CN110328157A - A kind of intelligent sorting device and its method for sorting based on machine vision - Google Patents
A kind of intelligent sorting device and its method for sorting based on machine vision Download PDFInfo
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- CN110328157A CN110328157A CN201910645494.1A CN201910645494A CN110328157A CN 110328157 A CN110328157 A CN 110328157A CN 201910645494 A CN201910645494 A CN 201910645494A CN 110328157 A CN110328157 A CN 110328157A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of intelligent sorting device and its method for sorting based on machine vision, described device include sorting transmission mechanism, manipulator mechanism for sorting, support frame, vision mechanism for sorting and PLC controller；The sorting transmission mechanism includes feeding station, advection detection station, transport station, transfers discharging station and advection station；The vision mechanism for sorting includes packed state system, distinguishes shape system, distinguishes colour system system and camera, packed state system distinguishes shape system and distinguishes that colour system altogether enjoys the station of camera, camera is mounted in the bottom outer wall of each support frame, each packed state system determines the packed state of article and classification, color combining and shape, lock onto target article is shunted, and camera major function is positioning, identification and is worked by PLC controller control manipulator mechanism for sorting.It solves the problems, such as the complicated manual operation of existing logistics packages technology, inefficiency and is not easy to sort.
Description
Technical field
The invention belongs to the goods sorting equipment of Intelligent logistics, and in particular to a kind of intelligent sorting dress based on machine vision
It sets and its method for sorting.
Background technique
With the continuous raising of cost of labor, it is existing for replacing manpower to do the high-intensitive labour of some repeatability with machine
For an important directions of machine research.Meanwhile with the improvement of people ' s living standards, the accelerating rhythm of life, it is more and more
People the purchases of articles for daily use is carried out by way of online shopping, and the development prevailing for having driven express delivery of online shopping, courier are daily
It needs to distribute thousands of express delivery, often will cause the delay of express delivery, sort not in time, the problems such as cannot delivering in time, and
And need object in the cargo delivered complicated, the different packaging shape such as article has that cabinet packs, clothes-type package bag and Envelope bag
Formula, and packed state is different, most Packing Intact, there are also some packages in damaged condition or the articles that do not packed, and cannot accomplish
Quick sorting work, the article of these different sizes and shape are not easy to carry out sorting work, exist in manual sorting very big
The disadvantages of problem not enough refines, and classifies unreasonable and not perfect, and there are sorting efficiencies lowly, intricate operation and error rate are higher.
Therefore, a kind of intelligent sorting device based on machine vision is needed at this stage to solve this problem.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent sorting device and its method for sorting based on machine vision, for solving
The manual operation of certainly existing logistics packages technology is complicated, inefficiency and is not easy the defect sorted.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows:
A kind of intelligent sorting device based on machine vision, the sorting equipment include sorting transmission mechanism, manipulator point
Pick mechanism, support frame, vision mechanism for sorting and PLC controller；
The sorting transmission mechanism includes feeding station, advection detection station, transport station, transfers discharging station and advection
Station；
The vision mechanism for sorting includes packed state system, distinguishes shape system, distinguishes colour system system and camera, packed state
System distinguishes shape system and distinguishes that colour system altogether enjoys the station of camera, and camera is mounted in the bottom outer wall of each support frame, phase
Machine distinguishes color, discrimination shape camera using 2D is dedicated, and the judgement speed of camera is set as 15Hz；Each packed state system is according to phase
Machine captured image determines that the packed state and classification, color combining and shape of article, lock onto target article are shunted, camera
Major function is positioning, identification and is worked by PLC controller control manipulator mechanism for sorting.
Preferably, above-mentioned PLC controller model is GuardLogix Controller 1756-L73, is set as safety
PLC, the man-machine interface of PLC controller are set as 2711P-T10C4D8, and the ethernet module of PLC controller is set as 1756-
EN2T。
Preferably, the feeding station of above-mentioned sorting transmission mechanism is provided with transport drive module, and feeding station is set as
Differential is drawn to be transmitted away from band, is equipped with gravity sensing detection platform in advection detection station, gravity sensing detection platform is by gravity-feed tank
It answers device and shunts turnout composition；The end of advection detection station is fixedly installed with the first shunting station, the feed end of advection station
It is mounted on the end of the first shunting station, and the discharge end of advection station is equipped with the second shunting station, second shunts station
End is equipped with classification conveyer belt, conveyer belt connection transportation station of classifying, and is fixedly installed with support above conveyer belt of classifying
Frame, transport station is provided with multistage gradient differential spacing, and linearly queuing processing, differential are linearly lined up and gradient transmission, transfer discharge
Station is mounted at the discharging of transport station, and manipulator mechanism for sorting is equipped on support frame, and the setting of manipulator mechanism for sorting exists
The top of classification conveyer belt.
Preferably, above-mentioned gravity sensor and shunting turnout are correspondingly arranged there are three section, and gravity sensor is set as 1
~5kg, 5~15kg and be greater than 15kg tri- keep off, shunt turnout with first shunt station feed end mutually connect, can be to article
Carry out weight sorting work, when item motion to advection detection station, in advection detection station, carry out advection draw away from, in conjunction with
Gravity sensor and shunting turnout in gravity sensing detection platform, can be to the weight of the article in gravity sensing detection platform
It carries out being sorted into 1~5kg, 5~15kg and is greater than the tri- weight sections 15kg, enter back into the first shunting station, transport to flat
It flows on station.
Preferably, above-mentioned first shunting station and the second shunting station is corresponding is equipped with three, first shunts station
With second shunt station be staged be arranged, and between height difference setting between 30~40CM.
Preferably, above-mentioned manipulator mechanism for sorting and PLC controller are realized by Ethernet connects, the manipulator sorting
Mechanism includes two gripper armed levers and vertical guide, and the gripper armed lever and vertical guide are respectively provided on the support frame, support frame
Upper to be connected with rack-plate by sliding block and sliding slot, the inner wall of vertical guide is fixedly installed with vertical motor, vertical motor
Output shaft outer wall is fixedly installed with gear, is intermeshed between the rack-plate on gear and support frame, two gripper armed lever tops
Lateral wrist rotary cylinder-block is installed, lateral wrist rotary cylinder-block connects hydraulic pump, and hydraulic pump is mounted on the inner wall of vertical guide,
Gripper armed lever top is provided with cross motor, and vertical screw rod, the output shaft transmission of cross motor are connected in vertical guide
Connect vertical screw rod.
Preferably, the output shaft outer wall of above-mentioned cross motor is equipped with leads with the matched screw rod guide sleeve of vertical screw rod, screw rod
The outer wall of the inner wall of set and vertical screw rod is intermeshed, and passes through the setting of cross motor and vertical screw rod, this sorting equipment structure
Stablize, and can be corresponding to carry out the upper and lower movement in left and right by the control of PLC controller on three classification conveyer belts
Work, in order to carry out sorting work；
Preferably, the inner wall of above-mentioned gripper armed lever is fitted with gripper rotating cylinder, and the output end of gripper rotating cylinder is fixed to be connected
It is connected to corresponding paw, gripper clamping cylinder is provided between two gripper armed levers, the output end of gripper clamping cylinder connects gripper arm
Bar controls the clamping of two gripper armed levers, can be by the setting of lateral wrist rotary cylinder-block, at the clamp arm of this sorting equipment
The horizontal rotary work of row, manipulator mechanism for sorting are furnished with gripper rotating cylinder, can be corresponding in vertical direction, carry out overturning work
Make；
The vertical motor and cross motor are disposed as servo motor, vertical motor, cross motor, hydraulic pump, gripper
Clamping cylinder passes through the output end that electric signal connects PLC controller with gripper rotating cylinder.
A kind of method for sorting of the intelligent sorting device based on machine vision, includes the following steps:
Step1: article charging；Material is put together at the feed inlet on feeding station, transport roller is waited to carry out
Expect work；
Step2: weight sorting；When item motion to advection detection station, in advection detection station, advection drawing is carried out
Away from, in conjunction with the gravity sensor in gravity sensing detection platform and turnout is shunted, it can be to the object in gravity sensing detection platform
The weight of product carries out being sorted into three sections, enters back into the first shunting station, in transport to advection station；
Step3: the processing of Item Information state；The end lock onto target article of each advection station is shunted, support
Camera on frame carries out Image Acquisition, pretreatment, camera calibration, target positioning and three-dimensional computations, the packet in vision mechanism for sorting
Dress status system distinguishes shape system and distinguishes that colour system is united, and shoots to the article of advection station discharge end, and to the shape of article
Shape distinguishes that the information of color and packed state is acquired and information processing；
Step4: intelligent sorting；The information of shooting is sent to PLC by processing by the camera in vision mechanism for sorting
Controller, PLC controller feed back to manipulator mechanism for sorting again, and manipulator mechanism for sorting can be on classification conveyer belt, to not
The article of similar shape, Different Package state or color carries out clamping sorting work；
Step5: goods transportation；After goods sorting in transport to transport station, transport is carried out；
Step6: article discharging；It distributes by multiple gradients to corresponding each transfer discharging station, transfers discharging work
Position drives the article sorted, moves to corresponding sorting discharge port and is collected.
Preferably, camera operation includes Image Acquisition, pretreatment, camera calibration, target positioning and three-dimensional in above-mentioned Step3
It calculates；
Described image acquisition is acquires image by the suitable industrial camera of selection, for obtaining image；
The preprocessing process are as follows: in order to obtain the image of high quality, improve the accuracy of system, use image preprocessing
It eliminates noise and removes other disturbing factors, described image pretreatment includes Threshold segmentation, smoothing processing and HDR method；
The camera calibration process are as follows: demarcated by binocular camera, the inside and outside parameter of left and right camera is obtained, to improve system
Precision；
The target position fixing process are as follows: by using based on gray scale or based on shape target criteria image creation template
In executing template search, affine matrix is obtained；
The three-dimensional computations process are as follows: by three points in plane, obtain the angle in space in plane；Schemed by left and right
Two central points of picture obtain the coordinate under three-dimensional space, that is, obtain three dimensions on courier packages surface in conjunction with principle of parallax
According to.
The invention has the following advantages:
A kind of intelligent sorting device and its method for sorting based on machine vision of the invention, by sorting transmission mechanism
The gravity sensing detection platform of setting can make difference of the article by weight, carry out pre-sorting work, then pass through vision point
The acquisition for picking camera information in mechanism can achieve superfast goods sorting, and accuracy rate is high, by being successively equipped with vision point
Three kinds of refining systems in mechanism are picked, the data of each article can be collected, carry out feedback summary and sorting work, and then improve
Sorting efficiency and sorting type is refined；The manipulator mechanism for sorting of intelligent sorting device based on machine vision has sorting
Angle is more, range covering is wide and is easy to carry out sorting work, avoids and is manually sorted, improves the production efficiency of enterprise,
And this manipulator mechanism for sorting stable structure and maintenance cost are low.Intelligent sorting apparatus and system of the invention replaces people
Power, it is intelligent that automatic sorting work can be carried out to article, the workload of courier is reduced, entreprise cost has been saved, is contracted
It the short release time of express delivery article, improves work efficiency.
Detailed description of the invention
Fig. 1 is a kind of work flow diagram of intelligent sorting device and its method for sorting based on machine vision of the present invention；
Fig. 2 is that a kind of sorting transmission mechanism of intelligent sorting device and its method for sorting based on machine vision of the present invention is bowed
View；
Fig. 3 is a kind of sorting transmission mechanism side of intelligent sorting device and its method for sorting based on machine vision of the present invention
View；
Fig. 4 is to sort transmission in a kind of Fig. 2 of intelligent sorting device and its method for sorting based on machine vision of the present invention
Mechanism A-A sectional view；
Fig. 5 is the amplification of B at a kind of Fig. 4 of intelligent sorting device and its method for sorting based on machine vision of the present invention
Figure；
Fig. 6 is that a kind of material vision of intelligent sorting device and its method for sorting based on machine vision of the present invention sorts stream
Cheng Tu.
Appended drawing reference therein are as follows: 1, sorting transmission mechanism；2, vision mechanism for sorting；3, manipulator mechanism for sorting；4, it props up
Support；5, PLC controller；6, gravity sensing detection platform；11, feeding station；12, advection detection station；13, station is transported；
14, discharging station is transferred；15, first station is shunted；16, classification conveyer belt；17, advection station；18, second station is shunted；21,
Packed state system；22, shape system is distinguished；23, distinguish that colour system is united；24, camera；30, gripper armed lever；31, vertical motor；32,
Cross motor；33, hydraulic pump；34, lateral wrist rotary cylinder-block；35, gripper clamping cylinder；36, gripper rotating cylinder；37, gear；
38, screw rod guide sleeve；39, rack-plate；301, vertical guide；302, vertical screw rod.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
A kind of intelligent sorting device based on machine vision, it is characterised in that: the sorting equipment includes sorting driver
Structure 1, manipulator mechanism for sorting 3, support frame 4, vision mechanism for sorting 2 and PLC controller 5；
The sorting transmission mechanism 1 includes feeding station 11, advection detection station 12, transport station 13, transfers discharging work
Position 14 and advection station 17；
The vision mechanism for sorting 2 includes packed state system 21, distinguishes shape system 22, distinguishes colour system system 23 and camera
24, packed state system 21, the station for distinguishing shape system 22 and distinguishing colour system 23 shared cameras 24 of system, camera 24 is mounted on each
In the bottom outer wall of support frame 4, camera 24 distinguishes color, discrimination shape camera using 2D is dedicated, and the judgement speed of camera is set as
15Hz；Each packed state system 21 determines packed state and the classification of article, color combining according to 24 captured image of camera
And shape, lock onto target article are shunted, 24 major function of camera is positioning, identification and controls machinery by PLC controller 5
Hand mechanism for sorting 3 works.
When it is implemented, 5 model of PLC controller selects GuardLogix Controller 1756-L73, it is set as pacifying
Full PLC, the man-machine interface of PLC controller are set as 2711P-T10C4D8, and the ethernet module of PLC controller is set as 1756-
EN2T。
Referring to figs. 2 and 3, when it is implemented, the feeding station 11 of above-mentioned sorting transmission mechanism 1 is provided with transport driving mould
Block, and feeding station 11 is set as differential and draws away from transmitting, and is equipped with gravity sensing detection platform 6 in advection detection station 12,
Gravity sensing detection platform 6 is made of gravity sensor and shunting turnout；The end of advection detection station 12 is fixedly installed with
One shunts station 15, and the feed end of advection station 17 is mounted on the end of the first shunting station 15, and the discharging of advection station 17
End is equipped with the second shunting station 18, and the end of the second shunting station 18 is equipped with classification conveyer belt 16, and classification conveyer belt 16 connects
Transport station 13 is connect, and the top for conveyer belt 16 of classifying is fixedly installed with support frame 4, it is poor that transport station 13 is provided with multistage gradient
Linearly queuing processing, differential are linearly lined up fast spacing and gradient transmission, transfer discharging station 14 are mounted on going out for transport station 13
At material, manipulator mechanism for sorting 3 is installed on support frame 4, the top of classification conveyer belt 16 is arranged in manipulator mechanism for sorting 3.
When it is implemented, above-mentioned gravity sensor and shunting turnout are correspondingly arranged there are three section, gravity sensor is set
For 1~5kg, 5~15kg and it is greater than 15kg tri- and keeps off, shunts the feed end that turnout shunts station 15 with first and mutually connect, it can be with
Weight sorting work is carried out to article, when item motion to advection detection station 12, in advection detection station 12, carries out advection
Draw away from, in conjunction in gravity sensing detection platform 6 gravity sensor and shunt turnout, can be in gravity sensing detection platform 6
The weight of article be sorted into three 1~5kg of section, 5~15kg and be greater than 15kg, enter back into the first shunting station 15
In, in transport to advection station 17.
When it is implemented, above-mentioned first shunting station 15 and the second shunting station 18 is corresponding is equipped with three, first
Station 15 and second is shunted to shunt station 18 and be that staged is arranged, and between height difference setting between 30~40CM, three articles the
The installation of one shunting station 15 and the second shunting station 18 corresponding can sort out 9 class differences rule plus a sorting work line
The article of lattice, not only can be improved the sorting efficiency of article, and type of goods sorting is made to become more to refine, in order to
Staff carries out subsequent operation, can carry out sorting work simultaneously, can achieve superfast goods sorting, accuracy rate
Height, and three kinds of refining systems by being successively equipped in vision mechanism for sorting 2, can collect the data of each article, into
Row feedback summary and sorting work, and then improve sorting efficiency and refined sorting type.
Referring to fig. 4 and Fig. 5, when it is implemented, above-mentioned manipulator mechanism for sorting 3 and PLC controller 5 pass through Ethernet realization
Connection, the manipulator mechanism for sorting 3 include two gripper armed levers 30 and vertical guide 301, the gripper armed lever 30 and vertical
Guide rail 301 is arranged on support frame 4, is connected with rack-plate 39, vertical guide by sliding block and sliding slot on support frame 4
301 inner wall is fixedly installed with vertical motor 31, and the output shaft outer wall of vertical motor 31 is fixedly installed with gear 37, gear 37 with
It is intermeshed between rack-plate 39 on support frame 4, two 30 tops of gripper armed lever are equipped with lateral wrist rotary cylinder-block 34, horizontal
Hydraulic pump 33 is connected to wrist rotary cylinder-block 34, hydraulic pump 33 is mounted on the inner wall of vertical guide 301, and 30 top of gripper armed lever is set
It is equipped with cross motor 32, vertical screw rod 302, the output shaft transmission connection of cross motor 32 are connected in vertical guide 301
Vertical screw rod 302；
It is led when it is implemented, the output shaft outer wall of above-mentioned cross motor 32 is equipped with the matched screw rod of vertical screw rod 302
The outer wall of set 38, the inner wall of screw rod guide sleeve 38 and vertical screw rod 302 is intermeshed, and passes through cross motor 32 and vertical screw rod 302
Setting, this sorting equipment stable structure, and can on three classification conveyer belts 16, through the control of PLC controller 5,
It is corresponding to carry out the upper and lower mobile working in left and right, in order to carry out sorting work；
When it is implemented, the inner wall of above-mentioned gripper armed lever 30 is fitted with gripper rotating cylinder 36, gripper rotating cylinder 36 it is defeated
Outlet is fixedly connected with corresponding paw, and gripper clamping cylinder 35 is provided between two gripper armed levers 30, gripper clamping cylinder 35
Output end connects gripper armed lever 30, controls the clamping of two gripper armed levers 30, by the setting of lateral wrist rotary cylinder-block 34, this
Horizontal rotary work can be carried out at the clamp arm of sorting equipment, manipulator mechanism for sorting 3 is furnished with gripper rotating cylinder 36, can be right
Answer in vertical direction, carry out overturning work, improve the functionality and applicability of manipulator mechanism for sorting 3,
When it is implemented, above-mentioned vertical motor 31 and cross motor 32 are servo motor, vertical motor 31, cross motor
32, hydraulic pump 33, gripper clamping cylinder 35 and gripper rotating cylinder 36 connect the output end of PLC controller 5, this machine by electric signal
Tool hand mechanism for sorting 3 is more with sorting angle, range covering is wide and is easy to carry out sorting work, avoids and is manually sorted,
The production efficiency of enterprise is improved, and the stable structure of manipulator mechanism for sorting 3 and maintenance cost are low.
When it is implemented, above-mentioned vision mechanism for sorting 2 can the packed state to article carry out classification work, that is, packed
Three kinds of situations whole, without packaging or packages in damaged condition, carry out corresponding classification work, and distinguish " cuboid ", " cylinder one by one
Body ", " flat " and " other shapes " three types, can classify to the article of different colours, for example, brown is rectangular
Body formula cabinet, the flat bag body of black, and then can further distinguish usual articles and dress ornament bag body and other shapes,
The fragile article of red mark, three classification conveyer belts 16 wherein one it is incomplete or do not have wrapped article for packaging；Another
Cuboid cylindrical box；And the fragile article of the red mark of the flat bag body or other shapes of the last item black is set
It sets, is sorted on corresponding classification conveyer belt 16 and is transported by manipulator mechanism for sorting 3, corresponding carry out sort operation,
So that sorting work more refines.
Referring to Fig. 1, a kind of method for sorting of the intelligent sorting device based on machine vision includes the following steps:
Step1: article charging；Material is put together at the feed inlet on feeding station 11, transport roller is waited to carry out
Feeding work；
Step2: weight sorting；When item motion to advection detection station 12, in advection detection station 12, advection is carried out
Draw away from, in conjunction in gravity sensing detection platform 6 gravity sensor and shunt turnout, can be in gravity sensing detection platform 6
The weight of article carry out being sorted into three sections, enter back into the first shunting station 15, in transport to advection station 17；
Step3: the processing of Item Information state；The end lock onto target article of each advection station 17 is shunted, branch
Camera 24 on support 4 carries out Image Acquisition, pretreatment, the calibration of camera 24, target positioning and three-dimensional computations, vision mechanism for sorting
Packed state system 21 in 2 distinguishes shape system 22 and distinguishes colour system system 23, claps the article of 17 discharge end of advection station
Take the photograph, and to the shape of article, distinguish that the information of color and packed state is acquired and information processing；
Step4: intelligent sorting；The information of shooting is sent to by processing by the camera 24 in vision mechanism for sorting 2
PLC controller 5, PLC controller 5 feed back to manipulator mechanism for sorting 3 again, and manipulator mechanism for sorting 3 can be in classification conveyer belt
On 16, clamping sorting work is carried out to the article of different shape, Different Package state or color；
Step5: goods transportation；After goods sorting in transport to transport station 13, transport is carried out；
Step6: article discharging；It distributes by multiple gradients to corresponding each transfer discharging station 14, transfers discharging
Station 14 drives the article sorted, moves to corresponding sorting discharge port and is collected.
Referring to Fig. 6, when it is implemented, the operation of camera 24 includes Image Acquisition, pretreatment, the mark of camera 24 in above-mentioned Step3
Fixed, target positioning and three-dimensional computations；
Described image acquisition is acquires image by the suitable industrial camera of selection, for obtaining image；
The preprocessing process are as follows: in order to obtain the image of high quality, improve the accuracy of system, use image preprocessing
It eliminates noise and removes other disturbing factors, described image pretreatment includes Threshold segmentation, smoothing processing and HDR method；
The camera calibration process are as follows: demarcated by binocular camera, the inside and outside parameter of left and right camera is obtained, to improve system
Precision；
The target position fixing process are as follows: by using based on gray scale or based on shape target criteria image creation template
In executing template search, affine matrix is obtained；
The three-dimensional computations process are as follows: by three points in plane, obtain the angle in space in plane；Schemed by left and right
Two central points of picture obtain the coordinate under three-dimensional space, that is, obtain three dimensions on courier packages surface in conjunction with principle of parallax
According to.
After a kind of intelligent sorting device and its method for sorting based on machine vision of the invention, it is driven by sorting
The gravity sensing detection platform being arranged in mechanism can make difference of the article by weight, carry out pre-sorting work, then pass through
The acquisition of camera information in vision mechanism for sorting can achieve superfast goods sorting, and accuracy rate is high, by being successively equipped with
Three kinds of refining systems in vision mechanism for sorting can collect the data of each article, carry out feedback summary and sorting work, into
And it improves sorting efficiency and has refined sorting type；The manipulator mechanism for sorting of intelligent sorting device based on machine vision has
Have sorting angle be more, range covering extensively and is easy to carry out sorting work, avoid and manually sorted, improve the production of enterprise
Efficiency, and this manipulator mechanism for sorting stable structure and maintenance cost are low.Intelligent sorting apparatus and system of the invention carrys out generation
It is intelligent that automatic sorting work can be carried out to article for manpower, reduce the workload of courier, saved enterprise at
This, shortens the release time of express delivery article, improves work efficiency.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (10)
1. a kind of intelligent sorting device based on machine vision, it is characterised in that: the sorting equipment includes sorting transmission mechanism
(1), manipulator mechanism for sorting (3), support frame (4), vision mechanism for sorting (2) and PLC controller (5)；
The sorting transmission mechanism (1) includes feeding station (11), advection detection station (12), transport station (13), transfers out
Expect station (14) and advection station (17)；
The vision mechanism for sorting (2) includes packed state system (21), distinguishes shape system (22), distinguishes colour system system (23) and phase
Machine (24), packed state system (21) distinguish shape system (22) and distinguish that colour system system (23) shares the station of camera (24), camera
(24) it is mounted in the bottom outer wall of each support frame (4), camera (24) distinguishes color, discrimination shape camera, camera using 2D is dedicated
Judgement speed be set as 15Hz；Each packed state system (21) determines the packaging of article according to camera (24) captured image
State is simultaneously sorted out, and color combining and shape, lock onto target article are shunted, camera (24) major function be positioning, identification and
It is worked by PLC controller (5) control manipulator mechanism for sorting (3).
2. a kind of intelligent sorting device based on machine vision according to claim 1, it is characterised in that: the PLC control
Device (5) model GuardLogix Controller 1756-L73, is set as safety PLC, the man-machine interface of PLC controller is set
It is set to 2711P-T10C4D8, the ethernet module of PLC controller is set as 1756-EN2T.
3. a kind of intelligent sorting device based on machine vision according to claim 1, it is characterised in that: the sorting transmission
The feeding station (11) of mechanism (1) is provided with transport drive module, and feeding station (11) is set as differential and draws away from band transmission, puts down
It is equipped with gravity sensing detection platform (6) on stream detection station (12), gravity sensing detection platform (6) is by gravity sensor and divides
Flow turnout composition；The end of advection detection station (12) is fixedly installed with the first shunting station (15), advection station (17) into
Material end is mounted on the end of the first shunting station (15), and the discharge end of advection station (17) is equipped with the second shunting station
(18), the second end for shunting station (18) is equipped with classification conveyer belt (16), conveyer belt (16) connection transportation station of classifying
(13), it and above classification conveyer belt (16) is fixedly installed with support frame (4), transport station (13) is provided with multistage gradient differential
Linearly queuing processing, differential are linearly lined up spacing and gradient transmission, transfer discharging station (14) are mounted on transport station (13)
It at discharging, is equipped on support frame (4) manipulator mechanism for sorting (3), manipulator mechanism for sorting (3) setting is in classification conveyer belt
(16) top.
4. a kind of intelligent sorting device based on machine vision according to claim 3, it is characterised in that: the gravity sensing
Device and shunting turnout are correspondingly arranged there are three section, and gravity sensor is set as 1~5kg, 5~15kg and is greater than 15kg tri-
Gear shunts the feed end that turnout shunts station (15) with first and mutually connects, and can carry out weight sorting work, article to article
When moving to advection detection station (12), on advection detection station (12), carries out advection and draw away from flat in conjunction with gravity sensing detection
Gravity sensor and shunting turnout in platform (6), can sort the weight of the article on gravity sensing detection platform (6)
At 1~5kg, 5~15kg and it is greater than the tri- weight sections 15kg, enters back into the first shunting station 15, transport to advection station
On 17.
5. a kind of intelligent sorting device based on machine vision according to claim 3, it is characterised in that: described first shunts
Station (15) and second shunts that station (18) are corresponding to be equipped with three, and first shunts station (15) and the second shunting station
(18) for staged be arranged, and between height difference setting between 30~40CM.
6. a kind of intelligent sorting device based on machine vision according to claim 1, it is characterised in that: the manipulator point
It picks mechanism (3) and PLC controller (5) and connection is realized by Ethernet, the manipulator mechanism for sorting (3) includes two gripper arms
Bar (30) and vertical guide (301), the gripper armed lever (30) and vertical guide (301) are arranged on support frame (4), support
It is connected with rack-plate (39) on frame (4) by sliding block and sliding slot, the inner wall of vertical guide (301) is fixedly installed with vertical electricity
The output shaft outer wall of machine (31), vertical motor (31) is fixedly installed with gear (37), the rack gear on gear (37) and support frame (4)
Plate is intermeshed between (39), and two gripper armed lever (30) tops are equipped with lateral wrist rotary cylinder-block (34), lateral wrist rotation
Turn cylinder body (34) and connect hydraulic pump (33), hydraulic pump (33) is mounted on the inner wall of vertical guide (301), gripper armed lever (30) top
It is provided with cross motor (32), is connected in vertical guide (301) vertical screw rod (302), the output of cross motor (32)
The vertical screw rod (302) of axis transmission connection.
7. a kind of intelligent sorting device based on machine vision according to claim 6, it is characterised in that:
The output shaft outer wall of the cross motor (32) is equipped with and the matched screw rod guide sleeve (38) of vertical screw rod (302), screw rod
The inner wall of guide sleeve (38) and the outer wall of vertical screw rod (302) are intermeshed, and pass through cross motor (32) and vertical screw rod (302)
Setting, this sorting equipment stable structure, and the control of PLC controller (5) can be passed through on three classification conveyer belts (16)
System, it is corresponding to carry out the upper and lower mobile working in left and right, in order to carry out sorting work.
8. a kind of intelligent sorting device based on machine vision according to claim 6, it is characterised in that:
The inner wall of the gripper armed lever (30) is fitted with gripper rotating cylinder (36), and the output end of gripper rotating cylinder (36) is fixed to be connected
It is connected to corresponding paw, is provided with gripper clamping cylinder (35) between two gripper armed levers (30), the output of gripper clamping cylinder (35)
End connection gripper armed lever (30), controls the clamping of two gripper armed levers (30), by the setting of lateral wrist rotary cylinder-block (34),
Horizontal rotary work can be carried out at the clamp arm of this sorting equipment, manipulator mechanism for sorting (3) is furnished with gripper rotating cylinder (36),
Can be corresponding in vertical direction, carry out overturning work；
The vertical motor (31) and cross motor (32) are disposed as servo motor, vertical motor (31), cross motor (32),
Hydraulic pump (33), gripper clamping cylinder (35) connect the output of PLC controller (5) with gripper rotating cylinder (36) by electric signal
End.
9. a kind of method for sorting of the intelligent sorting device based on machine vision, characterized by the following steps:
Step1: article charging；Material is put together at the feed inlet on feeding station (11), transport roller is waited to carry out
Expect work；
Step2: weight sorting；When item motion to advection detection station (12), on advection detection station (12), advection is carried out
Draw away from, in conjunction in gravity sensing detection platform (6) gravity sensor and shunt turnout, can be to gravity sensing detection platform
(6) weight of the article on carries out being sorted into three sections, enters back into the first shunting station (15), transport to advection station
(17) on；
Step3: the processing of Item Information state；The end lock onto target article of each advection station (17) is shunted, support
Camera (24) on frame (4) carries out Image Acquisition, pretreatment, camera (24) calibration, target positioning and three-dimensional computations, vision sorting
Packed state system (21) in mechanism (2) distinguishes shape system (22) and distinguishes that colour system is united (23), to advection station (17) discharging
The article at end is shot, and to the shape of article, distinguish that the information of color and packed state is acquired and information processing；
Step4: intelligent sorting；The information of shooting is sent to by processing by the camera (24) in vision mechanism for sorting (2)
PLC controller (5), PLC controller (5) are fed back to manipulator mechanism for sorting (3) again, and manipulator mechanism for sorting (3) can divide
On class conveyer belt (16), clamping sorting work is carried out to the article of different shape, Different Package state or color；
Step5: goods transportation；After goods sorting in transport to transport station (13), transport is carried out；
Step6: article discharging；It distributes by multiple gradients to corresponding each transfer discharging station (14), transfers discharging work
Position (14) drives the article sorted, moves to corresponding sorting discharge port and is collected.
10. a kind of method for sorting of intelligent sorting device based on machine vision according to claim 9, feature exist
In: camera (24) operation includes Image Acquisition, pretreatment, camera (24) calibration, target positioning and three-dimensional meter in the Step3
It calculates；
Described image acquisition is acquires image by the suitable industrial camera of selection, for obtaining image；
The preprocessing process are as follows: in order to obtain the image of high quality, improve the accuracy of system, eliminated using image preprocessing
Noise includes Threshold segmentation, smoothing processing and HDR method with other disturbing factors, described image pretreatment is removed；
The camera calibration process are as follows: demarcated by binocular camera, obtain the inside and outside parameter of left and right camera, to improve system essence
Degree；
The target position fixing process are as follows: by being based on gray scale or being based on shape, to target criteria image creation template, for holding
Row template search obtains affine matrix；
The three-dimensional computations process are as follows: by three points in plane, obtain the angle in space in plane；Pass through left images
Two central points obtain the coordinate under three-dimensional space, that is, obtain the three-dimensional data on courier packages surface in conjunction with principle of parallax.
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