CN113401660A - Adaptive matrix type material picking system and method based on visual detection - Google Patents
Adaptive matrix type material picking system and method based on visual detection Download PDFInfo
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- CN113401660A CN113401660A CN202110814185.XA CN202110814185A CN113401660A CN 113401660 A CN113401660 A CN 113401660A CN 202110814185 A CN202110814185 A CN 202110814185A CN 113401660 A CN113401660 A CN 113401660A
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
The invention discloses a vision detection-based adaptive matrix type material picking system and a vision detection-based adaptive matrix type material picking method. The material picking system comprises a picking device, a vision system and a control device, wherein the picking device and the vision system are respectively in communication connection with the control device; the pick-up device comprises a driving assembly and at least two pick-up components, wherein the pick-up components are distributed in a matrix shape along the X direction and the Y direction, and the X direction is vertical to the Y direction; the control device is used for receiving the shooting result of the vision system and controlling the driving component to operate according to the shooting result so as to enable the driving component to drive the picking component to move along the X direction and/or the Y direction. The visual system can be used for shooting material graphs, the position relation among the picking components can be adjusted, the positions of the picking components can be adjusted as required, enough picking components can be concentrated at the positions of the materials to pick the materials, the material picking capacity is ensured, and the possibility of falling of the materials is reduced. The picking components are distributed in a matrix shape, so that the arrangement regularity is higher, and the position planning is facilitated.
Description
Technical Field
The invention relates to the technical field of material sorting, in particular to a self-adaptive matrix type material picking system and method based on visual detection.
Background
In many material picking systems today, the position of the material to be picked by the picking member for picking up the material is determined, which results in that no sufficient picking force can be provided for material adaptations of different shapes or weights, the risk of dropping the material is high and safety accidents are easily caused.
Therefore, how to reduce the risk of blanking is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a system and a method for picking up a material in a self-adaptive matrix form based on visual inspection, which can reduce the risk of blanking.
In order to achieve the purpose, the invention provides the following technical scheme:
the adaptive matrix type material picking system based on visual detection comprises a picking device, a visual system and a control device, wherein the picking device and the visual system are respectively in communication connection with the control device;
the pick-up device comprises a driving assembly and at least two pick-up components, and the pick-up components are distributed in a matrix shape along an X direction and a Y direction, wherein the X direction is perpendicular to the Y direction;
the control device is used for receiving the shooting result of the vision system and controlling the driving component to operate according to the shooting result so as to enable the driving component to drive the picking component to move along the X direction and/or the Y direction.
Preferably, the pick-up device further includes a slider and two link assemblies, the link assemblies include link structures sequentially arranged along a linear direction, and in one of the link assemblies, the linear direction is the X direction, and each link structure constitutes an X-axis link, and in the other link assembly, the linear direction is the Y direction, and each link structure constitutes a Y-axis link;
each picking component is fixed on the corresponding sliding block, each sliding block is distributed in a matrix shape, each sliding block with the same position in the X direction is connected to the same X-axis connecting rod in a sliding mode, and each sliding block with the same position in the Y direction is connected to the same Y-axis connecting rod in a sliding mode;
the driving assembly comprises driving devices which are respectively connected with the two connecting rod assemblies so as to respectively drive the X-axis connecting rod to move along the X direction and drive the Y-axis connecting rod to move along the Y direction.
Preferably, in at least one of said connecting-rod assemblies:
the number of the connecting rod structures is at least two, wherein part of the connecting rod structures are connected to the corresponding driving devices to be used as driving connecting rods, and the connecting rod structures are connected into a whole through linkage structures, so that the connecting rod structures can move simultaneously under the transmission of the linkage structures.
Preferably, the pick-up member is a suction cup.
Preferably, each of the picking parts is respectively connected to the control device in a communication mode, so that the control device can respectively control the starting and stopping of each of the picking parts.
A material picking method applied to the adaptive matrix material picking system based on visual detection as described above, the method comprising:
receiving a shot image of the visual system on the material, and determining the actual position of the material according to the shot image;
obtaining the weight of the material;
determining the use number of the required picking components according to the weight of the materials and the picking capacity of the single picking component;
adjusting the distance between the picking parts in the X direction and/or the Y direction so that at least the used number of the picking parts can be connected to the surface to be connected of the material.
Preferably, the actual position comprises position information and angle information of the material in a preset plane coordinate system;
the adjusting of the pitch of each of the pick-up members in the X-direction and/or the Y-direction further comprises:
and adjusting the angle of the pickup device by taking a preset axis perpendicular to the preset plane coordinate system as a center according to the angle information, so that the angle relationship between the pickup device and the material is kept in a preset angle relationship.
Preferably, the adjusting of the distance between each pickup part in the X direction and/or the Y direction so that at least the used number of the pickup parts can be connected to the surface to be connected of the material includes:
fitting a template image formed by each pickup part in real time;
adjusting the distance between the picking-up components in the X direction and/or the Y direction, and comparing the position relation between the edge of the shot image and the template image in a preset coordinate system, so that the number of the picking-up components entering the edge of the shot image is not less than the used number, and at least the used number of the picking-up components can be connected to the surface to be connected of the material.
Preferably, the material is a cylinder, and its terminal surface is treat the face of connecting, acquire the weight of material includes:
calculating the area of the surface to be connected of the material according to the shot image;
and obtaining the weight of the material according to the area of the surface to be connected, the thickness of the material and the density of the material.
Preferably, the adjusting the distance between the picking parts in the X direction and/or the Y direction so that at least the used number of the picking parts can be connected to the surface to be connected of the material further includes:
controlling the picking parts to move until the picking parts are connected to the surface to be connected of the material, wherein in each picking part, the picking part connected to the material is opened, and the rest picking parts are closed.
The invention provides a self-adaptive matrix type material picking system based on visual detection, which comprises a picking device, a visual system and a control device, wherein the picking device and the visual system are respectively in communication connection with the control device; the pick-up device comprises a driving assembly and at least two pick-up components, wherein the pick-up components are distributed in a matrix shape along the X direction and the Y direction, and the X direction is vertical to the Y direction; the control device is used for receiving the shooting result of the vision system and controlling the driving component to operate according to the shooting result so as to enable the driving component to drive the picking component to move along the X direction and/or the Y direction.
The visual system can be used for shooting the material graphs, the position relation among the picking components can be adjusted, and the positions of the picking components can be adjusted according to the material graphs and the weight of the materials, so that enough picking components can be concentrated at the positions where the materials are located to pick the materials, the material picking capacity is ensured, and the possibility of falling of the materials is reduced. In addition, the picking parts are distributed in a matrix shape, so that the arrangement regularity is high, and the planning of the position is facilitated.
The material picking method provided by the invention can reduce the blanking risk.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a front view of a material pickup system provided by the present invention;
FIG. 2 is a bottom view of the material pickup system provided by the present invention;
FIG. 3 is a side view of a material pickup system provided by the present invention;
FIG. 4 is a first isometric view of a material pickup system provided by the present invention;
FIG. 5 is a second isometric view of a material pickup system provided by the present invention;
FIG. 6 is a partial block diagram of a material pickup system provided by the present invention;
FIG. 7 is a block diagram of a positioning rod portion of a material pickup system provided by the present invention;
FIG. 8 is a block diagram of a linkage structure portion of the material pickup system provided by the present invention;
FIG. 9 is a block diagram of a linkage assembly of the material pickup system provided by the present invention;
FIG. 10 is a diagram of the position of the material and the picking member prior to the unadjusted position of the picking member in use of the material picking system of the present invention;
FIG. 11 is a diagram illustrating the positional relationship of the picking member and the material after the position of the picking member is adjusted when the material picking system of the present invention is in use;
fig. 12 is a schematic diagram of a control portion of a material pickup system provided by the present invention.
Reference numerals:
a pickup unit 1;
a slide block 2;
the machine shell 3, a slide way 31, an X-axis positioning block 32, an X-axis positioning rod 33 and an X-axis positioning seat 34;
a rotary driver 4, a lead screw nut assembly 41, an X-axis driver 42, a Y-axis driver 43;
the linkage structure 5, a linkage rod 51, a central hinge point 52 and a parallelogram linkage structure 53;
the connecting rod assembly 6, an X-axis connecting rod 61, a Y-axis connecting rod 62 and a driving connecting rod 63;
a vision system 7;
PLC8；
a pickup device 9;
an industrial robot 10.
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.
The core of the invention is to provide a self-adaptive matrix type material picking system and a method based on visual detection, which can reduce the risk of blanking.
The first embodiment of the adaptive matrix material picking system based on visual detection provided by the invention comprises a picking device 9, a visual system 7 and a control device. The pick-up device 9 and the vision system 7 are respectively connected with the control device in a communication way.
The pick-up device 9 comprises a driving assembly and at least two pick-up components 1, and the pick-up components 1 are distributed in a matrix shape along an X direction and a Y direction, wherein the X direction is perpendicular to the Y direction. Specifically, the X direction, the Y direction and the Z direction are perpendicular to each other, the pickup device 9 moves along the Z direction, the Z direction can be a vertical direction, and when the material picking device is used, the material is located below the pickup device 9.
In the present embodiment, as shown in fig. 2, the number of the pickup members 1 is 16, and the pickup members are arranged in a 4 × 4 matrix. Of course, in other embodiments, the number of the picking members 1 may be other, and accordingly, the arrangement may be other, for example, 15 picking members 1 are arranged in a 3 × 5 matrix, or 9 picking members 1 are arranged in a1 × 9 matrix, or in a 3 × 3 matrix.
Since the picking members 1 are always arranged in a matrix, the picking members 1 in the same position in the X direction, i.e., in the same row, move synchronously, and the picking members 1 in the same position in the Y direction, i.e., in the same row, move synchronously.
When at least two rows of picking parts 1 are arranged in the X direction, the row spacing between every two adjacent rows of picking parts 1 can be the same or not; when at least two rows of the pickup members 1 are arranged in the Y direction, the row pitches between every two adjacent rows of the pickup members 1 may be all the same or may not be all the same.
The control device is used for receiving the shooting result of the vision system 7 and controlling the driving component to operate according to the shooting result so as to enable the driving component to drive the picking part 1 to move along the X direction and/or the Y direction. The vision system 7 can acquire characteristic data such as the shape, the gravity center position and the angle of the material by using a vision detection technology, reasonably calculates the position of the material by using a vision algorithm, and improves the grabbing precision of the picking device 9.
In this embodiment, as shown in fig. 10 and 11, the vision system 7 may be used to photograph the material patterns, and the position relationship between the pickup units 1 is adjustable, and specifically, the position of the pickup unit 1 may be adjusted according to the material patterns and the weight of the material, so that enough pickup units 1 gather at the position of the material S to pick up the material, thereby ensuring the pickup capability of the material S and reducing the possibility of falling of the material. In addition, the picking parts 1 are distributed in a matrix shape, so that the arrangement regularity is high, and the planning of positions is facilitated.
Further, as shown in fig. 6 and 9, the pick-up device 9 further comprises a slider 2 and two connecting-rod assemblies 6. The link assembly 6 includes link structures arranged in series along a linear direction. Specifically, the connecting rod structure is a straight rod. In one of the connecting rod assemblies 6, the linear direction is the X direction, and each connecting rod structure forms an X-axis connecting rod 61 respectively; in the other link assembly 6, the linear direction is the Y direction, and each link structure constitutes a Y-axis link 62, respectively.
Each picking part 1 is fixed on the corresponding slide block 2, and each slide block 2 is distributed in a matrix shape, so that the picking parts 1 are arranged in the matrix shape. As shown in fig. 2, the sliders 2 at the same position in the X direction are slidably connected to the same X-axis link 61, and the sliders 2 at the same position in the Y direction are slidably connected to the same Y-axis link 62. In addition, as shown in fig. 2, the driving assembly includes driving devices respectively connected to the two link assemblies 6 to respectively drive the X-axis link 61 to move in the X direction and the Y-axis link 62 to move in the Y direction.
In this embodiment, because the picking parts 1 with the same position on the X-direction or the Y-direction are connected to the same link structure, the picking parts 1 with the same position on the X-direction or the Y-direction can be driven to move synchronously by driving the link structure, so that the number of drivers is reduced, each picking part 1 does not need to be connected with one driver, and the synchronism of the movement of the picking parts 1 with the same position on the X-direction or the Y-direction can be ensured.
Further, in at least one of the link assemblies 6, there are at least two link structures. In the present embodiment, there are at least two link structures in each of the two link assemblies 6.
Specifically, as shown in fig. 8, in the link assembly 6 with the link structure of the X-axis link 61, a part of the link structure is connected to the driving assembly to serve as the driving link 63, for example, in the present embodiment, two X-axis links 61 are the driving links 63, and in other embodiments, one X-axis link 61 may be the driving link 63. Meanwhile, all the X-axis connecting rods 61 are connected through the linkage structure 5. When the driving assembly drives the driving link 63 of the X-axis links 61 to move along the X direction, the other X-axis links 61 move simultaneously under the driving of the linkage structure 5. When the connecting rod structures in one connecting rod assembly 6 move simultaneously, the moving directions and the moving speeds of different connecting rod structures can be the same or different.
Of course, the same linkage arrangement may be performed in the link assembly 6 formed by the other Y-axis link 62, so that when the driving assembly drives the driving link 63 in the Y-axis link 62 to move along the Y-direction, all the Y-axis links 62 are simultaneously moved by the corresponding linkage structure 5.
In this embodiment, the linkage structure 5 is adopted to realize linkage of the link structure in the link assembly 6, and the arrangement of the driving assembly can be further simplified.
Further, as shown in fig. 8, the linkage structure 5 includes a plurality of linkage rods 51, and the linkage rods 51 are hinged two by two to form a revolute pair. Each rotating pair is arranged in sequence along the moving direction of the connecting rod structure in the corresponding connecting rod assembly 6, adjacent rotating pairs are correspondingly hinged to form a parallelogram linkage structure 53, and two opposite end points of the parallelogram linkage structure 53 are central hinge points 52 in the two rotating pairs respectively. Each central hinge point 52 is connected to a respective linkage arrangement. The parallelogram linkage structures 53 are adopted, the linkage motion stability is high, and in addition, when all the parallelogram linkage structures 53 are set to be the same structure, the motion speeds of all the connecting rod structures in the connecting rod assembly 6 are the same.
Further, as shown in fig. 5 and 8, the driving means includes a rotary driver 4, and the rotary driver 4 is connected to the corresponding driving link 63 through the lead screw nut assembly 41. Wherein the rotary driver 4 is a stepping motor. In the present embodiment, two rotary drivers 4 are specifically included as an X-axis driver 42 for driving the X-axis link 61 to move in the X direction and a Y-axis driver 43 for driving the Y-axis link 62 to move in the Y direction. Of course, in other embodiments, the movement of the X-axis link 61 or the Y-axis link 62 may be realized by a driving device such as an air cylinder.
Further, as shown in fig. 1 and 4, the material picking system further includes a housing 3, and each X-axis link 61 is slidably connected to a slide 31 extending along the X direction on the housing 3. Each Y-axis link 62 is slidably connected to a slide 31 extending in the Y-direction on the housing 3. The limiting of the slide way 31 can improve the moving stability of the connecting rod structure. In addition, the vision system 7, the drive assembly, may be attached to the outer surface of the housing 3.
Further, as shown in fig. 6 and 7, an X-axis positioning seat 34 is fixedly disposed on the housing 3, an X-axis positioning rod 33 extending along the Y-direction is fixedly disposed on the X-axis positioning seat 34, a plurality of X-axis positioning blocks 32 are slidably connected to the X-axis positioning rod 33, and each Y-axis connecting rod 62 is slidably connected to each X-axis positioning block 32. In other embodiments, a Y-axis positioning seat is further fixedly disposed on the housing 3, a Y-axis positioning rod extending along the X-direction is fixedly disposed on the Y-axis positioning seat, the Y-axis positioning rod is slidably connected to a plurality of Y-axis positioning blocks, and each Y-axis positioning block is slidably connected to each X-axis connecting rod 61. Just adopt the locating lever can with the spout cooperation, can improve the stationarity of connecting rod structure motion.
Further, as shown in fig. 3, the picking member 1 is a suction cup, which is suitable for materials with smooth surface to ensure that the vacuum detection pressure of the suction cup is sufficient. In other embodiments, the picking member 1 may also be a jaw.
Further, each picking part 1 is respectively connected with a control device in a communication way, so that the start and stop of each picking part 1 are respectively controlled by the control device. In this embodiment, the pickup unit 1 is a suction cup, and accordingly, the control device controls the electromagnetic valves connected to the suction cups to provide on/off signals, thereby controlling the start and stop of the suction cups.
In the material pickup system provided in this embodiment, when the material pickup system works, the control relationship between the components may specifically refer to fig. 12:
between PLC8 and vision system 7: the vision system 7 sends a material shooting result A1 to the PLC8, and the PLC8 sends vision control information A2 to the vision system 7;
between PLC8 and industrial robot 10: the PLC8 receives the feedback information D1 of the industrial robot 10, and the industrial robot 10 sends control information to the PLC8, wherein the pickup device 9 is provided on the industrial robot 10;
between the industrial robot 10 and the vision system 7: the PLC8 sends the image information of the material F3 to the industrial robot 10;
between PLC8 and X-axis driver 42: the PLC8 sends control information B2 to the X-axis driver 42 to adjust the X-axis link 61 position;
between PLC8 and Y-axis driver 43: the PLC8 sends control information C2 to the Y-axis driver 43 to adjust the Y-axis link 62 position;
between PLC8 and pickup 9: the PLC8 receives the vacuum detection result E1 of the pickup device 9 and sends a suction cup switch control signal E2 to the pickup device 9;
the control device may be constituted by a PLC8, a control unit in an industrial robot 10, or the like.
The material system of picking up that this embodiment provided possesses the robot self-adaptation matrix sucking disc controlling means based on visual detection, fuses machine vision, PLC8 and industrial robot 10's intelligence control system, can real-time interactive communication data through industrial ethernet. Aiming at materials with different forms, machine vision carries out characteristic data such as material shapes, positions, angles and the like. On one hand, the angle data are sent to the robot, and the robot adjusts the angle posture of the sucker tool after receiving the angle; on the other hand, the proper position of the robot for sucking the materials is calculated through a visual algorithm, the calculated data are sent to the PLC8 controller, and the PLC8 controls the corresponding stepping motor according to visual detection data, so that the sucker device adjusts the proper row-column spacing to achieve the correct posture for sucking the materials, and the robot can be applied to material carrying and sorting operation. Simultaneously, every sucking disc can the independent control open and close gas, can reach self-adaptation change matrix sucking disc device form, nimble control sucking disc switching signal according to the shape of material to reach the purpose of holding heavier material, solved well sucking disc instrument simplification and caused the robot to hold the unstable problem that the focus is not steady, the material drops of heavier material handling letter sorting operation reliability, the stability of different forms have been improved, and robot operating efficiency has been improved.
In addition to the above material pickup method, the present invention also provides a material pickup system to which the above material pickup method is applied. The material picking method specifically comprises the following steps:
the first step is as follows: and receiving the shot image of the visual system 7 on the material, and determining the actual position of the material according to the shot image.
When determining the actual position of the material, the set point on the captured image, such as the position of the midpoint and the center of gravity, may be specifically used as the reference point, and the position of the reference point in the set coordinate system may be used as the actual position of the material. Or when the actual position of the material is determined, the position of the material can be determined by determining the position of the set line on the material.
The second step is that: and acquiring the weight of the material.
The weight of the material can be prestored in the control device, or transmitted to the control device after field measurement.
The third step: the number of required pick-up units 1 to be used is determined on the basis of the weight of the material and the pick-up capacity of the individual pick-up units 1.
The fourth step: adjusting the distance between the picking parts 1 in the X direction and/or the Y direction so that at least the used number of the picking parts 1 can be connected to the surface to be connected of the material.
In this embodiment, because the position and the weight of material are determined earlier, determine the area that the picking member 1 that can contact the material is located and need provide the quantity of picking member 1 of lifting power, can provide the lifting power with the weight and the position assorted of material adaptively, reduce the blanking risk.
Further, the actual position comprises position information and angle information of the material in a preset plane coordinate system. For the determination of the angle information, the determination may be performed according to the angle of a certain side on the material, for example, the angle of the longest side of the top surface of the material in the preset planar coordinate system.
In the fourth step: the adjusting of the pitch of each pickup unit 1 in the X direction and/or the Y direction further includes:
and adjusting the angle of the pickup device 9 by taking a preset axis perpendicular to the preset plane coordinate system as a center according to the angle information, so that the angle relationship between the pickup device 9 and the material is kept in a preset angle relationship.
For example, the preset angular relationship is that the longest edge of the top surface of the material is parallel to the moving direction of the X-axis link 61 of the pickup device 9, and when the relationship is not satisfied, the angle of the pickup device 9 is adjusted to reach the preset angular relationship. In addition, the casing 3 can be specifically arranged on the industrial robot 10, and the angle of the casing 3 is adjusted by controlling the industrial robot 10 through the control device, so that the angle of the pickup device 9 is adjusted.
In this embodiment, the angular relationship between the pickup device 9 and the material is determined and adjusted, which is more favorable for planning the position relationship of the pickup unit 1.
Further, as shown in fig. 10 and 11, in the fourth step: adjusting the distance between each pickup part 1 in the X direction and/or the Y direction so that at least the used number of pickup parts 1 can be connected to the surface to be connected of the material, specifically includes:
fitting the template images formed by the pickup parts 1 in real time;
adjusting the distance between the picking-up components 1 in the X direction and/or the Y direction, and comparing the position relation between the edge of the shot image and the template image in a preset coordinate system, so that the number of the picking-up components 1 entering the edge of the shot image is not less than the used number, and at least the used number of the picking-up components 1 can be connected to the surface to be connected of the material.
In the present embodiment, the optimum positional relationship between the pickup units 1 can be easily determined by image comparison in the same coordinate system.
Further, the material is a cylinder, and the end face of the material is the surface to be connected, and the method comprises the following steps: the obtaining of the weight of the material comprises:
calculating the area of the surface to be connected of the material according to the shot image;
and obtaining the weight of the material according to the area of the surface to be connected, the thickness of the material and the density of the material. Wherein the density and thickness may be pre-stored in the control means.
In the embodiment, the weight of the material is calculated by means of the area of the surface to be connected of the material, which is obtained by shooting the image, so that the accuracy of calculating the weight of the material can be improved, and the method is particularly suitable for calculating the weight of the material with the irregular shape of the top surface of the material. The surface to be connected of the material is a material top surface.
Further, after the fourth step, the method further comprises:
controlling the picking parts 1 to move until the picking parts 1 are connected to the surface to be connected of the material, wherein in each picking part 1, the picking part 1 connected to the material is opened, and the rest picking parts 1 are closed.
That is, only the pickup unit 1 for picking up is activated, and the remaining pickup units 1 are deactivated, which is advantageous for saving the use cost.
A specific operation process of the method provided by this embodiment is as follows:
determining the actual position of the material:
as shown in fig. 10 and 11, P0Is a visual center, as shown in formula 1, and is also a teaching reference position of the material picking system, wherein X0，Y0，Z0For position data of material pick-up system TCP point (end tool center point), RX0，RY0，RZ0And (4) attitude data of a TCP point of the material pickup system. DeltaX, DeltaY and DeltaZ are material center offset positions which are detected and processed by the vision system 7 and then sent to the PLC8 and are respectively corresponding to X0，Y0，Z0The algebraic sum can obtain the position of the material actually grabbed by the material picking system, as shown in formulas 2, 3 and 4.
Delta theta is the angle data of the material after visual inspection and RZ0The algebraic sum can obtain the actual material grabbing angle posture of the material picking system, as shown in formula 5.
The current actual material holding position is P1 obtained by algebraic sum calculation of the four data of Δ X, Δ Y, Δ Z and Δ θ, as shown in formula 6.
P0＝[X0,Y0,Z0,RX0,RY0,RZ0] (1)
X1＝X0+ΔX (2)
Y1＝Y0+ΔY (3)
Z1＝Z0+ΔZ (4)
RZ1＝RZ0+Δθ (5)
P1＝[X1,Y1,Z1,RX1,RY1,RZ1] (6)
(II) calculation of the number of required pickup units 1:
calculating the weight of the materials: taking a material as a cylinder as an example, measuring the top surface area s of the material, and according to the predicted material density rho and thickness h, calculating the gravity G of the material according to the formula (7):
G＝＝Mg＝ρVg＝ρshg (7)
the pick-up member 1 is a suction cup, the atmospheric pressure of which is known as P, the diameter of which is d, and the suction force F of one suction cup can be calculated according to, for example, the following formula (8):
calculating the number N of suckers needed by the current material0As disclosed:
wherein mu is a safety coefficient, and mu is more than or equal to 2.5.
(III) calculation of line width of the pickup part 1:
as shown in fig. 10, due to the limitation of hardware mechanism, the row spacing m and the column spacing n of the suction cup should satisfy the following notations (10) and (11):
wherein m ismaxIs the maximum line spacing, mminFor minimum line spacing, d is the chuck diameter, a is the object length, and b is the object width.
The line interval according to self-adaptation matrix sucking disc is m and n, can acquire the physical position of 16 sucking discs and show as public 12:
Pk＝(xk,yk) (12)
wherein k is the serial number of the sucker, and k belongs to [1,16 ].
According to the physical position P of 16 suckerskAnd the diameter d of the sucker, and fitting a template image T (x, y) according to the standard equation of the original image S (x, y) and the circle, wherein the image is composed of 16 fitting circles with the diameter d, and the edge positions of the 16 fitting circles are Ok(ik,jk) And the image pixel size is consistent with the original image S (x, y).
And (3) obtaining a binary image S '(x, y) by processing the original S (x, y) through an image, and comparing the S' (x, y) with the T (x, y) to obtain the number N of the effective functions of the sucker.
If N > N0Then the row-column spacing is m1And n1In time, the material picking system can normally hold the workpiece.
It will be understood that when an element is referred to as being "secured" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The adaptive matrix material picking system and method based on visual inspection provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The adaptive matrix type material picking system based on visual detection is characterized by comprising a picking device (9), a visual system (7) and a control device, wherein the picking device (9) and the visual system (7) are respectively in communication connection with the control device;
the picking device (9) comprises a driving assembly and at least two picking parts (1), and the picking parts (1) are distributed in a matrix shape along an X direction and a Y direction, wherein the X direction is perpendicular to the Y direction;
the control device is used for receiving the shooting result of the vision system (7) and controlling the driving component to operate according to the shooting result so as to enable the driving component to drive the picking part (1) to move along the X direction and/or the Y direction.
2. The vision inspection based adaptive matrix material pickup system according to claim 1, wherein the pickup device (9) further comprises a slider (2) and two link assemblies (6), the link assemblies (6) comprise link structures sequentially arranged along a linear direction, and wherein in one of the link assemblies (6), the linear direction is the X direction, and each link structure constitutes an X-axis link (61), and in the other link assembly (6), the linear direction is the Y direction, and each link structure constitutes a Y-axis link (62);
the picking parts (1) are respectively fixed on the corresponding sliding blocks (2), the sliding blocks (2) are distributed in a matrix shape, the sliding blocks (2) with the same position in the X direction are all connected to the same X-axis connecting rod (61) in a sliding mode, and the sliding blocks (2) with the same position in the Y direction are all connected to the same Y-axis connecting rod (62) in a sliding mode;
the driving assembly comprises driving devices which are respectively connected with the two connecting rod assemblies (6) so as to respectively drive the X-axis connecting rod (61) to move along the X direction and drive the Y-axis connecting rod (62) to move along the Y direction.
3. The vision detection based adaptive matrix material pickup system according to claim 2, characterized in that in at least one of said link assemblies (6):
the number of the connecting rod structures is at least two, part of the connecting rod structures are connected to the corresponding driving devices to serve as driving connecting rods (63), and the connecting rod structures are connected into a whole through linkage structures (5) so that the connecting rod structures can move simultaneously under the transmission of the linkage structures (5).
4. The vision inspection based adaptive matrix material picking system according to any of claims 1 to 3, characterized in that the picking member (1) is a suction cup.
5. The adaptive matrix material picking system based on visual inspection according to any of claims 1 to 3, characterized in that each picking member (1) is respectively connected to the control device in communication to control the start and stop of each picking member (1) respectively by the control device.
6. A material picking method applied to the adaptive matrix material picking system based on visual inspection according to any one of claims 1 to 5, the method comprising:
receiving a shot image of the visual system (7) on the material, and determining the actual position of the material according to the shot image;
obtaining the weight of the material;
determining the number of required picking parts (1) to be used according to the weight of the material and the picking capacity of the single picking part (1);
adjusting the distance of the picking parts (1) in the X direction and/or the Y direction so that at least the used number of the picking parts (1) can be connected to the surface to be connected of the material.
7. The material pickup method according to claim 6, wherein the actual position includes position information and angle information of the material in a preset planar coordinate system;
the adjusting of the pitch of each pickup unit (1) in the X-direction and/or the Y-direction further comprises:
and adjusting the angle of the pickup device (9) by taking a preset axis perpendicular to the preset plane coordinate system as a center according to the angle information, so that the angular relationship between the pickup device (9) and the material is kept in a preset angular relationship.
8. Method for material pickup according to claim 6, wherein the adjusting of the pitch of the pickup units (1) in the X-direction and/or the Y-direction so that at least the used number of pickup units (1) can be connected to the surface to be connected of the material comprises:
fitting the template images formed by the pickup parts (1) in real time;
adjusting the distance between the picking parts (1) in the X direction and/or the Y direction, and comparing the position relation between the edge of the shot image and the template image in a preset coordinate system, so that the number of the picking parts (1) entering the edge of the shot image is not less than the used number, and at least the used number of the picking parts (1) can be connected to the surface to be connected of the material.
9. The material pickup method according to claim 6, wherein the material is a cylinder, an end surface of the cylinder is the surface to be connected, and the obtaining of the weight of the material comprises:
calculating the area of the surface to be connected of the material according to the shot image;
and obtaining the weight of the material according to the area of the surface to be connected, the thickness of the material and the density of the material.
10. The material pick-up method according to claim 6, characterized in that said adjusting the pitch of each pick-up member (1) in the X-direction and/or the Y-direction so that at least said used number of pick-up members (1) can be connected to the surface to be connected of the material further comprises:
controlling the picking parts (1) to move until the picking parts (1) are connected to the surface to be connected of the material, wherein in each picking part (1), the picking part (1) connected to the material is opened, and the rest picking parts (1) are closed.
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| CN202110814185.XA CN113401660A (en) | 2021-07-19 | 2021-07-19 | Adaptive matrix type material picking system and method based on visual detection |
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| CN202110814185.XA CN113401660A (en) | 2021-07-19 | 2021-07-19 | Adaptive matrix type material picking system and method based on visual detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313986A (en) * | 2022-01-07 | 2022-04-12 | 北新建材(天津)有限公司 | Sucking disc mechanism of automatic base plate feeding robot and plate sucking and placing method |
| CN114589703A (en) * | 2022-04-25 | 2022-06-07 | 北京京东乾石科技有限公司 | Method for controlling end effector, end effector device, transfer robot, and storage medium |
-
2021
- 2021-07-19 CN CN202110814185.XA patent/CN113401660A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313986A (en) * | 2022-01-07 | 2022-04-12 | 北新建材(天津)有限公司 | Sucking disc mechanism of automatic base plate feeding robot and plate sucking and placing method |
| CN114589703A (en) * | 2022-04-25 | 2022-06-07 | 北京京东乾石科技有限公司 | Method for controlling end effector, end effector device, transfer robot, and storage medium |
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Application publication date: 20210917 |