs 2For (XAs 2,YAs 2), if YAs 2Differ
In YAs 1, then controller determines coordinate AAs 1With coordinate AAs 2Different finished bricks to be grabbed are corresponded to, then controller stores seat respectively
Mark AAs 1With coordinate AAs 2Real-time changing coordinates A as corresponding finished bricks to be grabbedAs working as, and controller also stores coordinate respectively
AAs 1The type and coordinate A of corresponding finished bricks to be grabbedAs 2The type of corresponding finished bricks to be grabbed；If YAs 2=YAs 1, then controller will
Coordinate AAs 1With coordinate AAs 2Between X-direction difference (XAs 2-XAs 1) and coordinate AAs 2Correspondence image shooting time finished product to be grabbed
The moving distance △ X1 of brick is compared, if determining △ X1=XAs 2-XAs 1, then coordinate AAs 1With coordinate AAs 2It has corresponded to same wait grab
Finished bricks are taken, by coordinateAs 2It is stored as the finished bricks changing coordinates A to be grabbedAs working as, and store changing coordinates AAs working asCorresponding type；
If determining coordinate AAs 2With coordinate AAs 1Between direction of transfer difference and moving distance it is not identical, then coordinate AAs 1With coordinate AAs 2
Different finished bricks to be grabbed are respectively corresponded, then controller stores coordinate A respectivelyAs 1With coordinate AAs 2As corresponding wait grab into
The changing coordinates A of product brickAs working as, and coordinate A is stored respectivelyAs 1The type and coordinate A of corresponding finished bricks to be grabbedAs 2It corresponds to wait grab into
The type of product brick；
A4: coordinate conversion: coordinate A of the controller by finished bricks to be grabbed under imaging terminal coordinate system systemAs working asIt is converted into
Sorting executes the coordinate B under end coordinates systemObject is picked to work as；
A5: coordinate real-time update: controller is according to the coordinate B of finished bricks to be grabbedObject is picked to work asCorresponding image capture moment is extremely
The moving distance △ X2 at current time, the changing coordinates B of real-time update object to be grabbedObject is picked to work as；
A6: crawl: current seat of the controller according to the coordinate range of capture area, with the finished bricks to be grabbed obtained in real time
Mark BObject is picked to work asIt is compared, if controller determines the changing coordinates B of finished bricks to be grabbedObject is picked to work asCoordinate range in capture area
It is interior, then control instruction is exported to sorting machine people 10, the grasping end adjustment posture of sorting machine people 10 tracks finished bricks to be grabbed,
Controller real-time changing coordinates A in the case where sorting executes end coordinates system according to the grasping end of sorting machine people 10Crawl is worked asWith wait grab
Take the changing coordinates B of finished bricksObject is picked to work as, grasping end is calculated and wait grab the difference between finished bricks along the x axis, when the difference
Preset less than controller controller issues control instruction when grabbing threshold value, and the grasping end of sorting machine people 10 adsorbs downwards
Finished bricks to be grabbed then execute step A7；When the difference be more than or equal to controller it is preset when grabbing threshold value, sorting
The grasping end of robot 10 does not execute grasping movement；
A7: finished bricks transfer stacks: controller obtains the placement of the type finished bricks according to the type of the finished bricks of crawl
The position coordinates B ' in regionObject is put, in conjunction with the changing coordinates B of grasping endCrawl is worked as, cook up grasping end and stacked from current location to correspondence
The position coordinates B ' in regionObject is putMotion profile, and issue control instruction to sorting machine people 10, the crawl of sorting machine people 10
End by the finished bricks of crawl be stacked in it is specified stack in region, it is reciprocal with this, point of various types of finished bricks can be completed
It picks and stacks.
Using after above-mentioned intelligent sorting method in the present embodiment, can to all types of finished bricks identify, sort and
It stacks, without manually being identified, being sorted and being stacked, high degree of automation, and improve the essence that each finished bricks sort by type
True property, also, cost of labor is manually reduced by sorting machine people automation substitution, and improve work efficiency.
In addition, being also possible to the X-direction tool of the two in industrial camera and the plane coordinates of sorting machine people in step A3
There is angle theta1, the conversion of coordinate is identical as the transformational relation in embodiment one.
Embodiment three
As shown in Figure 3-4, a kind of stacking baling line based on intelligent sorting, by intelligent sorting method described in embodiment two
It is applied to stacking baling line.
Stacking baling line include packing apparatus 20 and controller above-mentioned, transmitting device, encoder, imaging terminal and point
Execution terminal is picked, object to be grabbed is placed on the conveyer belt of transmitting device.
In the present embodiment, transmitting device is used for transmission material；Industrial camera 4 is used for being transmitted on transmitting device wait grab
Object is taken to be identified；Sorting machine people will respectively shift object to be grabbed for sorting to the object to be grabbed of transmission；It beats
Bag apparatus is for being packaged material.
In the present invention, material is brick class, can also be other block objects, such as ceramic tile class.Wherein, in the present embodiment
By taking object to be grabbed is finished bricks as an example.
Transmitting device includes connecing brick belt dressing, folded brick belt dressing and transmission belt device, and folded brick belt dressing is in
Connect connecing between brick conveyer belt 31 and the transmission conveyer belt 32 of transmission belt device for brick belt dressing.With the transmission of each belt dressing
Direction is direction from front to back, and the rear end of folded brick conveyer belt 32 is mutually connected with the side of transmission conveyer belt 33, sorting machine people
10 are mounted on outside the side for connecing brick belt dressing, and sorting machine people 10 is close to folded brick belt dressing, and folded brick conveyer belt 32
Leading portion and connect the back segment of brick conveyer belt 31 and be in the moving range of sorting machine people 10.Also, folded 32 edge of brick conveyer belt
The division of its width direction has several to stack region, respectively stacks region and is respectively used to place different types of finished bricks.
As another preferably mode, this folded brick belt dressing has several, the direction of transfer of stack brick belt dressing
Unanimously, and respectively region is stacked to be respectively at the front end of corresponding folded brick conveyer belt 32.
In the present invention, it is existing common belt that this, which connects brick belt dressing, folded brick belt dressing and transmission belt device,
Transmission device, therefore not reinflated narration.
The linking of packing apparatus 20 above-mentioned is at the rear end of the transmission conveyer belt 33 of transmission belt device, this packing apparatus 20
For the existing unmanned packing apparatus for having sale.
Encoder is connected in the usual way with brick belt dressing is connect, industrial camera 4 is set up in connect brick conveyer belt 31 before
The top of section, the camera of industrial camera 4 are connect towards this at zone face of brick conveyer belt 31.Wherein, it connects and is installed outside brick conveyer belt 31
There is bracket, industrial camera 4 is installed in the top for connecing the leading portion of brick conveyer belt 31 by this bracket, this bracket is dragon in the present embodiment
Door frame, this support arm can also be other brackets.
The output end of encoder above-mentioned and the output end of industrial camera are separately connected the input terminal of controller, controller
The input terminal of output end electrical connection sorting machine people 10.Wherein, controller has image processing unit, data acquisition unit sum number
According to processing unit, the output end of image processing unit and the output end of data acquisition unit are electrically connected the defeated of data processing unit
Enter end, the input terminal of the output end electrical connection data acquisition unit of encoder, the output end of industrial camera is electrically connected image procossing
The input terminal of unit.
Controller acquires the data of encoder detection by data acquisition unit in real time, and controller passes through image processing unit
The image shot to industrial camera 4 is handled, and obtains the coordinate of each finished bricks above-mentioned and the material data of each finished bricks,
This material data includes length, width and the textured pattern of profile.Controller is by data processing unit to data acquisition unit
The coordinate of the data of acquisition, image processing unit treated data and preset sorting machine people 10 by mode above-mentioned into
Row processing calculates.
Position coordinates for respectively stacking region and presetting are preset in controller, and respectively to stack region difference one-to-one
Length scale, width numberical range and the textured pattern of respective type finished bricks, and finished bricks are also preset in controller
With the threshold value to be grabbed of the direction of transfer for connecing brick belt dressing to edge between grasping end of sorting machine people 10, wherein controller
Interior that bns can be denoted as with preset calibrations time, this nominal time, i.e. controller can obtain the detection of first encoding device with every bns
Data.In addition, the coordinate B (X of sorting machine people preset in controllerPick terminal、YPick terminal), the grasping end of sorting machine people is sorting
It executes the control instruction that the real-time coordinates under end coordinates system are issued by controller to be directly acquired, in other words, because of grasping end
And precisely acted by the control of controller, therefore the coordinate of grasping end can be recorded directly by controller.
Preferably, the corresponding output end of controller, which is electrically connected, connects connecing brick driving motor and folding for brick belt dressing
The folded brick driving motor of brick belt dressing is controlled to dock the start and stop of brick belt dressing and folded brick belt dressing.
Further, stacking baling line further includes connecing brick stacking belt dressing 50 and robot palletizer 60, packing above-mentioned
Device 20 is connected in the front end of the stacking conveyer belt of the rear end and stacking belt dressing of the transmission conveyer belt 33 of transmission belt device
Between, this stacking belt dressing along direction of transfer be in turn divided into stacking before waiting station and stacking stop case positioning；Stacking machine
People 60 is installed on the outside of stacking belt dressing, and stacking stops case positioning in the moving range of robot palletizer.Wherein, code
The stacking driving motor of pile belt dressing 50 and the control terminal of robot palletizer are electrically connected the corresponding output end of aforementioned controllers.
In the present invention, this stacking belt dressing 50 is existing common belt conveyer, and robot palletizer 60 is existing
Common industrial robot palletizer.
In the present invention, the artificial conventional vacuum robot of this sorting machine, this vacuum robot is connected by the air pump of peripheral hardware
It connects, the output end of the motor electrical connection aforementioned controllers of this air pump.
A kind of stacking baling line based on intelligent sorting, the course of work are as follows: in the present embodiment, being divided into each finished bricks
Type-A and B type and folded brick belt dressing have two sets, the folded brick belt dressing A that respectively stacks for type-A finished bricks and for B
It is above-mentioned to stack there are two region divisions for what type finished bricks stacked stacks belt dressing B, that is, it stacks region A and stacks
Region B presets in controller respectively and stacks region A and stack the position coordinates of region B, and stacks region A and stack area
Length range, width range and the textured pattern of the corresponding respective type finished bricks of domain B.
It is transmitted on brick belt dressing when type-A finished bricks and B type finished bricks mix to be placed in connect, industrial camera 20
It is shot by the preset time, subsequent controller identifies the finished bricks in image by intelligent sorting method above-mentioned,
It sorts and stacks, if controller identifies that finished bricks to be captured are type-A, controller issues control instruction and gives sorting machine people
10, sorting machine people 10 acts, and controls its grasping end crawl type-A finished bricks, and stack region according to this type-A finished bricks
Position coordinates, the finished bricks of crawl are stacked to stacking on the A of region, sorting machine people 10 continues movement until stacking region A
In when the stacking quantity and reaching the quantity set in controller of type-A finished bricks that stacks, stack the folded brick belt where the A of region
Device action, so that type-A finished bricks are moved to the tail end of the folded brick conveyer belt of this folded brick belt dressing, subsequent sorting machine people
10 are persistently sorted and are stacked, and then proceed to be identified, sorted and stacked in the manner aforesaid, until stacking the A in the A of region
When type reaches finished bricks again and stacks quantity, the whole folded type-A finished bricks in folded brick conveyer belt tail end are transmitted to transmission transmission
On band 33, then transmission conveyer belt 33 drives whole folded type-A finished bricks to be moved to packing area and is packaged, then in stacking belt
Waiting station etc. is to be palletized before the stacking of device, stops the type-A finished product being packaged at case positioning to stacking by robot palletizer
Brick carries out stacking, completes to pack with this.Wherein, B type finished bricks also identified, sorted in the manner aforesaid, being stacked, being transmitted,
Packing and stacking.
In addition, meet brick belt dressing, folded brick belt dressing, intelligent sorting device and sorting machine people has several respectively,
And it respectively meets brick belt dressing, folded brick belt dressing, intelligent sorting device and sorting machine people and corresponds respectively.In this way, improving
The working efficiency of whole stacking baling line.
The foregoing is merely the preferred embodiment of the present embodiment, all equivalent changes done with scope of the invention as claimed
And modification, it should belong to scope of the presently claimed invention.
Claims (5)
1. a kind of intelligent sorting method, which is characterized in that transmit object to be grabbed, the transmission using the conveyer belt on transmitting device
Motor on device is connected with encoder, and the data of the encoder detection when conveyer belt is run are acquired using controller,
Establishing in the controller has sorting to execute end coordinates system and imaging terminal coordinate system, and this method comprises the following steps:
A1: data acquisition: the object to be grabbed enters shooting area under conveyer belt transmission, and imaging terminal is to described wait grab
The shooting of object discontinuous is taken to obtain image, while the controller obtains the data of the encoder detection in real time and calculates and claps every time
The moving distance of object to be grabbed described in when taking the photograph；
A2: image procossing: the controller handles each image of the imaging terminal transmission, obtains in corresponding image photographic
Carve coordinate A of the object to be grabbed under imaging terminal coordinate system；
A3: coordinate judgement；The controller is according to the coordinate A corresponding in two images being continuously shot and shooting every time
The moving distance of the object to be grabbed judges whether the object to be grabbed in two images corresponds to same object to be grabbed, and according to
Judging result determines the one-to-one coordinate A of object to be grabbed under imaging terminal coordinate system；
A4: coordinate conversion: coordinate A of the object to be grabbed under imaging terminal coordinate system is converted into executing in sorting by the controller
Coordinate B under end coordinates system；
A5: coordinate real-time update: the controller according to object to be grabbed determine the corresponding image capture moment of coordinate A to it is described to
Grab moving distance of the object in this period at current time, the coordinate B of object to be grabbed described in real-time update；
A6: crawl: the grasping end that the sorting executes terminal tracks the object to be grabbed, and the controller is according to the grasping end
With coordinate of the object to be grabbed in the case where sorting end coordinates system judge the object to be grabbed whether the grasping end crawl
In range, if so, the grasping end grabs the object to be grabbed；If it is not, then the grasping end does not execute grasping movement；
A7: crawl object transfer is placed: the controller executes the current seat under end coordinates system in sorting according to the grasping end
B and preset crawl object position coordinates B ' to be placed are marked, cooks up the motion profile of the grasping end, and issue instructions to institute
It states sorting and executes terminal, the grasping end is placed in corresponding position for object is grabbed, the sorting of the crawl object can be completed.
2. intelligent sorting method according to claim 1, it is characterised in that: in step A2, the controller is according to image
The material data of the object to be grabbed also is obtained, and the material data of the object to be grabbed is compared with preset material data
It is right, determine the type of the object to be grabbed.
3. intelligent sorting method according to claim 2, it is characterised in that: the material data includes the length of material profile
Degree, width and textured pattern.
4. intelligent sorting method according to claim 1, it is characterised in that: divided on the conveyer belt and need catching block
Domain, the coordinate range to capture area is preset in the controller, and controller object to be grabbed according to is worked as
Preceding coordinate A and the coordinate range to capture area, judge whether the object to be grabbed is in described in capture area, if
It is in, thens follow the steps A6, otherwise do not execute step A6.
5. intelligent sorting method according to claim 1, it is characterised in that: with the transmission under imaging terminal coordinate system
The direction of transfer of band is X-direction, and Y direction is the direction of vertical X axis in plane, and in step A3, the controller is to continuous
The coordinate A obtained in the image of shootingAs 1With coordinate AAs 2It is compared, if coordinate AAs 1With coordinate AAs 2Y-axis numerical value it is not identical,
Then the controller determines coordinate AAs 1With coordinate AAs 2Different objects to be grabbed are respectively corresponded, then the controller stores respectively
Coordinate AAs 1With coordinate AAs 2Real-time changing coordinates A as corresponding object to be grabbedAs working as；If coordinate AAs 1With coordinate AAs 2Y-axis numerical value
Identical, then the controller is by coordinate AAs 2With coordinate AAs 1Between direction of transfer difference and coordinate AAs 2It waits grabbing when shooting
The moving distance of object is compared, if determining coordinate AAs 2With coordinate AAs 1Between direction of transfer difference it is consistent with moving distance,
Then coordinate AAs 1With coordinate AAs 2Same object to be grabbed is corresponded to, by the coordinateAs 2It is stored as the object changing coordinates A to be grabbedAs working as；
If determining coordinate AAs 2With coordinate AAs 1Between direction of transfer difference and moving distance it is not identical, then coordinate AAs 1With coordinate AAs 2
Different objects to be grabbed are respectively corresponded, then the controller stores coordinate A respectivelyAs 1With coordinate AAs 2As corresponding object to be grabbed
Real-time changing coordinates AAs working as。
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| CN110841927A (en) * | 2019-11-15 | 2020-02-28 | 上海威士顿信息技术股份有限公司 | Sorting device, system and method and electronic equipment |
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| CN112105465A (en) * | 2019-12-12 | 2020-12-18 | 深圳市微蓝智能科技有限公司 | Sheet-like article sorting system |
| CN112976288A (en) * | 2021-04-14 | 2021-06-18 | 展鹏(福建)工贸有限公司 | Production method of automatic brick production line |
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