CN110562553B - Paper discharge visual guide system and guide method - Google Patents
Paper discharge visual guide system and guide method Download PDFInfo
- Publication number
- CN110562553B CN110562553B CN201910778177.7A CN201910778177A CN110562553B CN 110562553 B CN110562553 B CN 110562553B CN 201910778177 A CN201910778177 A CN 201910778177A CN 110562553 B CN110562553 B CN 110562553B
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- Prior art keywords
- pallet
- paper
- image acquisition
- deviation value
- acquisition equipment
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/14—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
Abstract
A visual guidance system for feeding paper comprises a conveying unit for conveying and stacking paper boards with a certain height; the first image acquisition equipment unit is used for capturing images of paper plates stacked at a certain height and stopped on the conveying unit to generate images; the second image acquisition equipment unit is used for capturing images of the pallet stacked with a certain number of layers to generate images; the invention relates to the field of intelligent manufacturing, in particular to a paper feeding visual guide system. The invention has the advantages that: automatic paper discharging is realized, the labor intensity of workers is reduced, and the paper discharging efficiency is improved.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to a paper feeding visual guide system.
Background
At present, the paperboard is mostly discharged through manual work when the paperboard is discharged from a conveying line, time and labor are wasted during carrying due to the large area of the paperboard, the labor intensity of workers is increased, and the efficiency is low.
Disclosure of Invention
The present invention is directed to a paper feeding visual guidance system for solving the above-mentioned problems.
A conveying unit for conveying and stacking the paper boards with a certain height;
the first image acquisition equipment unit is used for capturing images of paper plates stacked at a certain height and stopped on the conveying unit to generate images;
the second image acquisition equipment unit is used for capturing images of the pallet stacked with a certain number of layers to generate images;
and the industrial light source is used for providing illumination for the two image acquisition units.
The photoelectric switch unit detects the in-place information of the paper boards stacked up by a certain height by the conveying unit and transmits the information to the programmable logic controller PLC;
and the industrial computer is in communication coupling with the two image acquisition devices, the self-defined visual program receives a photographing command of the programmable logic controller PLC to control the two image acquisition devices to photograph, receives the image from the image acquisition device unit, performs calculation processing by receiving the image and the self-defined visual program, processes to obtain a paper board stop position point and a pallet placing position point, compares the paper board stop position point and the pallet placing position point with the calibration position point respectively, and gives an offset value to the programmable logic controller PLC.
And the programmable logic controller PLC is in communication coupling with the photoelectric switch unit, the industrial computer and the manipulator, receives the in-place information of the paper board, sends a photographing command to the user-defined visual program in the industrial computer, receives the deviation value given by the user-defined visual program in the industrial computer and transmits the deviation value to the manipulator.
And the mechanical arm responds to the image processing deviant result transmitted to the PLC by the industrial computer, indicates the mechanical arm to grab the pallet with a certain number of layers and grab the pallet, and places the pallet in front of the conveying unit according to the deviant result of the pallet after grabbing is finished, so that the center of the pallet and the center of the pallet are on the same straight line and parallel to the conveying direction of the conveying unit.
The space that the stack of pallet and the time of piling up the pallet can be saved to the pallet of piling up at will according to the layer, at every turn the manipulator snatchs the pallet of the topmost one deck of pallet that piles up at will according to the layer.
The position deviation value comprises a deviation value of the paperboard and the standard position and a deviation value of the placement position of the pallet to be grabbed and the standard position.
The offset value of the paperboard and the standard position is the distance between the center of the paperboard and the center of the conveying unit in the X direction and the Y direction; wait to snatch the pallet and put the deviant of position and standard position for above the teaching the position at pallet center and the difference of angle when waiting to snatch the X at pallet center, the ascending distance in Y direction and two pallets are placed when the manipulator snatchs the pallet.
The method comprises the following steps:
a) the conveying unit conveys the paper boards piled up to a certain height to the lower part of the image acquisition equipment unit I arranged at a fixed position.
b) When the paper boards stacked up to a certain height are conveyed in place, the photoelectric switch is triggered, the conveyor belt stops, and the paper board in-place signal is transmitted to the programmable logic controller PLC.
c) And after receiving the paper board in-place signal, the programmable logic controller PLC sends a photographing signal to the user-defined vision system.
d) The user-defined vision system receives the photographing signal to control the image acquisition units to acquire images, receives the images of the two image acquisition units, performs image processing to calculate the deviation value of the paperboard and the standard position and the deviation value of the pallet placing position to be grabbed and the standard position, transmits the deviation values to the Programmable Logic Controller (PLC), and transmits the deviation values to the mechanical arm by the Programmable Logic Controller (PLC).
e) The manipulator receives the deviation value of the placement position and the standard position of the pallet to be grabbed, which is transmitted by the PLC, and grabs the pallet on the uppermost layer of the pallet randomly stacked according to the layers, places the pallet in front of the conveying unit according to the deviation value of the paper board parking position and the standard position, and enables the center of the pallet and the center of the paper board to be on the same straight line and to be parallel to the conveying direction of the conveying unit.
f) And entering the next cycle.
The invention has the advantages that: automatic paper discharging is realized, the labor intensity of workers is reduced, and the paper discharging efficiency is improved.
Detailed Description
The invention comprises
A conveying unit for conveying and stacking the paper boards with a certain height;
the first image acquisition equipment unit is used for capturing images of paper plates stacked at a certain height and stopped on the conveying unit to generate images;
the second image acquisition equipment unit is used for capturing images of the pallet stacked with a certain number of layers to generate images;
and the industrial light source is used for providing illumination for the two image acquisition units.
The photoelectric switch unit detects the in-place information of the paper boards stacked up by a certain height by the conveying unit and transmits the information to the programmable logic controller PLC;
and the industrial computer is in communication coupling with the two image acquisition devices, the self-defined visual program receives a photographing command of the programmable logic controller PLC to control the two image acquisition devices to photograph, receives the image from the image acquisition device unit, performs calculation processing by receiving the image and the self-defined visual program, processes to obtain a paper board stop position point and a pallet placing position point, compares the paper board stop position point and the pallet placing position point with the calibration position point respectively, and gives an offset value to the programmable logic controller PLC.
And the programmable logic controller PLC is in communication coupling with the photoelectric switch unit, the industrial computer and the manipulator, receives the in-place information of the paper board, sends a photographing command to the user-defined visual program in the industrial computer, receives the deviation value given by the user-defined visual program in the industrial computer and transmits the deviation value to the manipulator.
And the mechanical arm responds to the image processing deviant result transmitted to the PLC by the industrial computer, indicates the mechanical arm to grab the pallet with a certain number of layers and grab the pallet, and places the pallet in front of the conveying unit according to the deviant result of the pallet after grabbing is finished, so that the center of the pallet and the center of the pallet are on the same straight line and parallel to the conveying direction of the conveying unit.
The space that the stack of pallet and the time of piling up the pallet can be saved to the pallet of piling up at will according to the layer, at every turn the manipulator snatchs the pallet of the topmost one deck of pallet that piles up at will according to the layer.
The position deviation value comprises a deviation value of the paperboard and the standard position and a deviation value of the placement position of the pallet to be grabbed and the standard position.
The offset value of the paperboard and the standard position is the distance between the center of the paperboard and the center of the conveying unit in the X direction and the Y direction; wait to snatch the pallet and put the deviant of position and standard position for above the teaching the position at pallet center and the difference of angle when waiting to snatch the X at pallet center, the ascending distance in Y direction and two pallets are placed when the manipulator snatchs the pallet.
The method comprises the following steps:
a) the conveying unit conveys the paper boards piled up to a certain height to the lower part of the image acquisition equipment unit I arranged at a fixed position.
b) When the paper boards stacked up to a certain height are conveyed in place, the photoelectric switch is triggered, the conveyor belt stops, and the paper board in-place signal is transmitted to the programmable logic controller PLC.
c) And after receiving the paper board in-place signal, the programmable logic controller PLC sends a photographing signal to the user-defined vision system.
d) The user-defined vision system receives the photographing signal to control the image acquisition units to acquire images, receives the images of the two image acquisition units, performs image processing to calculate the deviation value of the paperboard and the standard position and the deviation value of the pallet placing position to be grabbed and the standard position, transmits the deviation values to the Programmable Logic Controller (PLC), and transmits the deviation values to the mechanical arm by the Programmable Logic Controller (PLC).
e) The manipulator receives the deviation value of the placement position and the standard position of the pallet to be grabbed, which is transmitted by the PLC, and grabs the pallet on the uppermost layer of the pallet randomly stacked according to the layers, places the pallet in front of the conveying unit according to the deviation value of the paper board parking position and the standard position, and enables the center of the pallet and the center of the paper board to be on the same straight line and to be parallel to the conveying direction of the conveying unit.
f) And entering the next cycle.
The invention has the advantages that: automatic paper discharging is realized, the labor intensity of workers is reduced, and the paper discharging efficiency is improved.
Claims (7)
1. A paper feeding visual guide system is characterized by comprising
A conveying unit for conveying and stacking the paper boards with a certain height;
the first image acquisition equipment unit is used for capturing images of paper plates stacked at a certain height and stopped on the conveying unit to generate images;
the second image acquisition equipment unit is used for capturing images of the pallet stacked with a certain number of layers to generate images;
the industrial light source is used for providing illumination for the two image acquisition equipment units;
the photoelectric switch unit detects the in-place information of the paper boards stacked up by a certain height by the conveying unit and transmits the information to the programmable logic controller PLC;
the industrial computer is communicatively coupled with the first image acquisition equipment unit and the second image acquisition equipment unit, the user-defined visual program receives a photographing command of the PLC to control the first image acquisition equipment unit and the second image acquisition equipment unit to photograph, receives the images from the first image acquisition equipment unit and the second image acquisition equipment unit, performs calculation processing through the received images and the user-defined visual program to obtain a paper board parking position point and a pallet placing position point, compares the paper board parking position point with the pallet placing position point respectively, and gives a placing position deviation value of the paper board and the pallet to the PLC;
the programmable logic controller PLC is communicatively coupled with the photoelectric switch unit, the industrial computer and the manipulator, receives the in-place information transmitted by the paper board, sends a photographing command to the industrial computer user-defined visual program, receives a placement position deviation value of the pallet given by the industrial computer user-defined visual program and transmits the placement position deviation value of the pallet to the manipulator;
and the mechanical arm responds to the result of the image processing deviation value transmitted to the PLC by the industrial computer, indicates the mechanical arm to stack a certain number of layers of pallets, grabs the placement deviation value of the pallets, grabs the pallets, places the pallets in front of the conveying unit according to the placement deviation value of the paper boards after the grabbing is finished, and enables the centers of the pallets and the paper boards to be on the same straight line and parallel to the conveying direction of the conveying unit.
2. The visual guidance system of claim 1, wherein pallets stacked on a per-layer basis save space for stacking pallets and time for stacking pallets, each time the manipulator grabs a pallet on the top layer of pallets stacked on a per-layer basis.
3. The visual guidance system for an underlying sheet of paper as claimed in claim 1, wherein the offset value of the placement position of the sheet of paper is the distance between the center of the sheet of paper and the center of said transport unit in the X and Y directions.
4. The visual guidance system of claim 1, wherein the pallet placement offset value is an offset value teaching the X, Y direction distance between the pallet center position and the pallet center to be grasped when the robot grasps the pallet and the angle between the grasped pallet position and the pallet position to be grasped when the pallet is placed.
5. A method of bottom vision guidance using the bottom vision guidance system of any of claims 1-4, characterized by the steps of:
a) the conveying unit conveys the paper boards piled up to a certain height to the lower part of the image acquisition equipment unit I installed at a fixed position;
b) when the paper boards with a certain height are piled up and conveyed in place, the photoelectric switch is triggered, the conveying unit stops, and a paper board in-place signal is transmitted to the programmable logic controller PLC;
c) after receiving the paper board in-place signal, the programmable logic controller PLC sends a photographing signal to the user-defined visual system;
d) the user-defined vision system receives the photographing signal to control the image acquisition unit to acquire images, receives the images of the image acquisition equipment unit I and the image acquisition equipment unit II, performs image processing to calculate the placement position deviation value of the paperboard and the placement position deviation value of the pallet, transmits the placement position deviation value of the pallet to the Programmable Logic Controller (PLC), and transmits the placement position deviation value of the pallet to the manipulator;
e) the manipulator receives the placement position deviation value of the pallet transmitted by the PLC, grabs the pallet on the uppermost layer of the pallet randomly stacked according to the layers, places the pallet in front of the conveying unit according to the placement position deviation value of the pallet, and enables the center of the pallet and the center of the pallet to be on the same straight line and parallel to the conveying direction of the conveying unit;
f) and entering the next cycle.
6. The paper-off visual guide storage device is characterized by comprising a memory and a processor,
the memory for storing a computer program;
the processor, when executing the computer program, for implementing the method of claim 5.
7. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method of claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910778177.7A CN110562553B (en) | 2019-08-22 | 2019-08-22 | Paper discharge visual guide system and guide method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910778177.7A CN110562553B (en) | 2019-08-22 | 2019-08-22 | Paper discharge visual guide system and guide method |
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| Publication Number | Publication Date |
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| CN110562553A CN110562553A (en) | 2019-12-13 |
| CN110562553B true CN110562553B (en) | 2021-04-09 |
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| CN201910778177.7A Active CN110562553B (en) | 2019-08-22 | 2019-08-22 | Paper discharge visual guide system and guide method |
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| CN110562553A (en) | 2019-12-13 |
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