CN112871686A - Intelligent sorting automation equipment based on machine vision and mechanical arm and sorting method thereof - Google Patents
Intelligent sorting automation equipment based on machine vision and mechanical arm and sorting method thereof Download PDFInfo
- Publication number
- CN112871686A CN112871686A CN202011510886.6A CN202011510886A CN112871686A CN 112871686 A CN112871686 A CN 112871686A CN 202011510886 A CN202011510886 A CN 202011510886A CN 112871686 A CN112871686 A CN 112871686A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- machine vision
- mechanical arm
- sorting
- production line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 51
- 238000004519 manufacturing process Methods 0.000 claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000033228 biological regulation Effects 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000004148 unit process Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an intelligent sorting automation device and a sorting method based on machine vision and a manipulator. The sorting method comprises the following steps: the method comprises the steps of image acquisition, image processing, control instruction generation, control instruction execution by a manipulator, sorting and the like. The automatic material sorting machine is high in automation degree, can improve production efficiency, and improves material sorting precision by positioning materials and then performing image acquisition and material grabbing after the materials are positioned by the positioning mechanism.
Description
Technical Field
The invention relates to the technical field of sorting equipment, in particular to intelligent sorting automation equipment based on machine vision and a mechanical arm and a sorting method thereof.
Background
At present, the application of the manipulator structure in the industry is more and more common, the manipulator structure plays a greater role in industrial automatic production, and the manipulator structure has a very important meaning for improving the production efficiency. The existing manipulator structure applied to the workpiece sorting system needs manual vision to judge whether the workpiece is qualified or not, and then an operator controls the manipulator structure to sort the workpiece, so that the automation degree is low and the production efficiency is low in the prior art.
Disclosure of Invention
The invention aims to provide a product sorting system which has higher automation degree and can improve the production efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that:
an intelligent sorting automation device based on machine vision and manipulators comprises a production line, a machine vision system arranged at a feeding end close to the production line, a manipulator sorting system arranged at a discharging end close to the production line and at least one material box arranged near the discharging end, wherein the machine vision system comprises a camera arranged above the production line, a light source arranged below the production line, an image processing unit and a control and regulation unit, the image processing unit and the control and regulation unit are arranged in a supporting camera rod, the camera is connected with the image processing unit, and the image processing unit is connected with the control and regulation unit; the manipulator sorting system comprises an adjusting unit for adjusting the direction movement of the manipulator X, Y, Z, a movement controller for driving the manipulator to move, a guide rail for the direction movement of the manipulator X, Y, Z and a manipulator body, wherein the adjusting unit is connected with the control adjusting unit; a machine vision detection part and a manipulator clamping part of the assembly line are respectively provided with a group of positioning mechanisms.
Wherein, the assembly line is a printing opacity assembly line.
Wherein, the camera is any one of a vacuum camera tube, a CCD and a CMOS image sensor.
The manipulator body further comprises a sensor structure, the sensor structure comprises an induction sheet and a sensor, and the induction sheet is connected with the sensor.
Another object of the present invention is to provide a product sorting method with high automation degree and capable of improving production efficiency.
An intelligent sorting method based on machine vision and a mechanical arm comprises the following steps;
image acquisition, namely aligning products on the production line by using a positioning mechanism and acquiring images by using a camera of a machine vision system;
processing the image, wherein the image processing unit processes the acquired image to obtain image processing information;
the control adjusting unit obtains an adjusting instruction based on the image processing information and sends the adjusting instruction to the adjusting unit;
the adjustment unit executes the adjustment instruction.
Wherein the adjustment instructions include a grab instruction and a sort instruction.
Wherein the adjusting unit executing the adjusting instruction comprises the steps of:
controlling the manipulator to move above the material positioned by the positioning mechanism to grab the material;
and controlling the mechanical arm to move to the position above the material box for sorting the materials.
The control manipulator still includes after moving to the material top through the positioning mechanism location, motion controller control manipulator body action snatchs the material.
The invention has the beneficial effects that: an intelligent sorting automation device based on machine vision and manipulators comprises a production line, a machine vision system arranged at a feeding end close to the production line, a manipulator sorting system arranged at a discharging end close to the production line and at least one material box arranged near the discharging end, wherein the machine vision system comprises a camera arranged above the production line, a light source arranged below the production line, an image processing unit and a control and regulation unit, the image processing unit and the control and regulation unit are arranged in a supporting camera rod, the camera is connected with the image processing unit, and the image processing unit is connected with the control and regulation unit; the manipulator sorting system comprises an adjusting unit for adjusting the direction movement of the manipulator X, Y, Z, a movement controller for driving the manipulator to move, a guide rail for the direction movement of the manipulator X, Y, Z and a manipulator body, wherein the adjusting unit is connected with the control and adjusting unit; a machine vision detection part and a manipulator clamping part of the assembly line are respectively provided with a group of positioning mechanisms. The automatic material sorting machine is high in automation degree, can improve production efficiency, and improves material sorting precision by positioning materials and then performing image acquisition and material grabbing after the materials are positioned by the positioning mechanism.
An intelligent sorting method based on machine vision and a mechanical arm comprises the following steps; image acquisition, namely aligning products on the production line by using a positioning mechanism and acquiring images by using a camera of a machine vision system; processing the image, wherein the image processing unit processes the acquired image to obtain image processing information; the control adjusting unit obtains an adjusting instruction based on the image processing information and sends the adjusting instruction to the adjusting unit; the adjustment unit executes the adjustment instruction. The automatic material sorting machine is high in automation degree, can improve production efficiency, and improves material sorting precision by positioning materials and then performing image acquisition and material grabbing after the materials are positioned by the positioning mechanism.
Drawings
FIG. 1 is a schematic diagram of an intelligent sorting automation apparatus of an embodiment of the present invention;
fig. 2 is a flow chart of an embodiment of the intelligent sorting method of the present invention.
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.
Example 1:
as shown in fig. 1, the intelligent sorting automation equipment based on machine vision and mechanical arm disclosed by the invention comprises a production line 1, wherein the production line 1 is a platform for bearing materials, and the production line 1 preferably selects a light-transmitting production line, so that the effect of polishing the back surface can be ensured; according to the material feeding direction of the production line (shown by arrows in the figure), the automatic sorting machine further comprises a machine vision system arranged at the feeding end close to the production line, a mechanical arm sorting system arranged at the discharging end close to the production line, and at least one material box 2 arranged near the discharging end, such as a material box for placing NG products and a material box for placing good products.
The machine vision system comprises a camera 3 arranged above the production line, a light source 4 arranged below the production line, an image processing unit 6 and a control and regulation unit 7, wherein the image processing unit 6 and the control and regulation unit 7 are arranged inside a supporting camera rod 5;
specifically, the camera can adopt a vacuum camera tube, a CCD (charge coupled device), a CMOS (complementary metal oxide semiconductor) image sensor and the like with good image acquisition effect, so that the sorting precision is further ensured.
The manipulator sorting system comprises an adjusting unit 8 for adjusting the direction movement of a manipulator X, Y, Z, a movement controller 9 for driving the manipulator to move, a guide rail 10 for the direction movement of a manipulator X, Y, Z and a manipulator body 11, wherein the adjusting unit 8 is connected with the control adjusting unit 9;
specifically, the manipulator body may be in a suction cup form or a clamping jaw form (shown in the figure as a clamping jaw form), and the manipulator body further includes a sensor structure 13, where the sensor structure includes an induction sheet and a sensor, and the induction sheet is connected with the sensor; the sensing piece in the sensor structure can judge whether to contact the material and whether to clamp the claw to the material in the moving process of the manipulator when the material is clamped.
The machine vision detection department and the manipulator clamp of assembly line are got material department and are set up a set of positioning mechanism 12 respectively, utilize positioning mechanism 12 to carry out image acquisition and material snatch after fixing a position the material, have improved material letter sorting precision.
Example 2:
as shown in fig. 2, another embodiment of the present disclosure is an intelligent sorting method based on machine vision and a manipulator, which includes the following steps;
first, image acquisition. Aligning the products on the production line by using a positioning mechanism, and acquiring images by using a camera of a machine vision system;
and secondly, processing the image. The image processing unit processes the acquired image to obtain image processing information;
specifically, the current image processing flow basically includes: improving image pixels, extracting features, analyzing images and the like.
Thirdly, controlling the adjusting unit to obtain an adjusting instruction based on the image processing information, and sending the adjusting instruction to the adjusting unit;
and fourthly, executing the adjusting instruction by the adjusting unit.
Specifically, the adjustment instructions include a grab instruction and a sort instruction. Wherein, the adjusting unit executes the adjusting instruction and comprises the following steps:
firstly, controlling a manipulator to move above a material positioned by a positioning mechanism to grab the material;
and secondly, controlling the mechanical arm to move to the position above the material box for sorting the materials.
The control manipulator still includes after moving to the material top through the positioning mechanism location, motion controller control manipulator body action snatchs the material.
The working principle is as follows: product (material) process on the assembly line, camera 3 shoots the assembly line, catches the material image, and image processing unit handles 6 and handles the product image, finds out and treats the letter sorting product, and 7 control regulating unit control 7 control regulating unit 8 movements, and the motion control ware 9 controls the motion of manipulator body 11, and manipulator body 11 takes out from the assembly line and will be should treat the letter sorting product. The invention applies machine vision technology, and the product is inspected by the image controller, thereby avoiding the influence of human factors and having higher precision. The manipulator is provided with the adjusting unit 8, so that the position of the manipulator body can be flexibly adjusted; the length of a mechanical arm of the mechanical arm body is fixed, and the mechanical arm can move along the length direction and the width direction of a flow line by adjusting the displacement of the mechanical arm body in the X-axis direction and the Y-axis direction, so that the mechanical arm can move to a position suitable for a product to be sorted on the flow line; the length of the mechanical arm which can extend out is constant, and the mechanical arm body 11 is suitable for products with different heights through the displacement of the mechanical arm body 11 in the Z-axis direction; the manipulator body can be moved to the optimal position for grabbing the products to be sorted through the adjusting unit, the automation degree of the sorting machine is high, and the production efficiency can be improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (8)
1. An intelligent sorting automation device based on machine vision and manipulators comprises a production line, a machine vision system arranged at a feeding end close to the production line, a manipulator sorting system arranged at a discharging end close to the production line and at least one material box arranged near the discharging end according to the material feeding direction of the production line, and is characterized in that the machine vision system comprises a camera arranged above the production line, a light source arranged below the production line, an image processing unit and a control and regulation unit, wherein the image processing unit and the control and regulation unit are arranged inside a supporting camera rod; the manipulator sorting system comprises an adjusting unit for adjusting the direction movement of the manipulator X, Y, Z, a movement controller for driving the manipulator to move, a guide rail for the direction movement of the manipulator X, Y, Z and a manipulator body, wherein the adjusting unit is connected with the control adjusting unit; a machine vision detection part and a manipulator clamping part of the assembly line are respectively provided with a group of positioning mechanisms.
2. The intelligent sorting automation device based on machine vision and mechanical arm as claimed in claim 1, wherein the assembly line is a light transmission assembly line.
3. The intelligent sorting automation device based on machine vision and mechanical arm according to claim 1, characterized in that the camera is any one of vacuum pickup tube, CCD, CMOS image sensor.
4. The intelligent sorting automation device based on machine vision and mechanical arm is characterized in that the mechanical arm body further comprises a sensor structure, the sensor structure comprises a sensing piece and a sensor, and the sensing piece is connected with the sensor.
5. An intelligent sorting method based on machine vision and a mechanical arm is characterized by comprising the following steps;
image acquisition, namely aligning products on the production line by using a positioning mechanism and acquiring images by using a camera of a machine vision system;
processing the image, wherein the image processing unit processes the acquired image to obtain image processing information;
the control adjusting unit obtains an adjusting instruction based on the image processing information and sends the adjusting instruction to the adjusting unit;
the adjustment unit executes the adjustment instruction.
6. The machine-vision and robot-based intelligent sorting method according to claim 5, wherein the adjusting instructions comprise grabbing instructions and sorting instructions.
7. The machine vision and manipulator based intelligent sorting method according to claim 6, wherein the adjusting unit executing the adjusting instructions comprises the following steps:
controlling the manipulator to move above the material positioned by the positioning mechanism to grab the material;
and controlling the mechanical arm to move to the position above the material box for sorting the materials.
8. The intelligent sorting method based on machine vision and mechanical arm according to claim 7, wherein the controlling of the mechanical arm to move above the material positioned by the positioning mechanism further comprises controlling of the motion controller by the mechanical arm body to grab the material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011510886.6A CN112871686A (en) | 2020-12-18 | 2020-12-18 | Intelligent sorting automation equipment based on machine vision and mechanical arm and sorting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011510886.6A CN112871686A (en) | 2020-12-18 | 2020-12-18 | Intelligent sorting automation equipment based on machine vision and mechanical arm and sorting method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112871686A true CN112871686A (en) | 2021-06-01 |
Family
ID=76043947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011510886.6A Pending CN112871686A (en) | 2020-12-18 | 2020-12-18 | Intelligent sorting automation equipment based on machine vision and mechanical arm and sorting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112871686A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458006A (en) * | 2021-06-17 | 2021-10-01 | 广州机械科学研究院有限公司 | Material detection system based on soft PLC control technology and control method thereof |
| CN114405840A (en) * | 2022-01-20 | 2022-04-29 | 湖南视比特机器人有限公司 | Vision sorting system and control method thereof |
| SE2151276A1 (en) * | 2021-10-20 | 2023-04-21 | Renholmen Ab | AUTOMATIC TIMBER SORTING PLANT |
-
2020
- 2020-12-18 CN CN202011510886.6A patent/CN112871686A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458006A (en) * | 2021-06-17 | 2021-10-01 | 广州机械科学研究院有限公司 | Material detection system based on soft PLC control technology and control method thereof |
| SE2151276A1 (en) * | 2021-10-20 | 2023-04-21 | Renholmen Ab | AUTOMATIC TIMBER SORTING PLANT |
| WO2023068979A1 (en) * | 2021-10-20 | 2023-04-27 | Renholmen Ab | An automatic wood sorting facility |
| CN114405840A (en) * | 2022-01-20 | 2022-04-29 | 湖南视比特机器人有限公司 | Vision sorting system and control method thereof |
| CN114405840B (en) * | 2022-01-20 | 2024-03-01 | 湖南视比特机器人有限公司 | Visual sorting system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112871686A (en) | Intelligent sorting automation equipment based on machine vision and mechanical arm and sorting method thereof | |
| CN110509281B (en) | Binocular vision-based pose recognition and grabbing device and method | |
| CN206038558U (en) | Multistation visual detection equipment | |
| CN102527643B (en) | Sorting manipulator structure and product sorting system | |
| CN106829469A (en) | A kind of unordered grabbing device of robot based on double camera and method | |
| CN106956263B (en) | Automobile part vision guiding gripper | |
| CN108501009B (en) | Egg picking robot | |
| CN113103215B (en) | Motion control method for robot vision flyswatter | |
| EP4032663A1 (en) | Work robot and work system | |
| CN111069073A (en) | Rubber ring sorting equipment | |
| CN109332840A (en) | A kind of Intelligent welding system and method | |
| CN107433576A (en) | A kind of industrial robot based on NI Vision Builder for Automated Inspection | |
| CN108789464A (en) | A kind of robot gripper for turbine disk accessory feeding | |
| CN108544470A (en) | The de-stacking of visual guidance engine cylinder cover and detection robot | |
| CN201931466U (en) | Manipulator structure with machine vision navigating function | |
| CN104384902A (en) | Press fit system based on machine vision positioning | |
| CN111232346B (en) | Pipe and bar bundling system based on binocular vision | |
| CN112657869A (en) | Nut sorting equipment based on vision and sorting method thereof | |
| CN117359044A (en) | Online monitoring-based component flexible tin coating device and process method | |
| CN112317363A (en) | Intelligent detection system and detection method for industrial products | |
| CN106501274A (en) | Brushless direct current motor control circuit production line | |
| CN214235125U (en) | Nut letter sorting equipment based on vision | |
| CN110562741A (en) | Machine vision fused separating type station robot and production platform | |
| CN111232347B (en) | Tube and bar bundling method based on binocular vision | |
| CN212903051U (en) | Automobile part quality detection device and control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210601 |
|
| WD01 | Invention patent application deemed withdrawn after publication |