CN113909123A - Automatic article loading method - Google Patents

Abstract

The invention discloses an automatic article loading method, which comprises the following steps: the device comprises a conveying mechanism, a vision mechanism, a mechanical arm, a loading conveying belt and a control device; the transmission mechanism is used for transmitting according to a control instruction of the control device; the visual mechanism is used for acquiring the image information of the goods to be processed on the conveying mechanism and conveying the image information to the control device; the control device is used for receiving the image information sent by the vision mechanism and sending a control instruction to the transmission mechanism and the manipulator; the manipulator is used for moving the goods to be processed to the upper piece conveyor belt from the conveying mechanism according to the control instruction of the control device; the piece feeding conveyor belt is used for conveying goods to be processed to the next processing link, the automatic article feeding method enables the whole piece feeding sorting process to be automatically processed, the logistics sorting flow is more intelligent, the processing speed is high, and the working efficiency is high.

Description

Automatic article loading method

Technical Field

The invention relates to the field of logistics sorting, in particular to an automatic article loading method.

Background

Traditional logistics sorting, the flow of loading generally includes: the goods that will handle pending goods uninstallation is in logistics processing center, and a plurality of pending goods can flow to a centralized mechanism, then adopts the manual mode from the centralized mechanism, picks up a pending goods among a plurality of pending goods, then the manual work finds the one side of the concrete bar code of this pending goods, will have the one side of bar code up, places this pending goods on transport mechanism, and then transport mechanism will wait to handle the goods and move to next processing link.

The manual mode for processing needs manual intervention, has low processing speed, low working efficiency and high labor cost, and cannot work for 24 hours.

Disclosure of Invention

In view of this, the automatic article loading method provided in the embodiment of the present invention can completely adopt automatic processing in the whole sorting and loading process, and does not need manual intervention, so that the logistics sorting process is more intelligent, the processing speed is high, the working efficiency is high, and the problems of low manual processing speed, low working efficiency and high labor cost in the traditional logistics sorting field are solved.

The technical scheme adopted by the invention for solving the technical problems is as follows:

according to an aspect of an embodiment of the present invention, there is provided an automated article loading method, including: a transport mechanism, vision mechanism and upper conveyer belt, include the following step: the conveying mechanism conveys a plurality of goods to be processed to the position below the vision mechanism; the visual mechanism is used for acquiring the image information of the goods to be processed and transmitting the image information of the goods to be processed to a control device; the control device is used for judging whether the upper surface of the goods to be processed has the bar code or not according to the image information of the goods to be processed; if the number of the objects to be processed is larger than the number of the objects to be processed, the control device controls a mechanical arm to grab a single object to be processed with a bar code on the upper surface from the plurality of objects to be processed, and then the mechanical arm moves the object to be processed to the upper piece conveying belt.

Preferably, the conveying mechanism is a backflow conveying belt and comprises a first layer conveying belt and a second layer conveying belt, wherein the tail end of the first layer conveying belt is connected with the front end of the second layer conveying belt, the tail end of the second layer conveying belt is connected with the front end of the first layer conveying belt, when the control device judges that no bar code exists on the upper surfaces of the multiple goods to be processed, the control device controls the first layer conveying belt to move so as to drive the goods to be processed to move to the second layer conveying belt, and then the second layer conveying belt moves so as to backflow the goods to be processed to the first layer conveying belt.

Preferably, the first layer of conveyor belt is provided with a detection plane below the vision mechanism, and the detection plane is used for receiving goods to be processed from a buffer device or receiving the goods to be processed returned from the second layer of conveyor belt.

Preferably, the first layer of conveyor belt and the second layer of conveyor belt are upper and lower two-layer conveyor belt, the first layer of conveyor belt is an upper layer of conveyor belt, the second layer of conveyor belt is a lower layer of conveyor belt, and when goods to be processed flow to the second layer of conveyor belt from the first layer of conveyor belt, the surface of the goods to be processed is turned over.

Preferably, the vision mechanism comprises a bar code scanner and a depth camera; the bar code scanner is used for identifying whether the surface of the goods to be processed has bar code information or not and sending the acquired bar code information to the control device; the depth camera is used for acquiring the depth information of the goods to be processed and sending the acquired depth information of the goods to be processed to the control device.

Preferably, the system further comprises a gantry, the gantry is arranged above the detection plane, and the vision mechanism is arranged in the center of the gantry.

Preferably, the control device is specifically configured to: the control device receives the image information sent by the visual mechanism and sends a first control instruction to the transmission mechanism to pause the movement; the control device obtains the position and posture information and the grabbing posture of the goods to be processed according to the image information sent by the vision mechanism, obtains a motion plan according to the position and posture information and the grabbing posture of the goods to be processed, and then sends the motion plan to the manipulator.

Preferably, the control device obtains the position and posture information and the grasping posture of the goods to be processed according to the image information sent by the vision mechanism, and obtains the motion plan according to the position and posture information and the grasping posture of the goods to be processed, and specifically includes: the control device divides a plurality of goods to be processed positioned on the detection plane into each goods to be processed through a neural network algorithm according to the three-dimensional point cloud information of the goods to be processed obtained by the depth camera, so that the position and posture information of the goods to be processed is obtained; the control device analyzes the position coordinate of the bar code obtained by the bar code scanner according to the obtained image and fuses the three-dimensional point cloud information obtained by the depth camera, so that the position coordinate of the bar code corresponding to the goods to be processed is obtained; the control device obtains a grabbing plane according to the position coordinates of the bar codes corresponding to the goods to be processed, and obtains a motion plan according to the grabbing plane; or the control device calculates the plane where the bar code is located through a region growing algorithm according to the three-dimensional point cloud information of the goods to be processed, the plane is used as a grabbing plane, a grabbing gesture is obtained according to the position and gesture information of the goods to be processed and the grabbing plane, and the control device obtains the motion plan according to the grabbing gesture.

Preferably, a detection device is arranged on the upper conveying belt and used for judging whether the upper surface of the goods to be processed has a bar code or not and whether the goods to be processed is a single goods or not again; if the goods to be processed are processed, the detection device feeds information back to the control device, and the control device controls the upper conveying belt to move so that the goods to be processed are moved to the next goods processing program.

Preferably, the detection device includes a camera system for acquiring an image of the goods to be processed on the upper conveyor belt, and when the detection device analyzes the image of the goods to be processed acquired by the camera system, and the upper surface of the goods to be processed has no barcode or the goods to be processed is not a single goods, the detection device feeds back information to the control device, and the control device controls the upper conveyor belt to suspend the goods to be processed from moving to a next goods processing program.

Compared with the related art, the automatic article loading method provided by the embodiment of the invention comprises the following steps: a transport mechanism, vision mechanism and upper conveyer belt, include the following step: the conveying mechanism conveys a plurality of goods to be processed to the position below the vision mechanism; the visual mechanism is used for acquiring the image information of the goods to be processed and transmitting the image information of the goods to be processed to a control device; the control device is used for judging whether the upper surface of the goods to be processed has the bar code or not according to the image information of the goods to be processed; if the single goods to be processed with the bar codes on the upper surface are grabbed from the multiple goods to be processed by the manipulator, the manipulator moves the goods to be processed to the upper piece conveying belt; the upper piece conveying belt is provided with a detection device, and the detection device is used for judging whether the upper surface of the goods to be processed has the bar codes or not and whether the goods to be processed is single goods or not again; if the goods to be processed are processed, the detection device feeds information back to the control device, and the control device controls the upper conveying belt to move so that the goods to be processed are moved to the next goods processing program. The whole sorting and piece feeding process is completely processed automatically, manual intervention is not needed, the logistics sorting process is more intelligent, the processing speed is high, the working efficiency is high, and the problems that the manual processing speed of the piece feeding process in the traditional logistics sorting field is low, the working efficiency is low and the labor cost is high are solved.

Drawings

FIG. 1 is a schematic structural diagram of an automated article loading system according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a right-side view structure of an article loading system to be automated according to an embodiment of the present invention;

fig. 3 is a schematic front view of an automated item picking system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a top view of an automated article loading system according to an embodiment of the present invention;

FIG. 5 is a schematic top view of an automated article loading system with two robots in accordance with an embodiment of the present invention;

FIG. 6 is a schematic top view of another automated article loading system according to an embodiment of the present invention;

fig. 7 is a schematic step diagram of an automated article loading method according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In one embodiment, as shown in fig. 1-7, the present invention provides an automated article loading method, the method comprising: a buffer device 10, a conveying mechanism 20, a vision mechanism 30, a manipulator 40, an upper conveyor 50 and a control device (not shown); wherein:

the transmission mechanism 20, the vision mechanism 30 and the manipulator 40 are respectively in communication connection with the control device and receive a control command sent by the control device;

the buffer device 10 is used for receiving goods to be processed from the feeding hole;

the conveying mechanism 20 is positioned below the buffer device 10, and is used for receiving the goods to be processed from the buffer device 10 and conveying the goods according to a first control instruction of the control device;

the vision mechanism 30 is configured to obtain image information of the goods to be processed on the conveying mechanism 20, and transmit the image information to the control device;

the control device is used for receiving the image information sent by the visual mechanism 30, sending a first control instruction to the conveying mechanism 20 and sending a second control instruction to the manipulator 40;

the manipulator 40 is used for moving the goods to be processed from the conveying mechanism 20 to the upper conveyor belt 50 according to a second control instruction of the control device;

the upper conveyor 50 is used for conveying the goods to be processed to the next processing link.

As shown in fig. 1 to 7, in the present embodiment, the automated article loading method includes the following steps:

the transfer mechanism 20 transfers a plurality of goods to be processed under the vision mechanism 30;

the vision mechanism 30 is configured to obtain image information of the goods to be processed, and transmit the image information of the goods to be processed to a control device;

the control device is used for judging whether the upper surface of the goods to be processed has the bar code or not according to the image information of the goods to be processed;

if yes, the control device controls the conveying mechanism 20 to pause, and after the control device controls a mechanical arm 40 to grab a single to-be-processed goods with a bar code on the upper surface from a plurality of to-be-processed goods, the mechanical arm 4 moves the to-be-processed goods onto the upper conveyor belt 50; in other embodiments, the control device may control the transfer mechanism 20 to continue moving without pause, and the robot 4 may grasp the goods to be processed on the moving transfer mechanism 20; or the control device can control the conveying mechanism 20 to move in a deceleration way, and the mechanical arm 4 grabs a single to-be-processed goods with a bar code on the surface from the moving conveying mechanism 20; in one embodiment, when the goods to be processed with the bar codes on the surface are positioned at the edge of the conveying mechanism 20, the control device controls the conveying mechanism 20 to pause, and after the control device controls a manipulator 40 to grab a single goods to be processed with the bar codes on the upper surface from a plurality of goods to be processed, the manipulator 4 moves the goods to be processed onto the upper conveyor 50;

in one embodiment, the upper conveyor 50 is provided with a detection device 51, and the detection device 51 is used for judging whether the upper surface of the goods to be processed has a bar code and whether the goods to be processed is single goods again;

if the goods to be processed are not sorted, the detection device 51 feeds back information to the control device, the control device controls the upper conveying belt 50 to move the goods to be processed to a next goods processing program, the next goods processing program can be used for achieving the purpose that a sorting robot obtains the goods according to the bar code information of the goods, and the sorting robot sorts the goods into corresponding sorting ports according to the purpose.

In one embodiment, the detection device 51 includes a camera system for acquiring an image of the goods to be processed on the upper conveyor 50, and when the detection device 51 analyzes the image of the goods to be processed acquired by the camera system, and the upper surface of the goods to be processed has no bar code or the goods to be processed is not a single goods, the detection device 51 feeds back information to the control device, and the control device controls the upper conveyor 50 to pause. After the upper conveyor belt 50 is halted, the goods to be processed can be taken away manually, or a shunting mechanism is arranged on the upper conveyor belt 50 to shunt the goods to be processed to an exception handling platform.

In the embodiment, the visual mechanism is adopted to obtain the image information of the goods to be processed on the conveying mechanism and send the image information to the control device, and the control device respectively sends control instructions to the conveying mechanism and the mechanical arm according to the image information to enable the conveying mechanism to pause, so that the mechanical arm can move the goods to be processed from the conveying mechanism to the upper conveying belt according to the control instructions and convey the goods to be processed to the next processing link. The whole sorting and piece feeding process is completely processed automatically, manual intervention is not needed, the logistics sorting process is more intelligent, the processing speed is high, the working efficiency is high, and the problems that the manual processing speed of the piece feeding process in the traditional logistics sorting field is low, the working efficiency is low and the labor cost is high are solved.

Preferably, the goods to be processed are parcels.

In one embodiment, as shown in fig. 1, the conveying mechanism 20 is a return conveyor, and includes a first layer conveyor 21 and a second layer conveyor 22, wherein the end of the first layer conveyor 21 is connected to the front end of the second layer conveyor 22, and the end of the second layer conveyor 22 is connected to the front end of the first layer conveyor 21, so that the first layer conveyor 21 and the second layer conveyor 22 constitute the return conveyor. The goods to be processed from the buffering device 10 are conveyed on the first layer conveyor belt 21 and the second layer conveyor belt 22, and when the goods to be processed from the buffering device 10 flow on the return conveyor belt, the return conveyor belt can turn the surface of the goods to be processed.

The first layer of conveyor belt 21 is provided with a detection plane 211 for receiving the goods to be processed from the buffer device 10, so that the vision mechanism 30 can obtain the image information on the goods to be processed. The upper conveyor 50 is located at one side of the conveying mechanism 20, and the plane of the upper conveyor 50 is in the same plane as the detection plane 211.

The transmission mechanism 20 transmits according to a first control command of the control device, and includes:

a plurality of goods to be processed flow into the first layer of conveyor belt 21 from the buffer device 10 and then flow into the detection plane 211, the vision mechanism 30 identifies a plurality of images of the goods to be processed, and when the vision mechanism 30 identifies that the upper surface of one goods to be processed has a bar code, the obtained information of the bar code image is sent to the control device; after receiving the bar code image information sent by the vision mechanism 30, the control device sends a first control instruction to the transmission mechanism 20; the conveying mechanism 20 receives and analyzes a first control command sent by the control device, and suspends the movement of the first layer of conveyor belt 21 and the second layer of conveyor belt 22.

When the vision mechanism 30 acquires the image information of the plurality of the goods to be processed, and the barcode information is not identified on the upper surface of any one of the goods to be processed positioned on the first layer conveyor belt 21, the first layer conveyor belt 21 continues to move, so that the plurality of the goods to be processed flow into the second layer conveyor belt 22, the surfaces of the plurality of the goods to be processed can be turned over, flow back to the first layer conveyor belt 21 again, and flow back to the detection plane 211 again, so that the vision mechanism 30 performs vision identification.

Optionally, the first layer of conveyor belt 21 and the second layer of conveyor belt 22 are upper and lower layers of conveyor belts, the first layer of conveyor belt 21 is an upper layer of conveyor belt, the second layer of conveyor belt 22 is a lower layer of conveyor belt, and when the goods to be processed of the upper layer of conveyor belt are left on the lower layer of conveyor belt, the surface of the goods to be processed is turned over. In one embodiment, a turning mechanism (not shown) may be disposed between the first conveyor belt and the second conveyor belt, the turning mechanism being configured to turn the to-be-processed goods so that the surface of the to-be-processed goods can be turned over, and at least one upper surface of the to-be-processed goods has barcode information when the to-be-processed goods flows back to the detection plane again. In other embodiments, the conveying mechanism may include a first layer of the conveyor belt and a lifter, a front end of the lifter is connected to the first layer of the conveyor belt, a rear end of the lifter is connected to the front end of the first layer of the conveyor belt, and the surface of the goods to be processed is turned over during the movement of the first layer of the conveyor belt to the lifter.

Optionally, the first layer of conveyor belt 21 and the second layer of conveyor belt 22 are two layers of conveyor belts in the same plane.

In this embodiment, by setting the conveying mechanism as a return conveyor, when the goods to be processed from the buffer device are conveyed on the first layer conveyor and the second layer conveyor and the goods to be processed flow from the first layer conveyor to the second layer conveyor, the surface of the goods to be processed can be turned over so as to be identified by the vision mechanism as the surface with the bar code, even if the first time the vision mechanism identifies that the upper surface of the goods to be processed does not have the bar code, the surface of the goods to be processed can be turned over after the goods to be processed flows into the second layer conveyor, finally the goods to be processed can flow back to the first layer conveyor again and flow back to the detection plane, the vision mechanism performs vision identification again to judge whether the upper surface of the goods to be processed on the detection plane has the bar code, with this make the letter sorting process of putting up adopt automated processing, need not artificial intervention for the commodity circulation letter sorting flow is more intelligent, and the processing speed is fast, and work efficiency is high, thereby solves that traditional commodity circulation letter sorting field puts up that the manual processing speed of flow is slow, work efficiency is low and the labour cost is high problem.

In one embodiment, in a goods centralized sorting center, the sorting center is busy and idle, the busy is a lot of goods to be processed, when the sorting center is idle, after the goods to be processed are continuously circularly turned over for a preset time by a return flow conveying mechanism, if a visual mechanism identifies that any one of the goods to be processed on a detection plane has no bar code on the upper surface, the processing of the lot of goods is suspended, and the lot of goods can be subsequently processed manually; after the batch of goods is suspended, a new batch of goods to be processed is poured again into the buffer device.

In one embodiment, the vision mechanism 30 is disposed above the detection plane 211; the vision mechanism 30 includes a bar code scanner (not shown) and a depth camera (not shown). The bar code scanner is used for identifying whether the surface of the goods to be processed has bar code information or not and sending the obtained bar code information to the control device, wherein the bar code information comprises the content of a bar code and the position of the bar code. The depth camera is used for acquiring RBG information and depth information of the goods to be processed and sending the acquired information of the goods to be processed to the control device, wherein the depth information comprises depth point cloud information.

Preferably, the system further comprises a gantry 70, the gantry 70 is arranged above the detection plane 211, and the vision mechanism 30 is arranged at the center of the gantry 70.

In the embodiment, the visual mechanism is adopted to obtain the image information of the goods to be processed on the conveying mechanism and send the image information to the control device, so that the control device sends a first control instruction to the conveying mechanism and a second control instruction to the mechanical arm according to the image information to enable the conveying mechanism to pause, and the mechanical arm moves the goods to be processed from the conveying mechanism to the upper conveying belt according to the second control instruction and conveys the goods to be processed to the next processing link. The whole sorting and piece feeding process is completely processed automatically, manual intervention is not needed, the logistics sorting process is more intelligent, the processing speed is high, the working efficiency is high, and the problems that the manual processing speed of the piece feeding process in the traditional logistics sorting field is low, the working efficiency is low and the labor cost is high are solved.

In one embodiment, the control device is configured to receive the image information sent by the vision mechanism 30, and send control instructions to the conveying mechanism 20 and the manipulator 40; the method comprises the following steps:

the control device receives the image information sent by the visual mechanism 30 and sends a first control instruction to the transmission mechanism 20 to pause the movement;

the control device obtains the position and posture information and the gripping posture of the goods to be processed according to the image information sent by the vision mechanism, obtains the motion plan according to the position and posture information and the gripping posture of the goods to be processed, and sends the motion plan to the manipulator 40. The method specifically comprises the following steps:

after the bar code scanner scans the goods to be processed, the bar code scanner obtains a gray image, and then a processor of the bar code scanner analyzes the image to obtain the content of the goods to be processed bar code and the position of the goods to be processed bar code in the gray image, namely the position coordinate of the bar code; the depth camera obtains an RGB image and a depth image at the same time, after the depth image is combined with the RGB image, the depth camera obtains three-dimensional point cloud information of the goods to be processed, and according to the three-dimensional point cloud information of the goods to be processed, the control device divides the goods to be processed on the detection plane into each goods to be processed through a neural network algorithm, so that the position and posture information of the goods to be processed is obtained; and the control device fuses the position coordinates of the bar code obtained by the bar code scanner and the three-dimensional point cloud information obtained by the depth camera so as to obtain the position coordinates of the bar code corresponding to the goods to be processed.

The control device obtains a grabbing plane according to the position coordinates of the bar codes corresponding to the goods to be processed, obtains a motion plan according to the grabbing plane, then sends the motion plan to the mechanical arm, and controls the mechanical arm 40 to grab and place the goods to be processed on the upper conveying belt; or, the control device calculates the plane where the bar code is located through a region growing algorithm according to the three-dimensional point cloud information of the goods to be processed, the plane is used as a grabbing plane, a grabbing gesture is obtained according to the position gesture information of the goods to be processed and the grabbing plane, the control device obtains a motion plan according to the grabbing gesture and sends the motion plan to the manipulator 40, and the manipulator 40 is controlled to grab the goods to be processed according to the motion plan, so that the manipulator 40 can accurately grab the goods to be processed with the bar code on the upper surface body and place the goods on the upper conveying belt 50.

In this embodiment, the control device receives the image information sent by the vision mechanism, and sends a control command to the conveying mechanism and the manipulator according to the image information, so that the conveying mechanism is suspended, and the manipulator moves the goods to be processed from the conveying mechanism to the upper conveying belt according to the control command and conveys the goods to be processed to the next processing link. The whole sorting and piece feeding process is completely processed automatically, manual intervention is not needed, the logistics sorting process is more intelligent, the processing speed is high, the working efficiency is high, and the problems that the manual processing speed of the piece feeding process in the traditional logistics sorting field is low, the working efficiency is low and the labor cost is high are solved.

In one embodiment, the manipulator 40 is fixed on the ground or on a fixed object and is used for moving the goods to be processed from the conveying mechanism 20 to the upper conveyor 50 according to a second control command of the control device; the method comprises the following steps:

after the manipulator 40 grabs the goods to be processed according to the position and posture information including the goods to be processed and the second control instruction for motion planning, the goods to be processed are flatly placed on the upper conveyor belt 50, so that the goods to be processed can flow into the next processing link.

In this embodiment, will according to controlling means's second control command through the manipulator pending goods removes to the conveyer belt of loading from transport mechanism, can make the letter sorting process of loading adopt automated processing, need not artificial intervention for the commodity circulation letter sorting flow is more intelligent, and the process velocity is fast, and work efficiency is high, thereby solves the problem that traditional commodity circulation letter sorting field loading flow manual processing speed is slow, work efficiency is low and the labour cost is high.

In one embodiment, as shown in fig. 5, the system includes two robots 40 cooperating together, wherein both robots 40 are industrial robots, in which case the entire automated article loading system requires a fence to avoid human ingress into this area. At this time, the two manipulators 40 receive and execute (e.g., alternately receive and execute) the second control command of the control device in a certain order to move the goods to be processed from the transfer mechanism 20 to the upper conveyor 50; the two manipulators 40 receive and execute the to-be-processed goods according to a certain sequence, grab the to-be-processed goods according to the position and posture information of the to-be-processed goods and a second control command for motion planning, and flatly place the to-be-processed goods on the upper conveyor belt 50, so that the to-be-processed goods can flow into the next processing link.

In one embodiment, the robot arm 40 is a cooperative robot, which may be operated without a fence, and the cooperative robot and the human work together, that is, the human and the one cooperative robot may simultaneously handle the sorting work of the goods.

In one embodiment, the upper conveyor 50 is located at one side of the conveying mechanism 20, and is used for conveying the goods to be processed, which are moved by the robot 40 from the first layer conveyor 21, to the next processing link.

Preferably, the plane of the upper conveyor belt 50 is in the same plane as the detection plane 211.

In one embodiment, the system further comprises a first support mechanism 80, the first support mechanism 80 being configured to support the cushioning device 10.

In this embodiment, by providing the first supporting mechanism to support the buffering device, the goods to be processed can automatically flow into the conveying mechanism, particularly into the first layer of the conveyor belt, from the buffering device, so that the goods to be processed can be automatically sorted, and the logistics sorting process is more intelligent.

In one embodiment, the system further comprises a dumping mechanism 90, wherein the dumping mechanism 90 is arranged above the buffer device 10 and is connected with the buffer device 10 for collecting the goods to be processed and dumping the goods to be processed onto the buffer device 10.

It is to be noted that, in this document, 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. An automated item loading method, comprising: a transport mechanism, vision mechanism and a conveyer belt of putting up, its characterized in that includes the following step:

the conveying mechanism conveys a plurality of goods to be processed to the position below the vision mechanism;

the visual mechanism is used for acquiring the image information of the goods to be processed and transmitting the image information of the goods to be processed to a control device;

the control device is used for judging whether the upper surface of the goods to be processed has the bar code or not according to the image information of the goods to be processed;

if the number of the objects to be processed is larger than the number of the objects to be processed, the control device controls a mechanical arm to grab a single object to be processed with a bar code on the upper surface from the plurality of objects to be processed, and then the mechanical arm moves the object to be processed to the upper piece conveying belt.

2. The method as claimed in claim 1, wherein the conveyor is a return conveyor comprising a first layer of conveyor and a second layer of conveyor, wherein the end of the first layer of conveyor is connected to the front end of the second layer of conveyor, and the end of the second layer of conveyor is connected to the front end of the first layer of conveyor, when the control device determines that none of the top surfaces of the plurality of the goods to be processed has a bar code, the control device controls the first layer of conveyor to move the goods to be processed to the second layer of conveyor, and then the second layer of conveyor moves to return the goods to be processed to the first layer of conveyor.

3. A method according to claim 2, wherein the first layer of conveyor belt is provided with a detection plane below the vision means, said detection plane being adapted to receive the goods to be treated from a buffer or to receive the goods to be treated from the return flow of the second layer of conveyor belt.

4. The method of claim 2, wherein the first conveyor belt and the second conveyor belt are upper and lower conveyor belts, the first conveyor belt is an upper conveyor belt, the second conveyor belt is a lower conveyor belt, and the surface of the goods to be processed is inverted when the goods to be processed flow from the first conveyor belt to the second conveyor belt.

5. The method of claim 3, wherein the vision mechanism comprises a bar code scanner and a depth camera; the bar code scanner is used for identifying whether the surface of the goods to be processed has bar code information or not and sending the acquired bar code information to the control device; the depth camera is used for acquiring the depth information of the goods to be processed and sending the acquired depth information of the goods to be processed to the control device.

6. The method of claim 5, wherein the system further comprises a gantry, the gantry being positioned above the inspection plane, the vision mechanism being positioned at a central location of the gantry.

7. The method according to claim 5, characterized in that the control device is specifically configured to:

the control device receives the image information sent by the visual mechanism and sends a first control instruction to the transmission mechanism to pause the movement;

the control device obtains the position and posture information and the grabbing posture of the goods to be processed according to the image information sent by the vision mechanism, obtains a motion plan according to the position and posture information and the grabbing posture of the goods to be processed, and then sends the motion plan to the manipulator.

8. The method according to claim 7, wherein the controlling device obtains position and posture information and a grasping posture of the cargo to be processed according to the image information sent by the vision mechanism, and obtains the motion plan according to the position and posture information and the grasping posture of the cargo to be processed, and specifically comprises:

the control device divides a plurality of goods to be processed positioned on the detection plane into each goods to be processed through a neural network algorithm according to the three-dimensional point cloud information of the goods to be processed obtained by the depth camera, so that the position and posture information of the goods to be processed is obtained; the control device analyzes the position coordinate of the bar code obtained by the bar code scanner according to the obtained image and fuses the three-dimensional point cloud information obtained by the depth camera, so that the position coordinate of the bar code corresponding to the goods to be processed is obtained;

the control device obtains a grabbing plane according to the position coordinates of the bar codes corresponding to the goods to be processed, and obtains a motion plan according to the grabbing plane; or the control device calculates the plane where the bar code is located through a region growing algorithm according to the three-dimensional point cloud information of the goods to be processed, the plane is used as a grabbing plane, a grabbing gesture is obtained according to the position and gesture information of the goods to be processed and the grabbing plane, and the control device obtains the motion plan according to the grabbing gesture.

9. The method as set forth in claim 1, wherein a detecting device for judging again whether the upper surface of the goods to be processed has a bar code and whether the goods to be processed is a single goods is provided on the upper conveyer;

if the goods to be processed are processed, the detection device feeds information back to the control device, and the control device controls the upper conveying belt to move so that the goods to be processed are moved to the next goods processing program.

10. The method as claimed in claim 9, wherein the detecting device includes a camera system for acquiring the image of the goods to be processed on the upper conveyor, and when the detecting device analyzes the image of the goods to be processed acquired by the camera system, the upper surface of the goods to be processed has no bar code or the goods to be processed is not a single goods, the detecting device feeds back information to the control device, and the control device controls the upper conveyor to suspend the goods to be processed from moving to a next goods processing procedure.

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