CN112060065B - Full-automatic unordered feeding system of robot based on 3D vision - Google Patents
Full-automatic unordered feeding system of robot based on 3D vision Download PDFInfo
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- CN112060065B CN112060065B CN202011256951.7A CN202011256951A CN112060065B CN 112060065 B CN112060065 B CN 112060065B CN 202011256951 A CN202011256951 A CN 202011256951A CN 112060065 B CN112060065 B CN 112060065B
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- 239000000463 material Substances 0.000 claims abstract description 369
- 238000007599 discharging Methods 0.000 claims abstract description 41
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 83
- 239000010421 standard material Substances 0.000 claims description 49
- 238000012545 processing Methods 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 12
- 230000007547 defect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention relates to a full-automatic unordered feeding system of a robot based on 3D vision, which comprises a feeding device, a discharging device, a photographic device, a movable manipulator and a control system, wherein the feeding device is arranged on the feeding device; according to the invention, the photographic device is used for detecting the placing density of the materials on the feeding conveyor belt and the position and the space placing direction of a single material, and transmitting related data information to the central control system, and the central control system can control the operation of the movable manipulator, the conveying speed of the feeding conveyor belt and the conveying speed of the discharging conveyor belt group according to the received data, so that the stability and the accuracy of the machine in the operation process are ensured, meanwhile, the manual operation is reduced, and the industrial automation degree is improved.
Description
Technical Field
The invention relates to the technical field of robot carrying, in particular to a full-automatic unordered feeding system of a robot based on 3D vision.
Background
The conveying operation is to hold a workpiece with one kind of equipment, and is to move from one processing position to another processing position. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings.
The current robot handling technology is widely applied to assembly line handling tasks, and the industrial automation level is enhanced, however, the current robot handling technology is not intelligent enough for handling disordered materials, and often needs to manually place the materials or manually adjust the handling speed, so that the industrial automation level is not enough and manpower is wasted; and to some specific materials need place specific surface orientation, for example the express delivery case, need face up that the express delivery case has express delivery information when putting to the information of follow-up to express delivery case surface is scanned, consequently, needs the device of orientation is put to automatic adjustment material.
Disclosure of Invention
Therefore, the invention provides a robot full-automatic unordered feeding system based on 3D vision. The problem of manpower waste caused by too low industrial automation level in the prior art is solved.
In order to achieve the above object, the present invention provides a full-automatic unordered feeding system of robot based on 3D vision, comprising:
the feeding device at least comprises a feeding conveyor belt which is used for conveying materials to be sequenced;
the blanking device comprises a blanking conveyor belt group, is arranged at the tail end of the feeding device and is used for conveying sequenced materials;
the material storage disc is arranged at the tail end of the feeding conveyor belt and used for storing disordered materials conveyed by the feeding conveyor belt;
the photographic device comprises a 3D camera and a blanking monitoring camera set, the 3D camera is arranged above the feeding device and used for shooting materials on the feeding device and sending shot image information to a central control system, and the blanking monitoring camera set is arranged above the blanking conveyor belt set to detect the number of the materials on the blanking conveyor belt set;
the movable manipulator is arranged at the tail end of the feeding device and used for grabbing the materials on the feeding conveyor belt and placing the materials on the discharging conveyor belt group;
the central control system is electrically connected with the feeding device, the discharging device, the photographing device and the movable manipulator and completes data exchange in real time so as to control the feeding device, the discharging device, the photographing device and the movable manipulator in real time; the central control system comprises:
the touch display screen is used for controlling the feeding system;
an image processing module for receiving the image information sent by the 3D camera and determining the type and placement information of the material on the feeding belt according to the image information, wherein the image processing module determines the placement information including material orientation plane information and material real-time three-dimensional coordinate information, and generates an ith material information matrix Pi (Pi 1, Pi2, Pi3, Pi 4), i =1,2.. Q, wherein: pi1 represents the orientation information of the surface of the ith material, Pi2 represents the real-time coordinate information of the ith material, Pi3 represents the defect information of the material, the initial value is equal to 0, Pi3 is equal to 1 when the material has defects, and Pi4 represents the type of the material;
the image processing module needs to collect preset material information before use, and the process comprises the following steps:
s1, entering a material information acquisition mode through the operation of the display screen, selecting a plurality of materials, and placing any one material under the photographic device;
s2, adjusting the orientation of the material, enabling the camera device to collect characteristic information of six spatial surfaces of the material, enabling the image processing module to identify the surface orientation of the material and the type of the material through the image information of the material, and forming a first type standard material information matrix B1 (B11, B12, B13, B14, B15, B16), wherein: b11 represents the bottom surface characteristic information of the first material standard material, B12 represents the top surface characteristic information of the first material standard material, B13 represents the front surface characteristic information of the first material standard material, B14 represents the back surface characteristic information of the first material standard material, B15 represents the left surface characteristic information of the first material standard material, and S16 represents the right surface characteristic information of the first material standard material;
and S3, repeating S2 to acquire information of different materials to form an i-type material standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5 and Bi 6), i =1,2. n, wherein Bi1 represents bottom surface feature information of the first material standard material, Bi2 represents top surface feature information of the first material standard material, Bi3 represents front surface feature information of the first material standard material, Bi4 represents rear surface feature information of the first material standard material, Bi5 represents left surface feature information of the first material standard material, and Si6 represents right surface feature information of the first material standard material.
S4, selecting the preset characteristics corresponding to the preset surface of each material, and exiting the material information acquisition mode through the operation of the display screen;
the control module is used for receiving information sent by the image processing module and the defect detection module, controlling the movable manipulator to grab different types of materials to be sequenced and orderly place the materials on different conveyor belts in the blanking conveyor belt group after the materials face to face according to a set material placing direction and information in an ith material information matrix Pi (Pi 1, Pi2, Pi3 and Pi 4), and simultaneously adjusting the conveyor belt running speed and the grabbing speed of the manipulator in real time according to the disorder degree of the materials on the feeding conveyor belt, wherein the control module controls the operation mode of the movable manipulator according to the preset characteristics, and the control module comprises:
when the top surface of the material to be detected is a preset surface, the control module controls the movable manipulator to directly grab and place the material on a corresponding conveyor belt of the conveyor belt group according to the type of the material;
when the top surface of the material to be detected is not a preset surface, the control module controls the movable manipulator to adjust the surface orientation of the material to be sorted, so that the top surface of the adjusted material to be sorted is the preset surface, and the adjusted material to be sorted is placed on the corresponding conveying belt of the conveying belt set in order according to the type.
Further, after the image processing module acquires the image information shot by the 3D camera, extracting feature information of each surface of the material in the image information, firstly determining the type of the material, selecting an i-th type standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5, Bi 6) of the corresponding type after determining the type of the material, meanwhile, selecting one piece of surface feature information as the preset feature from the i-th type standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5, Bi 6), matching the feature information of each surface of the material to be sorted with the preset feature, using the surface matched with the preset feature as a pre-selected surface, and recording the orientation of the pre-selected surface into the i-th material surface orientation information Pi1, wherein: when the surface of a material to be sorted is detected, the top surface of the material to be sorted is preferentially detected, when the characteristic information of the top surface of the material to be sorted is matched with the preset characteristic, subsequent detection is stopped, the top surface of the current material to be sorted is determined to be the preset surface, if the characteristic information of the top surface of the material to be sorted is not matched with the surface characteristic information of the top surface of the pre-selected material, the orientation of the surface of the current material to be sorted with the preset characteristic is continuously detected on other surfaces of the material to be detected, and the surface orientation information of the detected material is recorded into the ith material information matrix Pi (Pi 1, Pi2, Pi3 and Pi 4).
Further, a material placement judgment matrix Q0, a feeding conveyor belt speed adjusting parameter matrix C0, a manipulator running speed matrix V0 and a discharging conveyor belt group running speed matrix W0 are arranged in the control module:
for the material placement judgment matrixes Q0 and Q0 (Q1, Q2, Q3 and Q4), wherein Q1 is a first preset interval, Q2 is a second preset interval, Q3 is a third preset interval, Q4 is a fourth preset interval, and the specific values of the parameters are sequentially increased;
for the feeding conveyor speed adjusting parameter matrix C0, C0(C1, C2, C3, C4), where C1 is a first preset feeding conveyor speed adjusting parameter, C2 is a second preset feeding conveyor speed adjusting parameter, C3 is a third preset feeding conveyor speed adjusting parameter, and C4 is a fourth preset feeding conveyor speed adjusting parameter;
for the manipulator operation speed matrixes V0 and V0(V1, V2, V3 and V4), wherein V1 is a first preset manipulator operation speed, V2 is a second preset manipulator operation speed, V3 is a third preset manipulator operation speed, and V4 is a fourth preset manipulator operation speed, and the specific numerical values of the parameters are sequentially increased;
for the feeding conveyor belt group running speed matrixes W0, W0(W1, W2, W3, W4), wherein W1 is a first preset feeding conveyor belt group running speed, W2 is a second preset feeding conveyor belt group running speed, W3 is a third preset feeding conveyor belt group running speed, and W4 is a fourth preset feeding conveyor belt group running speed, specific values of the parameters are sequentially increased.
Further, when the control module adjusts the running speed of the conveyor belt and the grabbing speed of the manipulator in real time according to the disorder degree of the materials on the feeding conveyor belt, the control module determines the number N of the materials on the feeding conveyor belt and the number N of the materials with the top surface being a preselected surface and the proportion Q of the materials facing the surface correctly according to the information in the ith material information matrix Pi (Pi 1, Pi2, Pi3 and Pi 4),
after the material correctly-oriented surface proportion Q is determined, the control module compares the correctly-oriented surface proportion Q with the internal parameters of a preset material placement judgment matrix Q0:
when Q is more than 0 and less than or equal to Q1, the control module selects C1 from the C0 matrix, selects V1 from the V0 matrix, selects W1 from the W0 matrix to generate a first operation parameter matrix E1(C1, V1 and W1), the central control system adjusts the operation speed of the feeding conveyor belt to U x C1, adjusts the operation speed of the manipulator to V1 and adjusts the operation speed of the blanking conveyor belt group to W1 according to the parameters in E1;
when Q1 is more than or equal to Q2, the control module selects C2 from the C0 matrix, selects V2 from the V0 matrix, selects W2 from the W0 matrix to generate a second operation parameter matrix E2(C2, V2 and W2), and the central control system adjusts the operation speed of the feeding conveyor belt to U × C2, the operation speed of the manipulator to V2 and the operation speed of the blanking conveyor belt group to W2 according to the parameters in E2;
when Q2 is more than or equal to Q3, the control module selects C3 from the C0 matrix, selects V3 from the V0 matrix, selects W3 from the W0 matrix to generate a third operation parameter matrix E3(C3, V3 and W3), and the central control system adjusts the operation speed of the feeding conveyor belt to U × C3, the operation speed of the manipulator to V3 and the operation speed of the blanking conveyor belt group to W3 according to the parameters in E3;
when Q3 is more than or equal to Q4, the control module selects C4 from the C0 matrix, selects V4 from the V0 matrix, selects W4 from the W0 matrix to generate a fourth operation parameter matrix E4(C4, V4 and W4), and the central control system adjusts the operation speed of the feeding conveyor belt to U × C4, the operation speed of the manipulator to V4 and the operation speed of the blanking conveyor belt group to W4 according to the parameters in E4;
and setting a detection period t, and repeating the adjustment of the running speed of the feeding conveyor belt, the running speed of the manipulator and the running speed of the discharging conveyor belt group after the time t is finished, and carrying out a new monitoring and adjustment.
Further, when the central control system runs, the photographic device scans the materials in the storage disc in real time, judges the types of the materials in the storage disc according to the scanned information and transmits the judgment result to the control module:
when the material type in the image scanned by the photographic device is the same as the material type to which the preset i-th material matrix Si belongs, i =1,2,3, and the photographic device judges that the i-th material is stored in the material storage disc; when the information in a preset i-th material matrix Si is not detected in the image scanned by the photographic device, the photographic device judges that the material storage disc does not contain the i-th material;
the control module is also provided with a discharging conveying belt starting and stopping program, and when the photographing device judges that the ith material is stored in the material storage disc, the control module starts the discharging conveying belt of the ith material.
Further, the corresponding unloading conveyer belt of unloading conveyer belt camera real-time supervision to convey the monitoring result to control module:
when the camera of the blanking conveyor belt detects that all materials on the blanking conveyor belt of the first type of materials are transported and the photographic device judges that the material storage disc does not contain the first type of materials, the control module controls the blanking conveyor belt of the first type of materials to stop running;
when the camera of the second discharging conveyor belt detects that all materials on the second material discharging conveyor belt are transported and the photographic device judges that the material storage disc does not contain the second material, the control module controls the second material discharging conveyor belt to stop running;
when the camera of the third discharging conveyor belt detects that all materials on the third material discharging conveyor belt are transported and the photographic device judges that the material storage disc does not contain the third material, the control module controls the third material discharging conveyor belt to stop running.
And when the photographic device detects that the types of the materials in the storage tray can be distinguished, the control module judges that the stacked materials are separated, and when the photographic device detects that the types of the materials in the storage tray can be distinguished, the control module starts the vibrator to drive the storage tray to vibrate so as to separate the stacked materials, and when the photographic device detects that the types of the materials in the storage tray can be distinguished, the control module judges that the stacked materials are separated, and controls the vibrator to stop running.
Compared with the prior art, the automatic feeding device has the advantages that the 3D camera is used for detecting the placing density of the materials on the feeding conveyor belt and the position and the space placing direction of a single material, relevant data information is transmitted to the central control system, and the central control system can control the operation of the movable manipulator, the conveying speed of the feeding conveyor belt and the conveying speed of the discharging conveyor belt group according to the received data, so that the stability and the reliability of the device in the operation process are improved, the manual operation is reduced, and the industrial automation degree is improved.
Particularly, the invention is provided with an image recognition module for monitoring materials on the feeding conveyor belt, and recognizing the current placing direction of the characteristic materials on the surface of the materials and the types of the materials according to a standard material information matrix B (B1, B2, B3, B4, B5 and B6), thereby facilitating the subsequent control of the movable manipulator to adjust the direction of the materials and place the materials on different conveyor belts of a conveyor belt group in a classified manner.
Particularly, a material placement judgment matrix Q0 (Q1, Q2, Q3, Q4), a feeding conveyor belt speed adjusting parameter matrix C0(C1, C2, C3, C4), a manipulator operation speed matrix V0(V1, V2, V3, V4) and a blanking conveyor belt group operation speed matrix W0(W1, W2, W3, W4) are arranged in the central control system, the central control system adjusts the feeding conveyor belt operation speed, the manipulator carrying speed and the blanking conveyor belt group carrying speed according to the material placement condition of the feeding conveyor belt, the conveyor belt can have higher carrying speed when the conveyor belt material is less or the material is placed towards the right direction, meanwhile, if the material is placed towards the right direction, the movable manipulator has no process of adjusting the material direction, the materials to be sorted can be directly moved to the blanking conveyor belt group, the moving speed of the movable manipulator is also higher, therefore, the moving speed of the whole device is improved, on the contrary, if the material is more or put towards the material that does not satisfy the predetermined condition more, the manipulator need adjust its direction and move with slower, consequently, properly makes the adjustment, prevents that the manipulator material from too much appearing piling up, and the condition that the manipulator can't be moved, has improved feeding system reliability and work efficiency, has further reduced human operation, has increaseed industrial automation level.
Particularly, the tail end of the feeding conveyor belt is provided with the connecting disc, when the manipulator does not grab the material to the blanking conveyor belt group in the appointed grabbing area, the feeding conveyor belt conveys the material to the tail end of the feeding conveyor belt and outputs the material to the connecting disc, so that material loss is reduced, and economic benefit is improved.
Particularly, the conveying belt group is arranged, so that different types of materials are placed on the conveying belts of different types, and different types of treatment can be conveniently carried out on the materials of different types in the follow-up process.
Drawings
Fig. 1 is a schematic structural diagram of a robot full-automatic unordered feeding system based on 3D vision.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a schematic structural diagram of a full-automatic unordered feeding system of a robot based on 3D vision, according to the invention, the full-automatic unordered feeding system of the robot based on 3D vision includes:
the feeding device at least comprises a feeding conveyor belt 2 which is used for conveying materials to be sequenced;
the blanking device comprises a blanking conveyor belt group 6, which is arranged at the tail end of the feeding device and is used for conveying sequenced materials;
the material storage disc 4 is arranged at the tail end of the feeding conveyor belt 2 and used for storing disordered materials conveyed by the feeding conveyor belt 2;
the photographic device comprises a 3D camera 3 and a blanking monitoring camera set 7, the 3D camera 3 is arranged above the feeding device and used for shooting materials on the feeding device, and the blanking monitoring camera set 7 is arranged above the blanking conveyor belt set 6 and used for detecting the number of the materials on the blanking conveyor belt set 6;
the movable manipulator 5 is arranged at the tail end of the feeding device and used for grabbing the materials on the feeding conveyor belt 2 and placing the materials on the discharging conveyor belt group 6;
the central control system 1 is electrically connected with the feeding device, the discharging device, the photographing device and the movable manipulator 5 and completes data exchange in real time so as to control the feeding device, the discharging device, the photographing device and the movable manipulator 5 in real time; the center control system 1 includes:
a touch display screen (not shown) for operating the feeding system;
an image processing module for receiving the image information sent by the 3D camera and determining the type and placement information of the material on the feeding belt according to the image information, wherein the image processing module determines the placement information including material orientation plane information and material real-time three-dimensional coordinate information, and generates an ith material information matrix Pi (Pi 1, Pi2, Pi3, Pi 4), i =1,2.. Q, wherein: pi1 represents the orientation information of the surface of the ith material, Pi2 represents the real-time coordinate information of the ith material, Pi3 represents the defect information of the material, the initial value of the defect information is equal to 0, when the material has defects, Pi3 is equal to 1, and Pi4 represents the type of the material;
the image processing module needs to collect preset material information before use, and the process comprises the following steps:
s1, entering a material information acquisition mode through the operation of the display screen, selecting a plurality of materials, and placing any one material under the photographic device;
s2, adjusting the orientation of the material, enabling the camera device to collect characteristic information of six spatial surfaces of the material, enabling the image processing module to identify the surface orientation of the material and the type of the material through the image information of the material, and forming a first type standard material information matrix B1 (B11, B12, B13, B14, B15, B16), wherein: b11 represents the bottom surface characteristic information of the first material standard material, B12 represents the top surface characteristic information of the first material standard material, B13 represents the front surface characteristic information of the first material standard material, B14 represents the back surface characteristic information of the first material standard material, B15 represents the left surface characteristic information of the first material standard material, and S16 represents the right surface characteristic information of the first material standard material;
and S3, repeating S2 to acquire information of different materials to form an i-type material standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5 and Bi 6), i =1,2. n, wherein Bi1 represents bottom surface feature information of the first material standard material, Bi2 represents top surface feature information of the first material standard material, Bi3 represents front surface feature information of the first material standard material, Bi4 represents rear surface feature information of the first material standard material, Bi5 represents left surface feature information of the first material standard material, and Si6 represents right surface feature information of the first material standard material.
S4, selecting the preset characteristics corresponding to the preset surface of each material, and exiting the material information acquisition mode through the operation of the display screen;
a control module, configured to receive information sent by the image processing module and the defect detecting module, and control the movable manipulator 5 to grab and adjust different types of materials to be sorted according to a set material placement direction and information in an ith material information matrix Pi (Pi 1, Pi2, Pi3, Pi 4) and place the materials sequentially onto different conveyor belts in the blanking conveyor belt group 6 after facing, and at the same time, adjust a conveyor belt running speed and a manipulator grabbing speed in real time according to a disorder degree of the materials on the feeding conveyor belt 2, where the control module controls an operation mode of the movable manipulator 5 according to the preset characteristics, the control module includes:
when the top surface of the material to be detected is a preset surface, the control module controls the movable manipulator 5 to directly grab and place the material on a corresponding conveyor belt of the conveyor belt group according to the type of the material;
when the top surface of the material to be detected is not a preset surface, the control module controls the movable manipulator 5 to adjust the surface orientation of the material to be sorted, so that the top surface of the adjusted material to be sorted is the preset surface, and the adjusted material to be sorted is placed on the corresponding conveying belt of the conveying belt set in order according to the type.
Specifically, after the image processing module acquires image information shot by the 3D camera 3, feature information of each surface of a material in the image information is extracted, the type of the material is determined, an i-th type standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5, Bi 6) corresponding to the type of the material is selected, meanwhile, the image processing module selects one piece of surface feature information from the i-th type standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5, Bi 6) as the preset feature, matches the feature information of each surface of the material to be sorted with the preset feature, uses the surface matched with the preset feature as a pre-selected surface, and records the orientation of the pre-selected surface into the i-th material surface orientation information Pi1, wherein: when the surface of a material to be sorted is detected, the top surface of the material to be sorted is preferentially detected, when the characteristic information of the top surface of the material to be sorted is matched with the preset characteristic, subsequent detection is stopped, the top surface of the current material to be sorted is determined to be the preset surface, if the characteristic information of the top surface of the material to be sorted is not matched with the surface characteristic information of the top surface of the pre-selected material, the orientation of the surface of the current material to be sorted with the preset characteristic is continuously detected on other surfaces of the material to be detected, and the surface orientation information of the detected material is recorded into the ith material information matrix Pi (Pi 1, Pi2, Pi3 and Pi 4).
Specifically, a material placement judgment matrix Q0, a speed adjustment parameter matrix C0 of the feeding conveyor belt 2, a manipulator running speed matrix V0 and a running speed matrix W0 of the discharging conveyor belt group 6 are arranged in the control module:
for the material placement judgment matrixes Q0 and Q0 (Q1, Q2, Q3 and Q4), wherein Q1 is a first preset interval, Q2 is a second preset interval, Q3 is a third preset interval, Q4 is a fourth preset interval, and the specific values of the parameters are sequentially increased;
for the speed adjusting parameter matrix C0, C0(C1, C2, C3, C4) of the feeding conveyor belt 2, where C1 is a first preset feeding conveyor belt 2 speed adjusting parameter, C2 is a second preset feeding conveyor belt 2 speed adjusting parameter, C3 is a third preset feeding conveyor belt 2 speed adjusting parameter, and C4 is a fourth preset feeding conveyor belt 2 speed adjusting parameter;
for the manipulator operation speed matrixes V0 and V0(V1, V2, V3 and V4), wherein V1 is a first preset manipulator operation speed, V2 is a second preset manipulator operation speed, V3 is a third preset manipulator operation speed, and V4 is a fourth preset manipulator operation speed, and the specific numerical values of the parameters are sequentially increased;
for the running speed matrixes W0, W0(W1, W2, W3, W4) of the blanking conveyor belt group 6, wherein W1 is the running speed of the first preset blanking conveyor belt group 6, W2 is the running speed of the second preset blanking conveyor belt group 6, W3 is the running speed of the third preset blanking conveyor belt group 6, and W4 is the running speed of the fourth preset blanking conveyor belt group 6, the specific values of the parameters are sequentially increased.
In particular, when the control module adjusts the conveyor running speed and the gripping speed of the manipulator in real time according to the degree of clutter of the material on the loading conveyor 2, the control module determines the number N of the material on the loading conveyor 2 and the number N of the material with the top surface being a preselected surface, the proportion Q of the material facing the surface correctly according to the information in the ith material information matrix Pi (Pi 1, Pi2, Pi3, Pi 4),
after the material correctly-oriented surface proportion Q is determined, the control module compares the correctly-oriented surface proportion Q with the internal parameters of a preset material placement judgment matrix Q0:
when Q is more than 0 and less than or equal to Q1, the control module selects C1 from the C0 matrix, selects V1 from the V0 matrix, selects W1 from the W0 matrix to generate a first operation parameter matrix E1(C1, V1 and W1), the central control system 1 adjusts the operation speed of the feeding conveyor belt 2 to U C1, the operation speed of the manipulator to V1 and the operation speed of the blanking conveyor belt group 6 to W1 according to the parameters in E1;
when Q1 is more than or equal to Q2, the control module selects C2 from the C0 matrix, selects V2 from the V0 matrix, selects W2 from the W0 matrix to generate a second operation parameter matrix E2(C2, V2 and W2), and the central control system 1 adjusts the operation speed of the feeding conveyor belt 2 to U C2, the operation speed of the manipulator to V2 and the operation speed of the blanking conveyor belt group 6 to W2 according to the parameters in E2;
when Q2 is more than or equal to Q3, the control module selects C3 from the C0 matrix, selects V3 from the V0 matrix, selects W3 from the W0 matrix to generate a third operation parameter matrix E3(C3, V3 and W3), and the central control system 1 adjusts the operation speed of the feeding conveyor belt 2 to U C3, the operation speed of the manipulator to V3 and the operation speed of the blanking conveyor belt group 6 to W3 according to the parameters in E3;
when Q3 is more than or equal to Q4, the control module selects C4 from the C0 matrix, selects V4 from the V0 matrix, selects W4 from the W0 matrix to generate a fourth operation parameter matrix E4(C4, V4 and W4), and the central control system 1 adjusts the operation speed of the feeding conveyor belt 2 to U C4, the operation speed of the manipulator to V4 and the operation speed of the blanking conveyor belt group 6 to W4 according to the parameters in E4;
and setting a detection period t, and repeating the adjustment of the running speed of the feeding conveyor belt 2, the running speed of the manipulator and the running speed of the discharging conveyor belt group 6 after the time t is finished, and performing a new monitoring and adjustment.
Specifically, when the central control system runs, the photographing device scans the materials in the storage tray 4 in real time, judges the types of the materials in the storage tray 4 according to the scanned information, and transmits the judgment result to the control module:
when the material type in the image scanned by the photographic device is the same as the material type to which the preset i-th material matrix Si belongs, i =1,2,3, and the photographic device judges that the i-th material is stored in the material storage disc 4; when the information in a preset i-th material matrix Si is not detected in the image scanned by the photographic device, the photographic device judges that the material storage disc 4 does not contain the i-th material;
the control module is also provided with a discharging conveyor belt starting and stopping program, and when the photographing device judges that the ith material is stored in the material storage disc 4, the control module starts the discharging conveyor belt for the ith material.
Specifically speaking, the blanking conveyer belt that blanking conveyer belt camera real-time supervision corresponds to with the monitoring result conveying to control module:
when the camera of the blanking conveyor belt detects that all materials on the blanking conveyor belt of the first type of materials are transported and the photographic device judges that the material storage disc 4 does not contain the first type of materials, the control module controls the blanking conveyor belt of the first type of materials to stop running;
when the camera of the second discharging conveyor belt detects that all materials on the second material discharging conveyor belt are transported and the photographic device judges that the material storage disc 4 does not contain the second material, the control module controls the second material discharging conveyor belt to stop running;
when the camera of the third discharging conveyor belt detects that all materials on the third material discharging conveyor belt are transported and the photographic device judges that the material storage disc 4 does not contain the third material, the control module controls the third material discharging conveyor belt to stop running.
Specifically, a vibrator 8 is arranged below the storage tray 4, the vibrator 8 is connected with the control module, when the photographing device detects that materials are stored in the storage tray 4 but the types of the materials cannot be distinguished, the control module judges that the materials are stacked in the storage tray 4, the control module starts the vibrator 8 according to a judgment result, the vibrator 8 drives the storage tray 4 to vibrate so that the stacked materials are separated, when the photographing device detects that the types of the materials in the storage tray 4 can be distinguished, the control module judges that the stacked materials are separated, and the control module controls the vibrator 8 to stop running.
Compared with the prior art, the automatic feeding device has the advantages that the 3D camera is used for detecting the placing density of the materials on the feeding conveyor belt and the position and the space placing direction of a single material, relevant data information is transmitted to the central control system, and the central control system can control the operation of the movable manipulator, the conveying speed of the feeding conveyor belt and the conveying speed of the discharging conveyor belt group according to the received data, so that the stability and the reliability of the device in the operation process are improved, the manual operation is reduced, and the industrial automation degree is improved.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a full-automatic unordered feeding system of robot based on 3D vision which characterized in that includes:
the feeding device at least comprises a feeding conveyor belt which is used for conveying materials to be sequenced;
the blanking device comprises a blanking conveyor belt group, is arranged at the tail end of the feeding device and is used for conveying sequenced materials;
the material storage disc is arranged at the tail end of the feeding conveyor belt and used for storing disordered materials conveyed by the feeding conveyor belt;
the photographic device comprises a 3D camera and a blanking monitoring camera set, the 3D camera is arranged above the feeding device and used for shooting materials on the feeding device and sending shot image information to a central control system, and the blanking monitoring camera set is arranged above the blanking conveyor belt set to detect the number of the materials on the blanking conveyor belt set;
the movable manipulator is arranged at the tail end of the feeding device and used for grabbing the materials on the feeding conveyor belt and placing the materials on the discharging conveyor belt group;
the central control system is electrically connected with the feeding device, the discharging device, the photographing device and the movable manipulator and completes data exchange in real time so as to control the feeding device, the discharging device, the photographing device and the movable manipulator in real time; the central control system comprises:
the touch display screen is used for controlling the feeding system;
an image processing module for receiving the image information sent by the 3D camera and determining the type and placement information of the material on the feeding belt according to the image information, wherein the image processing module determines the placement information including material orientation plane information and material real-time three-dimensional coordinate information, and generates an ith material information matrix Pi (Pi 1, Pi2, Pi3, Pi 4), i =1,2.. n, wherein: pi1 represents the orientation information of the surface of the ith material, Pi2 represents the real-time coordinate information of the ith material, Pi3 represents the defect information of the material, the initial value is equal to 0, Pi3 is equal to 1 when the material has defects, and Pi4 represents the type of the material;
the image processing module needs to collect preset material information before use, and the process comprises the following steps:
s1, entering a material information acquisition mode through the operation of the display screen, selecting a plurality of materials, and placing any one material under the photographic device;
s2, adjusting the orientation of the material, enabling the photographic device to acquire characteristic information of six spatial surfaces of the material, enabling the image processing module to identify the surface orientation of the material and the type of the material through the image information of the material, and forming a first type standard material information matrix B1 (B11, B12, B13, B14, B15, B16), wherein: b11 represents the bottom surface characteristic information of the first material standard material, B12 represents the top surface characteristic information of the first material standard material, B13 represents the front surface characteristic information of the first material standard material, B14 represents the back surface characteristic information of the first material standard material, B15 represents the left surface characteristic information of the first material standard material, and B16 represents the right surface characteristic information of the first material standard material;
s3, repeating S2 to acquire information of different materials to form an i-type material standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5 and Bi 6), i =1,2. n, wherein Bi1 represents bottom surface feature information of the i-th material standard material, Bi2 represents top surface feature information of the i-th material standard material, Bi3 represents front feature information of the i-th material standard material, Bi4 represents rear feature information of the i-th material standard material, Bi5 represents left feature information of the i-th material standard material, and Bi6 represents right feature information of the i-th material standard material;
s4, selecting the preset characteristics corresponding to the preset surface of each material, and exiting the material information acquisition mode through the operation of the display screen;
the control module is used for receiving information sent by the image processing module and the defect detection module, controlling the movable manipulator to grab different types of materials to be sequenced and orderly place the materials on different conveyor belts in the blanking conveyor belt group after the materials face to face according to a set material placing direction and information in an ith material information matrix Pi (Pi 1, Pi2, Pi3 and Pi 4), and simultaneously adjusting the conveyor belt running speed and the grabbing speed of the manipulator in real time according to the disorder degree of the materials on the feeding conveyor belt, wherein the control module controls the operation mode of the movable manipulator according to the preset characteristics, and the control module comprises:
when the top surface of the material to be detected is a preset surface, the control module controls the movable manipulator to directly grab and place the material on a corresponding conveyor belt of the conveyor belt group according to the type of the material;
when the top surface of the material to be detected is not a preset surface, the control module controls the movable manipulator to adjust the surface orientation of the material to be sorted, so that the top surface of the adjusted material to be sorted is the preset surface, and the adjusted material to be sorted is placed on the corresponding conveying belt of the conveying belt set in order according to the type.
2. The full-automatic 3D vision-based unordered feeding system of a robot as claimed in claim 1, wherein the image processing module extracts feature information of each surface of the material in the image information after acquiring the image information captured by the 3D camera, firstly determines the type of the material, selects an i-th type standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5, Bi 6) corresponding to the type of the material after determining the type of the material, simultaneously selects a surface feature information from the i-th type standard material information matrix Bi (Bi 1, Bi2, Bi3, Bi4, Bi5, Bi 6) as the preset feature, matches the feature information of each surface of the material to be sorted with the preset feature, uses the surface matching with the preset feature as a pre-selected surface, and records the orientation of the pre-selected surface into the i-th material surface orientation information Pi1, wherein: when the surface of a material to be sorted is detected, the top surface of the material to be sorted is preferentially detected, when the characteristic information of the top surface of the material to be sorted is matched with the preset characteristic, subsequent detection is stopped, the top surface of the current material to be sorted is determined to be the preset surface, if the characteristic information of the top surface of the material to be sorted is not matched with the surface characteristic information of the top surface of the pre-selected material, the orientation of the surface of the current material to be sorted with the preset characteristic is continuously detected on other surfaces of the material to be detected, and the surface orientation information of the detected material is recorded into the ith material information matrix Pi (Pi 1, Pi2, Pi3 and Pi 4).
3. The full-automatic unordered feeding system of robot based on 3D vision of claim 1, characterized in that, the control module is internally provided with a material placement judgment matrix Q0, a feeding conveyor speed adjustment parameter matrix C0, a manipulator running speed matrix V0 and a blanking conveyor group running speed matrix W0:
for the material placement judgment matrixes Q0 and Q0 (Q1, Q2, Q3 and Q4), wherein Q1 is a first preset interval, Q2 is a second preset interval, Q3 is a third preset interval, Q4 is a fourth preset interval, and the specific values of the parameters are sequentially increased;
for the feeding conveyor speed adjusting parameter matrix C0, C0(C1, C2, C3, C4), where C1 is a first preset feeding conveyor speed adjusting parameter, C2 is a second preset feeding conveyor speed adjusting parameter, C3 is a third preset feeding conveyor speed adjusting parameter, and C4 is a fourth preset feeding conveyor speed adjusting parameter;
for the manipulator operation speed matrixes V0 and V0(V1, V2, V3 and V4), wherein V1 is a first preset manipulator operation speed, V2 is a second preset manipulator operation speed, V3 is a third preset manipulator operation speed, and V4 is a fourth preset manipulator operation speed, and the specific numerical values of the parameters are sequentially increased;
for the feeding conveyor belt group running speed matrixes W0, W0(W1, W2, W3, W4), wherein W1 is a first preset feeding conveyor belt group running speed, W2 is a second preset feeding conveyor belt group running speed, W3 is a third preset feeding conveyor belt group running speed, and W4 is a fourth preset feeding conveyor belt group running speed, specific values of the parameters are sequentially increased.
4. The full-automatic unordered feeding system of robot based on 3D vision of claim 3, characterized in that, when the central control system is running, the camera device scans the material in the storage tray in real time, judges the type of the material in the storage tray according to the scanned information, and transmits the judgment result to the control module:
when the material type in the image scanned by the photographic device is the same as the material type to which the preset i-th material matrix Si belongs, i =1,2,3, and the photographic device judges that the i-th material is stored in the material storage disc; when the information in a preset i-th material matrix Si is not detected in the image scanned by the photographic device, the photographic device judges that the material storage disc does not contain the i-th material;
the control module is also provided with a discharging conveying belt starting and stopping program, and when the photographing device judges that the ith material is stored in the material storage disc, the control module starts the discharging conveying belt of the ith material.
5. The full-automatic unordered feeding system of robot based on 3D vision of claim 4, characterized in that, corresponding unloading conveyer belt of unloading conveyer belt camera real-time supervision to convey monitoring result to control module:
when the camera of the blanking conveyor belt detects that all materials on the blanking conveyor belt of the first type of materials are transported and the photographic device judges that the material storage disc does not contain the first type of materials, the control module controls the blanking conveyor belt of the first type of materials to stop running;
when the camera of the second discharging conveyor belt detects that all materials on the second material discharging conveyor belt are transported and the photographic device judges that the material storage disc does not contain the second material, the control module controls the second material discharging conveyor belt to stop running;
when the camera of the third discharging conveyor belt detects that all materials on the third material discharging conveyor belt are transported and the photographic device judges that the material storage disc does not contain the third material, the control module controls the third material discharging conveyor belt to stop running.
6. The robot full-automatic unordered feeding system based on the 3D vision is characterized in that a vibrator is arranged below the material storage disc and connected with the control module, when the photographing device detects that materials are stored in the material storage disc but the types of the materials cannot be distinguished, the control module judges that the materials are stacked in the material storage disc, the control module starts the vibrator according to the judgment result, the vibrator drives the material storage disc to vibrate to separate the stacked materials, when the photographing device detects that the types of the materials in the material storage disc can be distinguished, the control module judges that the stacked materials are separated, and the control module controls the vibrator to stop running.
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| CN112657860A (en) * | 2021-01-15 | 2021-04-16 | 佛山科学技术学院 | Automatic queuing system and queuing method |
| CN113233195B (en) * | 2021-04-25 | 2022-04-12 | 江南大学附属医院 | Automatic pathological slide finishing and positioning machine and method |
| CN113200346B (en) * | 2021-05-10 | 2022-12-02 | 南京深农智能装备有限公司 | Automatic discernment is corrected and is snatched charging equipment |
| CN113533360B (en) * | 2021-06-30 | 2022-04-15 | 广东全芯半导体有限公司 | Storage device detection system |
| CN114193440B (en) * | 2022-01-04 | 2023-09-12 | 中船重工鹏力（南京）智能装备系统有限公司 | Robot automatic grabbing system and method based on 3D vision |
| CN114559438A (en) * | 2022-03-25 | 2022-05-31 | 卡奥斯工业智能研究院(青岛)有限公司 | Recognition and placement device and recognition and placement method |
| CN115535616B (en) * | 2022-11-28 | 2023-03-31 | 张家港嘉园钢铁制品有限公司 | Seamless steel pipe blanking system |
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| FR3031048B1 (en) * | 2014-12-24 | 2016-12-30 | Solystic | POSTAL SORTING MACHINE WITH FEED INPUT COMPRISING A ROBOTIC ARM AND A FLAT CONVEYOR |
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