CN113843154A

CN113843154A - Single piece splitter based on RGBD camera

Info

Publication number: CN113843154A
Application number: CN202111052542.XA
Authority: CN
Inventors: 严振声; 夏可立
Original assignee: Zhejiang Huayan Vision Technology Co ltd
Current assignee: Zhejiang Huayan Vision Technology Co ltd
Priority date: 2021-09-08
Filing date: 2021-09-08
Publication date: 2021-12-28
Anticipated expiration: 2041-09-08
Also published as: CN113843154B

Abstract

The invention discloses a piece separating device based on an RGBD camera, which comprises a device main body and an RGBD camera, wherein the device main body is provided with a camera support; the RGBD camera designed by the invention adopts an active binocular stereo imaging technology, can output RGBD images with high frame rate, is internally provided with a depth learning algorithm and a D image processing algorithm, can be suitable for wrapping of various specifications and forms, can capture the instantaneous position of a high-speed moving object, and can be disassembled without a worker screwing down a plurality of screws when the RGBD camera is maintained and installed through the designed installation assembly, thereby being time-saving and labor-saving.

Description

Single piece splitter based on RGBD camera

Technical Field

The invention relates to the technical field of logistics transportation, in particular to single-piece separation equipment based on an RGBD camera.

Background

Along with the rapid development of science and technology, the popularization of the smart phone greatly accelerates the development of the e-commerce industry, so that the logistics industry is developed at a high speed, and the living standard of people changes day by day.

At present, the express delivery logistics industry rapidly develops simple manual sorting and can not meet the express delivery timeliness requirement far away, and the industry urgently needs automatic sorting at the moment. For the automated sorting equipment, a precondition that a certain package spacing is required to be ensured to ensure the accuracy of package information acquisition is required to be ensured during package information acquisition, and then single-piece separation equipment is required to be used, for example, a single-piece separation system is provided with an application number of CN20201.X, and comprises a single-piece separator and an edge-abutting machine arranged adjacent to the single-piece separator; the single-piece separator comprises a plurality of single-module assemblies which are adjacently arranged side by side, a high-speed shooting camera with a lens and a terminal; the single module component is a group of independently controlled variable-frequency speed-regulating conveying units; the lens of the high-speed shooting camera is positioned above the single module component, and the high-speed shooting camera is in wireless communication connection with the terminal; the terminal can regulate and control the running speed of the variable-frequency speed-regulating conveying unit, and the instantaneous speed of each single module component is regulated through the terminal by capturing the instantaneous position of a conveyed object; the conveyed materials running side by side are changed into serial flow through the speed difference; the appearance of single piece system has deducted the commodity circulation trade peak period parcel throughput and has caused the risk that conveying system blocks up and stops greatly, has promoted whole logistics system's smooth degree, but the discernment camera in the system adopts screw and camera support fixed usually, when needs maintain the installation to the system, still need the staff just to twist off a plurality of screws, dismantle the discernment camera, waste time and energy very, for this reason, we propose a single piece equipment based on RGBD camera.

Disclosure of Invention

The invention aims to provide a single piece separating device based on an RGBD camera, which is convenient to install and maintain, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the single piece separating device based on the RGBD camera comprises a device main body and the RGBD camera, wherein a camera support is mounted on the device main body, a mounting assembly is arranged at the top of the RGBD camera, and the RGBD camera is mounted on the camera support through the mounting assembly; the mounting assembly comprises a mounting body fixed to the top end of the RGBD camera and a box body mounted on the camera support, limiting grooves are formed in four sides of the mounting body, the mounting body is movably inserted into the box body, an arc abutting block is abutted to the limiting grooves, and a rotating piece used for driving the arc abutting block to rotate is arranged at one end, away from the limiting grooves, of the arc abutting block.

Preferably, the rotation piece includes rack and first gear, rack and first gear engagement are connected, the centre bore of first gear is fixed with the pivot, two cams of the outside symmetry of pivot, the tip and the arc of cam support the piece fixed, and the both ends of pivot are passed through the bearing plate and are connected with the box, one side of rack is provided with and is used for driving its moving member that carries out vertical direction and remove, can let the arc support the piece automatic sliding and enter into the spacing inslot through rotating the piece and fix the RGBD camera on the installation body.

Preferably, the moving member includes the screw thread block fixed with rack one side, the screw rod has been cup jointed to the screw thread block internal thread, the quantity of screw rod is four, and four screw rods are the annular array and arrange inside the box, the outside of installation body is provided with and is used for driving four screw rods and carries out the linkage of rotation simultaneously, can drive the rack through the moving member and reciprocate.

Preferably, the linkage part comprises a first worm wheel, a second worm wheel, a third worm wheel and a fourth worm wheel which are fixed at the bottoms of the four screw rods, a first worm is meshed with one side of the first worm wheel, first bevel gears are fixed at two ends of the first worm, the first bevel gears are meshed with second bevel gears, a second worm and a third worm are respectively fixed in central holes of the two second bevel gears, the second worm and the third worm are respectively meshed with the second worm wheel and the third worm wheel, a third bevel gear is fixed at one end of the second worm, which is far away from the second bevel gears, a fourth bevel gear is meshed with one side of the third bevel gear, a fourth worm is fixed in a central hole of the fourth bevel gear, the fourth worm is meshed with the fourth worm wheel, and one ends, close to each other, of the third worm and the fourth worm are connected with the box body through the same L-shaped plate, the driving piece for driving the first worm to rotate is installed on the inner side of the box body, the four screw rods can be driven to rotate in the same direction through the linkage piece, and the arc-shaped abutting blocks on the four sides of the installation body can be in butt joint with and separated from the limiting grooves at the same time.

Preferably, the driving piece is including fixing the motor fixed plate on the box inner wall, driving motor has been cup jointed on the motor fixed plate, the output of driving piece is fixed with the second gear, one side meshing of second gear has the third gear, the third gear is fixed with the outside of first worm, provides the output of electric power through the driving piece, guarantees the input of linkage power.

Preferably, the one end that the rack was kept away from to the screw block is fixed with the pulley, the inner wall of box is fixed with the slide rail with pulley looks adaptation, and the cooperation through pulley and slide rail makes the reciprocating of screw block more reliable and more stable.

Preferably, the top of box is fixed with the locating plate, the locating hole has all been seted up to four edges of locating plate, can be with the box snap-on adding the support through the cooperation of locating plate and locating hole, need not to dismantle the box when maintaining the camera.

Preferably, the lens of RGBD camera is in the single module subassembly top in the equipment main part, and the direction of shooing is just to single module subassembly, guarantees that RGBD camera can shoot the parcel of process under the single module subassembly more clearly.

Compared with the prior art, the invention has the beneficial effects that:

1. the RGBD camera designed by the invention can output high frame rate RGBD images by adopting an active binocular stereo imaging technology, is internally provided with a depth learning algorithm and a D image processing algorithm, can be suitable for packages with various specifications and shapes, can capture the instantaneous position of a high-speed moving object, can be disassembled by a designed installation assembly without screwing down a plurality of screws by a worker when the RGBD camera is maintained and installed, and is time-saving and labor-saving.

2. The invention provides power output through the designed driving piece, ensures the input of the power of the linkage piece, does not need manpower input in the installation and the disassembly, and saves manpower and material resources.

3. According to the camera, the positioning plate is fixed at the top end of the box body, the positioning holes are formed in the four corners of the positioning plate, the box body can be directly fixed on the adding support through the matching of the positioning plate and the positioning holes, and the box body does not need to be detached when the camera is maintained.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the mounting assembly of the present invention;

FIG. 3 is a schematic view of the internal structure of the case according to the present invention;

FIG. 4 is a partial schematic view of the present invention;

FIG. 5 is a schematic view of the structure of the mounting body of the present invention;

FIG. 6 is an installation schematic of the present invention;

FIG. 7 is a schematic view of the rotating member and the moving member according to the present invention;

FIG. 8 is a schematic view of a linkage of the present invention;

FIG. 9 is a schematic view of the driving member of the present invention.

In the figure: 1-a device body; 2-RGBD camera; 3-mounting the component; 4-a camera support; 5-an installation body; 6, a box body; 7-a limiting groove; 8-arc resisting blocks; 9-a rotating member; 10-a rack; 11-a first gear; 12-a rotating shaft; 13-a cam; 14-a bearing plate; 15-a moving member; 16-a thread block; 17-a screw rod; 18-a pulley; 19-a slide rail; 20-a linkage; 21-a first worm gear; 22-a second worm gear; 23-a third worm gear; 24-a fourth worm gear; 25-a first worm; 26-a first bevel gear; 27-a second bevel gear; 28-a second worm; 29-a third worm; 30-a third bevel gear; 31-a fourth bevel gear; 32-a fourth worm; 33-L type plates; 34-a drive member; 35-motor fixing plate; 36-a drive motor; 37-a second gear; 38-third gear; 39-positioning plate; 40-positioning holes; 41-single module assembly.

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

Referring to fig. 1 to 7, the single-piece separating device based on the RGBD camera in the figures includes a device main body 1 and an RGBD camera 2, wherein a camera support 4 is installed on the device main body 1, a mounting assembly 3 is arranged at the top of the RGBD camera 2, and the RGBD camera 2 is installed on the camera support 4 through the mounting assembly 3; the mounting component 3 comprises a mounting body 5 fixed to the top end of the RGBD camera 2 and a box body 6 mounted on the camera support 4, limiting grooves 7 are formed in four sides of the mounting body 5, the mounting body 5 is movably inserted into the box body 6, arc-shaped supporting blocks 8 are abutted to the limiting grooves 7, one ends, away from the limiting grooves 7, of the arc-shaped supporting blocks 8 are provided with rotating pieces 9 used for driving the arc-shaped supporting blocks 8 to rotate, the rotating pieces 9 can rotate the arc-shaped supporting blocks 8 into the limiting grooves 7, therefore, the mounting body 5 is rapidly limited, when the RGBD camera 2 is maintained and mounted, the camera can be dismounted without screwing down a plurality of screws by a worker, and time and labor are saved.

Wherein, in order to let the arc support block 8 automatically slide and enter into the spacing groove 7 and fix the RGBD camera 2 on the installation body 5, the rotation piece 9 includes rack 10 and first gear 11, rack 10 and first gear 11 mesh and connect, be fixed with pivot 12 in the centre bore of first gear 11, two cams 13 of outside symmetry of pivot 12, the tip and the arc of cam 13 support block 8 fixedly, and the both ends of pivot 12 are passed through bearing plate 14 and are connected with box 6, one side of rack 10 is provided with and is used for driving its moving member 15 that carries out the vertical direction removal.

Meanwhile, in order to be able to drive the rack 10 to move up and down, the moving member 15 includes a thread block 16 fixed on one side of the rack 10, the thread block 16 is internally threaded and sleeved with four screw rods 17, the number of the screw rods 17 is four, and the four screw rods 17 are arranged in the box body 6 in an annular array, and the outer side of the installation body 5 is provided with a linkage member 20 for driving the four screw rods 17 to rotate simultaneously.

In addition, in order to make the up-and-down movement of the screw block 16 more stable and reliable, a pulley 18 is fixed at one end of the screw block 16 far away from the rack 10, and a slide rail 19 matched with the pulley 18 is fixed on the inner wall of the box body 6.

Meanwhile, in order to avoid the need of disassembling the box body 6 when the camera is maintained, a positioning plate 39 is fixed at the top end of the box body 6, and positioning holes 40 are formed in four corners of the positioning plate 39.

In addition, in order to ensure that the RGBD camera 2 can more clearly shoot the passing packages under the single module assembly 41, the lens of the RGBD camera 2 is located above the single module assembly 41 on the device body 1, and the shooting direction is opposite to the single module assembly 41.

When the RGBD camera 2 is disassembled: at first, the four screw rods 17 are driven to rotate simultaneously through the linkage effect of the linkage part 20, the screw rods 17 drive the threaded blocks 16 in threaded connection to move downwards when rotating, the threaded blocks 16 drive the racks 10 to move downwards, the racks 10 drive the first gears 11 to rotate, and then the cams 13 connected with the rotating shafts 12 are driven to rotate, the cams 13 drive the arc-shaped abutting blocks 8 to move out of the limiting grooves 7, so that the limiting effect on the installation body 5 is relieved, and finally the RGBD camera 2 is taken out of the box body 6 to finish the disassembly.

Example 2

Referring to fig. 4, 7 and 8, in this embodiment, to further explain example 1, the moving member 15 in the figure includes a thread block 16 fixed to one side of the rack 10, the thread block 16 is internally threaded and sleeved with four lead screws 17, the number of the lead screws 17 is four, the four lead screws 17 are arranged in the box 6 in an annular array, a linkage member 20 for driving the four lead screws 17 to rotate simultaneously is arranged on the outer side of the mounting body 5, the linkage member 20 includes a first worm wheel 21, a second worm wheel 22, a third worm wheel 23 and a fourth worm wheel 24 fixed to the bottoms of the four lead screws 17, one side of the first worm wheel 21 is engaged with a first worm 25, both ends of the first worm 25 are fixed with first bevel gears 26, the first bevel gears 26 are engaged with second bevel gears 27, a second worm 28 and a third worm 29 are respectively fixed in central holes of the two second bevel gears 27, the second worm 28 and the third worm 29 are respectively meshed with the second worm wheel 22 and the third worm wheel 23, one end of the second worm 28, which is far away from the second bevel gear 27, is fixedly provided with a third bevel gear 30, one side of the third bevel gear 30 is meshed with a fourth bevel gear 31, a fourth worm 32 is fixedly arranged in a central hole of the fourth bevel gear 31, the fourth worm 32 is meshed with the fourth worm wheel 24, one ends, which are close to each other, of the third worm 29 and the fourth worm 32 are connected with the box body 6 through the same L-shaped plate 33, a driving piece 34 for driving the first worm 25 to rotate is installed on the inner side of the box body 6, the four screw rods 17 can be simultaneously driven to rotate in the same direction through the linkage piece 20, and the arc-shaped abutting blocks 8 on the four sides of the installation body 5 can be simultaneously abutted against and separated from the limiting grooves 7.

When the four screw rods 17 are driven to rotate simultaneously: firstly, the driving part 34 provides power to drive the first worm 25 to rotate, the first worm 25 drives the second worm 28 and the third worm 29 to rotate simultaneously through two groups of bevel gears, the third worm 29 drives the fourth worm 32 to rotate simultaneously through the meshing transmission of the third bevel gear 30 and the fourth bevel gear 31, and finally, the four worms can drive the four worm wheels to rotate simultaneously, so that the screw rod 17 connected with the worm wheels is driven to rotate.

Example 3

Referring to fig. 4, 7 and 9, in this embodiment, to further explain embodiment 1, the illustrated linkage 20 includes a first worm wheel 21, a second worm wheel 22, a third worm wheel 23 and a fourth worm wheel 24 fixed at the bottom of four screw rods 17, a first worm 25 is engaged with one side of the first worm wheel 21, a first bevel gear 26 is fixed at both ends of the first worm 25, a second bevel gear 27 is engaged with the first bevel gear 26, a second worm 28 and a third worm 29 are respectively fixed in central holes of the two second bevel gears 27, the second worm 28 and the third worm 29 are respectively engaged with the second worm wheel 22 and the third worm wheel 23, a third bevel gear 30 is fixed at one end of the second worm 28 far from the second bevel gear 27, a fourth bevel gear 31 is engaged with one side of the third bevel gear 30, and a fourth bevel gear 32 is fixed in a central hole of the fourth bevel gear 31, the fourth worm 32 is meshed with the fourth worm wheel 24, one end, close to each other, of the third worm 29 and the fourth worm 32 is connected with the box body 6 through the same L-shaped plate 33, a driving piece 34 used for driving the first worm 25 to rotate is installed on the inner side of the box body 6, the four screw rods 17 can be driven to rotate in the same direction through the linkage piece 20, and therefore the arc-shaped abutting blocks 8 on the four sides of the installation body 5 can be in butt joint with and separated from the limiting grooves 7 at the same time.

The driving part 34 comprises a motor fixing plate 35 fixed on the inner wall of the box body 6, a driving motor 36 is sleeved on the motor fixing plate 35, a second gear 37 is fixed at the output end of the driving part 34, a third gear 38 is meshed with one side of the second gear 37, the third gear 38 is fixed with the outer side of the first worm 25, electric power is output through the driving part 34, and power input of the linkage 20 is guaranteed.

When the first worm 25 is driven to rotate: firstly, the driving motor 36 is turned on by a fixed angle through an external controller, then the output end of the driving motor 36 drives the second gear 37 to rotate, and finally the second gear 37 and the third gear 38 are engaged to drive the first worm 25 connected with the third gear 38 to rotate together by an angle, so that the power transmission to the linkage member 20 is ensured.

In the scheme, the type Y80M1-2 is preferably selected as the driving motor 36, a power supply interface of the motor is connected with a power supply system through a switch, a motor operation circuit is a normal and reverse rotation control program of a conventional motor, the circuit operates as the conventional circuit, circuits and control related in the scheme are the prior art, and redundant description is not repeated herein.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A singleton piece splitter based on an RGBD camera, comprising:

the device comprises a device main body (1) and an RGBD camera (2), wherein a camera support (4) is installed on the device main body (1), an installation component (3) is arranged at the top of the RGBD camera (2), and the RGBD camera (2) is installed on the camera support (4) through the installation component (3);

the mounting component (3) comprises a mounting body (5) fixed to the top end of the RGBD camera (2) and a box body (6) mounted on the camera support (4), limiting grooves (7) are formed in four sides of the mounting body (5), the mounting body (5) is movably inserted into the box body (6), arc-shaped supporting blocks (8) are abutted to the limiting grooves (7), and one ends, away from the limiting grooves (7), of the arc-shaped supporting blocks (8) are provided with rotating pieces (9) used for driving the arc-shaped supporting blocks (8) to rotate.

2. The RGBD camera based one-piece separating apparatus of claim 1, wherein: rotate piece (9) including rack (10) and first gear (11), rack (10) and first gear (11) meshing are connected, the centre bore internal fixation of first gear (11) has pivot (12), two cams (13) of outside symmetry of pivot (12), the tip and the arc of cam (13) are supported piece (8) and are fixed, and the both ends of pivot (12) are passed through bearing plate (14) and are connected with box (6), one side of rack (10) is provided with and is used for driving it to carry out moving member (15) that vertical direction removed.

3. The RGBD camera based one-piece separating apparatus of claim 2, wherein: the moving piece (15) comprises a thread block (16) fixed to one side of the rack (10), the thread block (16) is sleeved with screw rods (17) in an inner thread mode, the number of the screw rods (17) is four, the four screw rods (17) are arranged inside the box body (6) in an annular array mode, and linkage pieces (20) used for driving the four screw rods (17) to rotate simultaneously are arranged on the outer side of the installation body (5).

4. The RGBD camera based one-piece separation apparatus of claim 3, wherein: the linkage (20) comprises a first worm wheel (21), a second worm wheel (22), a third worm wheel (23) and a fourth worm wheel (24) which are fixed at the bottoms of the four screw rods (17), a first worm (25) is meshed at one side of the first worm wheel (21), first bevel gears (26) are fixed at two ends of the first worm (25), second bevel gears (27) are meshed with the first bevel gears (26), a second worm (28) and a third worm (29) are respectively fixed in central holes of the two second bevel gears (27), the second worm (28) and the third worm (29) are respectively meshed with the second worm wheel (22) and the third worm wheel (23), a third bevel gear (30) is fixed at one end, far away from the second bevel gear (27), of the second worm (28), and a fourth bevel gear (31) is meshed at one side of the third bevel gear (30), a fourth worm (32) is fixed in a central hole of the fourth bevel gear (31), the fourth worm (32) is meshed with the fourth worm gear (24), one ends, close to each other, of the third worm (29) and the fourth worm (32) are connected with the box body (6) through the same L-shaped plate (33), and a driving piece (34) used for driving the first worm (25) to rotate is installed on the inner side of the box body (6).

5. The RGBD camera-based piece separating apparatus of claim 4, wherein: the driving part (34) comprises a motor fixing plate (35) fixed on the inner wall of the box body (6), a driving motor (36) is sleeved on the motor fixing plate (35), a second gear (37) is fixed at the output end of the driving part (34), a third gear (38) is meshed on one side of the second gear (37), and the third gear (38) is fixed to the outer side of the first worm (25).

6. The RGBD camera based one-piece separation apparatus of claim 3, wherein: one end, far away from the rack (10), of the thread block (16) is fixed with a pulley (18), and the inner wall of the box body (6) is fixed with a sliding rail (19) matched with the pulley (18).

7. The RGBD camera based one-piece separating apparatus of claim 1, wherein: the top of box (6) is fixed with locating plate (39), locating hole (40) have all been seted up to four edges and corners of locating plate (39).

8. The RGBD camera based one-piece separating apparatus of claim 1, wherein: the lens of the RGBD camera (2) is located above a single module assembly (41) on the equipment main body (1), and the shooting direction is right opposite to the single module assembly (41).