CN112357620A - Cigarette carton finished product delivery system and control method thereof - Google Patents
Cigarette carton finished product delivery system and control method thereof Download PDFInfo
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- CN112357620A CN112357620A CN202011364792.2A CN202011364792A CN112357620A CN 112357620 A CN112357620 A CN 112357620A CN 202011364792 A CN202011364792 A CN 202011364792A CN 112357620 A CN112357620 A CN 112357620A
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- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 177
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000000007 visual effect Effects 0.000 claims abstract description 23
- 238000005311 autocorrelation function Methods 0.000 claims description 15
- 230000000875 corresponding effect Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 241000208125 Nicotiana Species 0.000 claims description 7
- 235000002637 Nicotiana tabacum Nutrition 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
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- 238000004364 calculation method Methods 0.000 abstract description 7
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 208000034423 Delivery Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
- B65D85/07—Containers, packaging elements or packages, specially adapted for particular articles or materials for compressible or flexible articles
- B65D85/08—Containers, packaging elements or packages, specially adapted for particular articles or materials for compressible or flexible articles rod-shaped or tubular
- B65D85/10—Containers, packaging elements or packages, specially adapted for particular articles or materials for compressible or flexible articles rod-shaped or tubular for cigarettes
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/32—Belts or like endless load-carriers made of rubber or plastics
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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
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention discloses a cigarette carton finished product delivery system and a control method thereof.A positioning cylinder is arranged at two sides of a jacking type telescopic belt car loader, a positioning plate is arranged at the end part of the positioning cylinder, a proximity switch is arranged on the positioning plate, and after a cigarette carton reaches the positioning plate at the end part of the jacking type telescopic belt car loader, the positioning cylinder clamps and positions the cigarette carton; the visual system collects the outline dimension of the cigarette carton and accurately positions the cigarette carton, the robot and the fixture absorb the cigarette carton in sequence according to the positioning signals of the positioning cylinders arranged on the two sides of the jacking type telescopic belt car loader, the size data and the position coordinates of the visual system, and the cigarette carton is placed and stacked according to the stack type calculated by the PLC control system. The invention has simple structure and convenient use, is matched with a jacking type telescopic belt car loader to carry out warehouse-out and car loading of the cigarette carton in a boxcar carriage, and comprises the full-flow industrial automation intellectualization of automatic positioning, automatic calculation stacking and automatic stacking of the cigarette carton of the jacking type telescopic belt car loader.
Description
Technical Field
The invention belongs to the technical field of cigarette carton delivery, and particularly relates to a cigarette carton finished product delivery system and a control method thereof.
Background
The finished cigarette carton products are discharged from the warehouse through a manually operated jacking type telescopic belt car loader at present: the cartons containing the cigarettes are conveyed into a driving box body by a jacking type telescopic belt car loader, the cartons are manually conveyed into the truck box body one by one layer by layers and are conveyed out of a warehouse by a truck. The production efficiency is lower, the enterprise personnel use cost is higher, and the operation risk is larger.
Disclosure of Invention
The invention aims to provide a cigarette carton finished product warehouse-out system and a control method thereof aiming at the defects of the prior art. The tobacco carton stacking type automatic full-process intelligent finished product delivery system is composed of a cooperative robot and a clamp thereof, a jacking type telescopic belt car loader tobacco carton positioning accessory and a cooperative robot mounting base, and the stacking type of tobacco cartons is calculated through a software system according to the delivery quantity and the tonnage of a van truck, so that the positioning, stacking type calculation and full-process automatic intelligent finished product delivery of the tobacco cartons are realized. In the scheme, the whole system adopts the cooperative robot, so that the safety of the system is ensured.
In order to solve the technical problems, the invention adopts the following technical scheme: a finished cigarette carton discharging system comprises a cigarette carton conveying belt, a jacking type telescopic belt car loader, a cooperative robot, a fixture of the cooperative robot and a PLC control system, wherein positioning cylinders are arranged on two sides of the jacking type telescopic belt car loader, positioning plates are arranged at the end parts of the positioning cylinders, proximity switches are arranged on the positioning plates, the proximity switches give out signals after a cigarette carton reaches the positioning plates at the end parts of the jacking type telescopic belt car loader, and the PLC control system controls the positioning cylinders arranged on two sides of the jacking type telescopic belt car loader to clamp and position the cigarette carton; the visual system collects and accurately positions the outline dimensions of the cigarette carton, the cooperative robot and the clamp thereof are arranged on a pedal of the jacking type telescopic belt car loader, the cooperative robot and the clamp thereof sequentially absorb the cigarette carton according to positioning signals of positioning cylinders arranged on two sides of the jacking type telescopic belt car loader, the size data and the position coordinates of the visual system, and the cigarette carton is placed and stacked according to the stacking type calculated by the PLC control system; after the stacking of the cigarette cartons in a row is finished, the jacking type telescopic belt car loader automatically moves backwards according to data detected by the displacement sensor, and a proper working space is unified by a cooperation robot in the cigarette carton finished product delivery system.
Further, cooperation robot and anchor clamps thereof include base and cooperation robot and robot clamp, cooperation robot installs on the base, base fixed connection is on the footboard of jacking formula flexible belt car loader, robot clamp installs on cooperation robot sixth axle.
Further, the robot clamp includes a connecting piece, connecting piece fixed connection is in cooperation robot sixth axle, and L type mounting panel fixed connection is in on the connecting piece, a plurality of sucking discs of installation on L type mounting panel for absorb a cigarette case.
And the visual system, the displacement sensor, the cooperative robot and the clamp thereof and the proximity switch are in communication connection with the PLC control system.
The invention also provides a control method of the cigarette carton finished product delivery system, which is characterized by comprising the following steps:
s1, conveying a cigarette carton to a jacking type telescopic belt car loader from a conveying belt, and sending a signal by a proximity switch arranged on a positioning plate arranged at the upper end part of the jacking type telescopic belt car loader;
s2, the PLC control system controls the positioning cylinder to clamp and position the cigarette carton;
s3, the visual system carries out contour dimension collection and accurate position detection on the cigarette carton;
s4, the cooperative robot and the clamp thereof sequentially suck the cigarette carton boxes according to positioning signals of positioning cylinders arranged on two sides of the jacking type telescopic belt car loader, the size of a visual system and position data;
and S5, recognizing the specification of the cigarette carton at the position according to the data acquired by the visual system according to the outline size of the cigarette carton, calculating an optimal stacking form according to delivery box-type trucks with different specifications, and controlling the cooperative robot and the clamp thereof to execute corresponding actions for stacking.
Further, in step S3, the vision system includes a camera and a light source, the light source irradiates the cigarette carton from four directions, so as to ensure that the light source can illuminate the periphery of the cigarette carton and the upper side of the cigarette carton is not illuminated by the light source, and the installation height of the camera is the maximum value of the product of the length of two times and the height of the cigarette carton of different models.
Further, in step S2, after the camera photographs the carton to obtain an image, the overall profile of the carton is obtained by a visual background difference method, noise in the image is removed by a canny operator and a profile search algorithm, and only profile features are saved, four corner points of the carton are extracted by harris corner points by a profile matching algorithm, the length and width of the carton are determined according to the distance relationship between the four corner points, the length and width are matched with the stored specification model to determine the specification model of the existing carton, and the center coordinates of the carton and the direction of the carton are determined according to the four corner points.
Further, in step S2, the length and width of the cigarette carton are determined according to the distance relationship between the four corner points, and after the profile picture of the cigarette carton is obtained for the vision system by specifically adopting a method matching with the stored specification and model, a picture profile pixel point is randomly selected and the autocorrelation function E (u, v) value is calculated one by one along a certain direction of the profile pixel point, whether the picture carton is a corner point is determined according to the autocorrelation function E (u, v) value, a threshold is set according to the fluctuation condition of autocorrelation function values of non-corner points during debugging, and when the autocorrelation function values are greater than the threshold, the point is considered as a corner point;
the Harris corner point extraction mode is realized by an autocorrelation function E (u, v) ═ Sigmax，yω(x，y)[I(x+u，y+u)-I(x，y)]2Performing second-order Taylor series expansion on (x, y) points at (x + u, y + v) by the function, and then taking first-order approximation to obtain
Wherein
Is a structure tensor, where u, v are the offsets of the window in the horizontal and vertical directions, w is the weight, which is determined according to the CRITIC weight method, and I is the filtered value, i.e., the pixel values around the filtered point.
Sequentially finding out four angular points of the outline of the cigarette carton, and sequentially connecting the four angular points to obtain a line length; then the program finds out the line length of the line formed by connecting the angular points in the storage template, and matches the line length of the connecting line of the angular points in the visual picture, thereby determining the model specification of the cigarette carton; and calculating the grabbing position of the cooperative robot according to the edge of the positioning cigarette carton, and transmitting the accurate position information to the finished cigarette carton delivery PLC control system through a TCPIP communication protocol.
Further, in step S5, after the PLC control system identifies the model specification of the carton, the stacking direction of the carton is manually selected, the total amount and model of the carton are input, the vision system automatically identifies the length, width and height of the carton, determines the specification and model of the carton, and transmits data to the PLC control system, the PLC control system extracts source data according to the data required by the cooperative robot to perform an action and transmits the source data to the cooperative robot system, and the cooperative robot performs a corresponding action; on the premise of full stacking of stacking planes of boxcars, calculating the number of rows, columns and layers of stacking according to the total amount of cigarette cartons, the types of the cartons and the stacking direction, and calculating the stacking type; and when actually stacking, the stack type cooperation robot preferentially stacks rows, stacks rows and layers, and finally stacks layers.
Compared with the prior art, the invention has the beneficial effects that: in the prior art, the operation of taking finished cigarette carton out of the warehouse is completed manually, the system completely replaces manual operation, and the automation and intellectualization of the whole flow of cigarette carton positioning, stack type calculation and stacking are realized. The system has the advantages that (1) the finished cigarette carton delivery system is firstly applied to the finished cigarette carton delivery and loading station by the cooperation robot; (2) according to the total quantity, specification and model of finished cigarette carton products discharged from the warehouse and the tonnage of a van, the optimal stacking type is automatically calculated by a control algorithm in the system, so that the production intelligence is greatly improved; (3) the stacking and placing position of the finished cigarette carton discharging system is accurate, and the phenomenon that the stacking of the last cigarette carton is difficult due to loose placement of the cigarette cartons is not easy to occur; (4) the cooperative robots can carry out interactive operation with people, when one cooperative robot breaks down, the manual work can be directly replaced, and the cooperative robot can carry out interactive operation with another cooperative robot; because the weight of cooperation robot itself is lighter, also can choose to demolish trouble cooperation robot, make things convenient for later maintenance, guarantee the diversity that the strip tobacco carton finished product goes out of warehouse, guarantee normal production.
Drawings
FIG. 1 is a schematic view of the entire warehouse-out system of the cigarette carton finished products of the present invention;
FIG. 2 is a schematic structural view of a cigarette carton finished product delivery system of the present invention;
FIG. 3 is a schematic diagram of a cooperative robot of the present invention;
FIG. 4 is a schematic view of a cooperating robot jaw configuration of the present invention;
in the figure, 1-conveying belt, 2-jacking type telescopic belt car loader, 3-pedal, 4-cooperative robot and clamp thereof, 5-cigarette carton stack, 6-positioning plate, 7-positioning cylinder, 8-base, 9-cooperative robot, 10-robot clamp, 11-connecting piece and 12-L-shaped mounting plate; 13-a suction cup; 14-a vision system; 15-displacement sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-4, an embodiment of the application provides a cigarette carton finished product warehouse-out system, which comprises a cigarette carton conveying belt 1, a jacking type telescopic belt car loader 2, a cooperative robot, a fixture 4 of the cooperative robot and a PLC control system, wherein positioning cylinders 7 are installed on two sides of the jacking type telescopic belt car loader 2, a positioning plate 6 is installed at the end part of each positioning cylinder 7, a proximity switch is installed on each positioning plate 6, the proximity switch gives a signal after a cigarette carton reaches the positioning plate 6 at the end part of the jacking type telescopic belt car loader 2, and the PLC control system controls the positioning cylinders 7 installed on two sides of the jacking type telescopic belt car loader 2 to clamp and position the cigarette carton; the visual system 14 collects the outline size and accurately positions the cigarette carton, the cooperative robot and the clamp 4 thereof are arranged on the pedal 3 of the jacking type telescopic belt car loader 2, the cooperative robot and the clamp 4 thereof sequentially absorb the cigarette carton according to the positioning signals of the positioning cylinders 7 arranged on the two sides of the jacking type telescopic belt car loader 2, the size data and the position coordinates of the visual system 14, and the cigarette carton is put and stacked according to the stack type calculated by the PLC control system; after the cigarette carton in one row is stacked, a cigarette carton stack 5 is formed, the jacking type telescopic belt car loader 2 automatically moves backwards according to data detected by the displacement sensor 15, and a proper working space of the cooperation robot 9 in the cigarette carton finished product delivery system is guaranteed to be unified. In the embodiment, the delivery van trucks with different tonnages are respectively equipped according to the type, specification and quantity of the finished cigarette carton products delivered out of the warehouse, and the delivery van trucks generally adopted in the prior art are divided into 20T, 25T and 30T; a finished cigarette carton delivery system provides a manual input interface, and the system automatically calculates an optimal stacking form by a set of complete control algorithm according to the type, specification and quantity of manually input cigarette cartons for loading and the tonnage of delivery van trucks, and controls a cooperative robot and a clamp 4 thereof to execute corresponding actions.
In a further preferred embodiment, the cooperative robot and the jig 4 thereof comprise a base 8, a cooperative robot 9 and a robot jig 10, the cooperative robot is mounted on the base 8, the base 8 is fixedly connected to the pedal 3 of the jacking type telescopic belt car loader 2, and the robot jig 10 is mounted on the sixth axis of the cooperative robot. Robot clamp 10 includes connecting piece 11, 11 fixed connection of connecting piece are in cooperation robot sixth axle, and L type mounting panel 12 fixed connection is in on 11 connecting piece, a plurality of sucking discs 13 of installation on L type mounting panel 12 for absorb the strip smoke box.
In the above embodiment, the finished cigarette carton delivery system operates in a relatively limited space of a van, and the van is transported away after being filled with cigarette cartons, so that an industrial six-axis robot with a relatively large volume cannot be applied to the space or fixedly mounted at a certain position, and considering the bearing weight of the jacking type telescopic belt car loader 2, the industrial six-axis robot cannot be mounted on the jacking type telescopic belt car loader 2; therefore, the cooperative robot has the advantages of light weight and small operation range and is effectively applied; the mounting mode of cooperation robot is not fixed mounting in certain position, but installs on the footboard 3 of the flexible belt car loader of jack-up 2, and the footboard 3 of the flexible belt car loader of jack-up 2 can go up and down along with the change of pile up neatly position, therefore cooperation robot and anchor clamps 4 can follow the footboard 3 of the flexible belt car loader of jack-up 2 and move to guarantee the successful pile up neatly of cigarette carton. When the jacking type telescopic belt car loader 2 is operated manually to load the stacked cigarette cartons, the cigarette cartons are relatively loosely placed in the stacking process, so that the last cigarette carton is difficult to place, and the cigarette cartons are firmly squeezed into the stack by manual operation; and cooperation robot can effectively solve this problem when carrying out the cigarette case pile up neatly and put: after the cooperative robot and the clamp 4 thereof take the cigarette carton from the jacking type telescopic belt car loader 2, the cigarette carton is placed by the inner wall side of the van as far as possible, and the placement is relatively accurate, so that the difficulty that the last cigarette carton is stacked due to loose placement of the cigarette carton is effectively avoided; in order to thoroughly stop the problem, the cigarette cartons on two sides of the last cigarette carton are obliquely placed during system control, so that the space of the last cigarette carton is in a splayed shape, and the last cigarette carton is integrally pushed into the stack after entering the splayed opening, thereby thoroughly solving the problem.
In a further preferred embodiment, the robot further comprises a PLC control system, a vision system 14 and a displacement sensor 15, wherein the vision system 14, the displacement sensor 15, the cooperative robot and the clamp 4 thereof and the proximity switch are in communication connection with the PLC control system.
In the above embodiment, when a certain cooperative robot and the fixture 4 thereof in a finished cigarette carton delivery system have a fault, the fault cooperative robot and the fixture 4 thereof may be powered off, and the fault cooperative robot is manually replaced and interactively operated with another normal cooperative robot, so that the normal delivery of finished cigarette cartons is not affected; the fault cooperative robot does not need to be dismantled, and the pedal 3 of the jacking type telescopic belt car loader 2 is reserved with a manual operation position of the cooperative robot after the fault; of course, the removal for subsequent maintenance is optional; the finished cigarette carton delivery system gives consideration to multiple selections and ensures smooth delivery of finished products.
The embodiment of the invention also provides a control method of the cigarette carton finished product delivery system, which is characterized by comprising the following steps:
s1, conveying a cigarette carton from a conveying belt 1 to a jacking type telescopic belt car loader 2, and sending a signal by a proximity switch arranged on a positioning plate 6 arranged at the upper end part of the jacking type telescopic belt car loader 2;
s2, the PLC control system controls the positioning cylinder 7 to clamp and position the cigarette carton;
s3, the visual system 14 collects the outline size and detects the accurate position of the cigarette carton;
s4, the cooperative robot and the clamp 4 of the cooperative robot sequentially absorb the cigarette carton boxes according to positioning signals of the positioning cylinders 7 arranged on the two sides of the jacking type telescopic belt car loader 2 and size and position data of the vision system 14;
and S5, recognizing the specification of the cigarette carton at the position according to the data acquired by the visual system 14 according to the contour size of the cigarette carton, calculating an optimal stacking form according to box-type trucks which come out of the warehouse and have different specifications, and controlling the cooperative robot and the clamp 4 thereof to execute corresponding actions for stacking.
In step S3, the vision system 14 includes a camera and a light source, the light source irradiates the cigarette carton from four directions, so as to ensure that the light source can illuminate the cigarette carton around and the upper part of the cigarette carton is not illuminated by the light source, and the installation height of the camera is the maximum value of the product of the length of two times and the height of the cigarette carton of different models. Wherein 14 light sources of vision system open, and the light source shines the strip cigarette case from four directions, guarantees according to the design angle that the light source can be lighted strip cigarette case when all around the strip cigarette case not lighted by the light source, and the camera is shot, and the camera can guarantee through adjustment exposure and exposure time that only strip cigarette case upper surface is dark. The camera mounting height positioning accuracy is 5% of the length of the cigarette carton, and the maximum value of the product of the length of the camera mounting height and the height of the cigarette carton with different models can be selected to avoid the problem that the light source is difficult to ensure uniform lighting when the cigarette cartons are different in size.
In step S2, after the camera photographs the carton to obtain an image, the overall profile of the carton is obtained by a visual background difference method, noise in the image is removed by a canny operator and a profile search algorithm, and only profile features are saved, four corner points of the carton are extracted by harris corner points through a profile matching algorithm, the length and width of the carton are determined according to the distance relationship between the four corner points, the length and width are matched with the stored specification model, the specification model of the current carton is determined, and the center coordinates of the carton and the direction of the carton are determined according to the four corner points.
In step S2, the length and width of the cigarette carton are determined according to the distance relationship between the four corner points, and the method specifically adopted for matching the stored specification and model is to obtain a contour picture of the cigarette carton by the vision system 14, randomly select a picture contour pixel point and calculate the autocorrelation function E (u, v) value one by one along a certain direction of the contour, determine whether the pixel is a corner point of the cigarette carton according to the autocorrelation function E (u, v) value, set a threshold value according to the fluctuation condition of autocorrelation function values of non-corner points during debugging, and consider the pixel as a corner point when the autocorrelation function values are greater than the threshold value;
the Harris angular point extraction mode is realized by an autocorrelation function E (u, v) ═ Σx,yω(x,y)[I(x+u,y+u)-I(x,y)]2Performing second-order Taylor series expansion on (x, y) points at (x + u, y + v) by the function, and then taking first-order approximation to obtain
Wherein
Is a structure tensor, where u, v are the offsets of the window in the horizontal and vertical directions, w is the weight, which is determined according to the CRITIC weight method, and I is the filtered value, i.e., the pixel values around the filtered point.
Sequentially finding out four angular points of the outline of the cigarette carton, and sequentially connecting the four angular points to obtain a line length; then the program finds out the line length of the line formed by connecting the angular points in the storage template, and matches the line length of the connecting line of the angular points in the visual picture, thereby determining the model specification of the cigarette carton; and calculating the grabbing position of the cooperative robot according to the edge of the positioning cigarette carton, and transmitting the accurate position information to the finished cigarette carton delivery PLC control system through a TCPIP communication protocol.
In the step S5, after the PLC control system recognizes the model specification of the carton, the stacking direction of the carton is manually selected, the total amount and the model of the carton are input, the vision system 14 automatically recognizes the length, the width and the height of the carton, determines the specification and the model of the carton, and transmits data to the PLC control system, the PLC control system extracts source data according to the data required by the cooperative robot to perform an action, and transmits the data to the cooperative robot system, and the cooperative robot performs a corresponding action; on the premise of full stacking of stacking planes of boxcars, calculating the number of rows, columns and layers of stacking according to the total amount of cigarette cartons, the types of the cartons and the stacking direction, and calculating the stacking type; and when actually stacking, the stack type cooperation robot preferentially stacks rows, stacks rows and layers, and finally stacks layers.
In the embodiment, different stacking types of stacking are determined according to the total quantity of ex-warehouse batches of cigarette cartons, specification models and ex-warehouse vehicle types; the type of the box type goods wagon strip smoke box ex-warehouse has three tonnages which are respectively: 20T/25T/30T, corresponding to the sizes of the compartments: 13.5m 2.7m 4.2m/14m 2.7m 4.3m/16.5m 3m 4.4m, manually selecting the stacking direction of the cigarette carton (transverse stacking and longitudinal stacking), inputting the total amount and the type of the cigarette carton, automatically identifying the length, the width and the height of the cigarette carton by a vision system, determining the specification and the model of the cigarette carton, transmitting data to a PLC control system, extracting source data by the PLC control system according to the data required by the cooperative robot to execute the action, and transmitting the data to the cooperative robot system, and executing the corresponding action by the cooperative robot; on the premise that the stacking plane of the boxcar is fully stacked, calculating the stacking line number, the stacking line number (the line number is transverse towards the truck head and the line number is longitudinal) and the stacking layer number according to the total amount of the cigarette carton boxes, the truck type and the stacking direction, and calculating the stacking type; and when actually stacking, the stack type cooperation robot preferentially stacks rows, stacks rows and layers, and finally stacks layers. Taking one of the specifications of the cigarette carton longitudinal stacking as an example, the vision system acquires 637mm, 412mm in width and 592mm in height of the cigarette carton, matches with the stored length, width and height of each specification to determine the model specification of the cigarette carton, and transmits data to the PLC control system, the data required by the cooperative robot system to execute actions are 412mm in width and 592mm in height of the source data cigarette carton, the PLC control system provides 412mm in width and 592mm in height of the cigarette carton for transmission to the cooperative robot system, 637mm in length and 592mm in height of the cigarette carton are transmitted to the jacking type telescopic belt car loader system, and the stacking type is calculated by taking a 20T box type truck as an example: the internal size of the 20T van compartment is 13.5m x 2.7m x 4.2m, on the premise that the stacking plane of the van compartment is fully stacked, the number of rows and columns is calculated preferentially, and then layer calculation is carried out; line calculation 2700/412 ═ 6 (228), 6 cigarette carton gaps are 7, 228/7 ═ 32.57 mm; column calculation 13500/637 is 21 (the rest 123), the gap between 21 cigarette cartons is 22, 123/22 is 5.59 mm; layer calculation 4200/592 is 7 (the height direction needs to ensure the height space of the clamping jaws of the cooperative robot, the height is not enough to reduce the layers), so that the stacking type is 6 rows, 21 columns and 7 layers, the gap between the layers is optimal, stacking is carried out one by one on the basis of the optimal gap, and the system prompts that loading is finished until the cigarette carton is stacked or the system prompts that the replacement vehicle continues stacking until the carton truck is fully stacked; the cooperation robot establishes an absolute coordinate system, the stacking number of the cigarette cartons in each direction of the row direction, the column direction and the layer direction of the boxcar can be known according to the stacking type, the optimal spacing distance in the row direction and the column direction can be calculated, the coordinate position of stacking of each cigarette carton in the absolute coordinate system can be calculated, and the cooperation robot can stack each cigarette carton at the corresponding coordinate position; after each time the cooperative robot completes the stacking of the cigarette boxes of 6 rows by 1 layer, the jacking type telescopic belt car loader can lift by 592mm towards the height direction, and after each time the cooperative robot completes the stacking of the cigarette boxes of 1 row by 7 layers, the jacking type telescopic belt car loader can move backwards by 637mm towards the row direction; in the case, the stacking number of the single cooperative robot of the cigarette carton finished product delivery system in the row direction is 3, the arm extension of the cooperative robot is selected, and all carriages are compatible and universal; the jacking type telescopic belt car loader system moves the length and the height distance of the cigarette carton in the column direction and the height direction to ensure a stacking space; and after the stacking is finished, the jacking type telescopic belt car loader automatically exits from the van carriage.
The protective scope of the present invention is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present invention by those skilled in the art without departing from the scope and spirit of the present invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (9)
1. The utility model provides a cigarette carton finished product warehouse-out system which characterized in that: the tobacco carton clamping device comprises a tobacco carton conveying belt, a jacking type telescopic belt car loader, a cooperative robot, a fixture of the cooperative robot and a PLC control system, wherein positioning cylinders are arranged on two sides of the jacking type telescopic belt car loader; the visual system collects and accurately positions the outline dimensions of the cigarette carton, the cooperative robot and the clamp thereof are arranged on a pedal of the jacking type telescopic belt car loader, the cooperative robot and the clamp thereof sequentially absorb the cigarette carton according to positioning signals of positioning cylinders arranged on two sides of the jacking type telescopic belt car loader, the size data and the position coordinates of the visual system, and the cigarette carton is placed and stacked according to the stacking type calculated by the PLC control system; after the stacking of the cigarette cartons in a row is finished, the jacking type telescopic belt car loader automatically moves backwards according to data detected by the displacement sensor, and a proper working space is unified by a cooperation robot in the cigarette carton finished product delivery system.
2. The cigarette carton finished product delivery system of claim 1, wherein: the cooperative robot and the clamp thereof comprise a base, a cooperative robot and a robot clamp, the cooperative robot is installed on the base, the base is fixedly connected to a pedal of the jacking type telescopic belt car loader, and the robot clamp is installed on a sixth shaft of the cooperative robot.
3. The cigarette carton finished product delivery system of claim 2, wherein: the robot clamp comprises a connecting piece, the connecting piece is fixedly connected to a sixth shaft of the cooperative robot, the L-shaped mounting plate is fixedly connected to the connecting piece, and a plurality of suckers are mounted on the L-shaped mounting plate and used for sucking the cigarette carton.
4. The cigarette carton finished product delivery system of claim 1, wherein: the robot system comprises a vision system, a PLC control system, a vision system and a displacement sensor, wherein the vision system, the displacement sensor, the cooperative robot and a clamp thereof, and the proximity switch are in communication connection with the PLC control system.
5. The control method of the cigarette carton finished product delivery system according to any one of claims 1 to 4, characterized by comprising the following steps:
s1, conveying a cigarette carton to a jacking type telescopic belt car loader from a conveying belt, and sending a signal by a proximity switch arranged on a positioning plate arranged at the upper end part of the jacking type telescopic belt car loader;
s2, the PLC control system controls the positioning cylinder to clamp and position the cigarette carton;
s3, the visual system carries out contour dimension collection and accurate position detection on the cigarette carton;
s4, the cooperative robot and the clamp thereof sequentially suck the cigarette carton boxes according to positioning signals of positioning cylinders arranged on two sides of the jacking type telescopic belt car loader, the size of a visual system and position data;
and S5, recognizing the specification of the cigarette carton at the position according to the data acquired by the visual system according to the outline size of the cigarette carton, calculating an optimal stacking form according to delivery box-type trucks with different specifications, and controlling the cooperative robot and the clamp thereof to execute corresponding actions for stacking.
6. The control method of the cigarette carton finished product warehouse-out system according to claim 5, characterized in that in the step S3, the vision system comprises a camera and a light source, the light source irradiates the cigarette carton from four directions, the light source can light the periphery of the cigarette carton, the upper part of the cigarette carton is not illuminated by the light source, and the installation height of the camera is the maximum value of the product of two times of length and height of the cigarette cartons with different models.
7. The method according to claim 6, wherein in step S2, after the camera takes a picture of the cigarette carton to obtain an image, the overall profile of the cigarette carton is obtained by a visual background difference method, noise in the image is removed by a canny operator and a profile search algorithm to save only profile features, four corner points of the cigarette carton are extracted by a profile matching algorithm using harris corner points, the length and width of the cigarette carton are determined according to the distance relationship between the four corner points, the length and width are matched with the stored specification model to determine the specification model of the current cigarette carton, and the coordinates of the center point of the cigarette carton and the direction of the cigarette carton are determined according to the four corner points.
8. The control method of the cigarette carton finished product ex-warehouse system according to claim 6, characterized in that in step S2, the length and width of the cigarette carton are determined according to the distance relationship between four corner points, the method specifically adopted for matching with the stored specification model is to obtain a contour picture of the cigarette carton for a vision system, then a picture contour pixel point is randomly selected and the pixel point by pixel point along a certain direction of the contour is calculated to obtain the autocorrelation function E (u, v) value, whether the pixel point is a cigarette carton corner point is judged according to the autocorrelation function E (u, v) value, a threshold value is set according to the fluctuation condition of the autocorrelation function value of a non-corner point during debugging, and when the autocorrelation function value is greater than the threshold value, the pixel point is considered as a corner point;
the Harris angular point extraction mode is realized by an autocorrelation function E (u, v) ═ Σx,yω(x,y)[I(x+u,y+u)-I(x,y)]2Performing second-order Taylor series expansion on (x, y) points at (x + u, y + v) by the function, and then taking first-order approximation to obtain
Wherein
Is a structure tensor, wherein u, v are the offset of the window in the horizontal and vertical directions, w is the weight, the weight is determined according to the CRITIC weight method, and I is the filtering value, namely the pixel value around the filtering point;
sequentially finding out four angular points of the outline of the cigarette carton, and sequentially connecting the four angular points to obtain a line length; then the program finds out the line length of the line formed by connecting the angular points in the storage template, and matches the line length of the connecting line of the angular points in the visual picture, thereby determining the model specification of the cigarette carton; and calculating the grabbing position of the cooperative robot according to the edge of the positioning cigarette carton, and transmitting the accurate position information to the finished cigarette carton delivery PLC control system through a TCPIP communication protocol.
9. The control method of the cigarette carton finished product warehouse-out system according to claim 6, characterized in that in the step S5, after the PLC control system identifies the model specification of the cigarette carton, the stacking direction of the cigarette carton is manually selected, the total amount and the type of the cigarette carton are input, the vision system automatically identifies the length, the width and the height of the cigarette carton, the specification and the model are determined, data are transmitted to the PLC control system, the PLC control system extracts source data according to the data required by the cooperative robot to perform the action and transmits the source data to the cooperative robot system, and the cooperative robot performs the corresponding action; on the premise of full stacking of stacking planes of boxcars, calculating the number of rows, columns and layers of stacking according to the total amount of cigarette cartons, the types of the cartons and the stacking direction, and calculating the stacking type; and when actually stacking, the stack type cooperation robot preferentially stacks rows, stacks rows and layers, and finally stacks layers.
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Inventor after: Zhang Yin Inventor before: Yi Xuan Inventor before: Liu Shenbo Inventor before: Cao Xiuli Inventor before: Qiao Tengfei Inventor before: Zheng Meng Inventor before: Sun Shuang Inventor before: Yang Jianjun Inventor before: Zhang Mingyu |
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Effective date of registration: 20230506 Address after: Room 606, Building A, National University Science Park, Southeast University, No. 2, Dongda Road, Jiangbei New District, Nanjing, Jiangsu 210000 Applicant after: Nanjing Shengheng Intelligent Manufacturing Co.,Ltd. Address before: 430000 No. 1355 Jinshan Avenue, Dongxihu, Wuhan, Hubei Province Applicant before: CHINA TOBACCO HUBEI INDUSTRIAL Corp.,Ltd. |