CN114377969A - Automatic workpiece feeding sorting control method - Google Patents
Automatic workpiece feeding sorting control method Download PDFInfo
- Publication number
- CN114377969A CN114377969A CN202111625188.5A CN202111625188A CN114377969A CN 114377969 A CN114377969 A CN 114377969A CN 202111625188 A CN202111625188 A CN 202111625188A CN 114377969 A CN114377969 A CN 114377969A
- Authority
- CN
- China
- Prior art keywords
- conveyor
- package
- sorting
- flow
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000011218 segmentation Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C1/00—Measures preceding sorting according to destination
- B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
- B07C1/04—Forming a stream from a bulk; Controlling the stream, e.g. spacing the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
Landscapes
- Manipulator (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention provides a mixed piece grabbing and loading sorting solution based on visual flow and package segmentation identification, so as to cancel manual intervention and piece-by-piece loading modes, effectively coordinate and solve flow pressure of conveying line information scanning and loading operation, and improve identification and loading speed and accuracy. The method comprises the following steps: 1) the method comprises the steps of cargo unpacking, 2) flow control, 3) segmentation identification, 4) piece loading, 5) special-shaped pieces and non-graspable pieces removing and 6) sorting, wherein the packages enter a sorting loop line through a sorting machine guide-in unit until the sorting task is completed; the bar code of the package is positioned at the bottom, and information scanning code input is carried out through a bottom surface scanning unit at the front end of the sorting machine guide-in unit.
Description
Technical Field
The invention relates to an automatic workpiece feeding and sorting control method, and belongs to the field of logistics sorting.
Background
Along with the rapid development of the e-commerce logistics and production automation technology, the goods sorting and conveying system is larger and larger in scale, and has higher requirements on the field operation efficiency. The operation mode of manual or auxiliary loading is still needed to be adopted at the front end in the existing logistics transfer so as to manually disperse and load a large number of unpacked packages before sending the packages into a conveying line for sorting, and subsequent scanning and information input are facilitated.
All or part of the system adopts a front-end manual workpiece supply mode, and a plurality of field operators need to be configured. Sorting equipment is usually operated at higher speeds and cannot be shut down, with correspondingly higher requirements on the skill of the manual workpiece feeding operator, resulting in greater field labor intensity. If the processing speed of the fed goods is reduced during the sorting process, the queuing phenomenon that a large number of goods wait for entering information scanning occurs in the subsequent process directly, and the caused backlog of the large number of goods causes great pressure on the scanning and sorting links. If a certain number of unidentifiable abnormal part cargos are mistakenly fed into the feeding and scanning processes, the processing efficiency of the whole sorting operation flow is directly reduced, and the equipment operation time is prolonged.
In view of this, the present patent application is specifically proposed.
Disclosure of Invention
The invention provides a mixed piece grabbing and loading sorting solution based on visual flow and package division recognition, which aims to solve the problems in the prior art, so that manual intervention and piece-by-piece loading modes are cancelled, flow pressure of conveying line information scanning and loading operation is effectively coordinated and solved, recognition and loading speed and accuracy are improved, the number of operators and operation load are effectively reduced, and the overall operation and sorting efficiency of a conveying line is improved.
In order to achieve the above design purpose, the automatic loading and sorting control method of the present application includes the following steps:
1) and the goods are unpacked,
unpacking goods on a first conveying line, and sending the unpacked goods downwards into a first flow conveyor through an unpacking chute;
2) and the flow control is carried out according to the flow rate,
the parcels enter a first flow control conveyor in batches, and flow detection is carried out through a first binocular 3D camera until the number of the parcels reaches the maximum value set by the first flow control conveyor;
the batch of packages are sent to the transverse belt conveyor through the chute;
3) and then the image is divided and identified,
detecting and controlling the flow on a second flow conveyor through a second binocular 3D camera until the number of the packages reaches the maximum value set by the second flow conveyor;
the packages are conveyed to a special-shaped piece removing conveyor through a second flow conveyor;
on the special-shaped piece removing conveyor, the appearance size data of each piece of package, the included angle between the position and the conveying line, and the top area and the inclination angle of the uppermost layer of package are separately identified through a third binocular 3D camera;
uploading the identification data and the calculation result to a control system PLC;
4) and an upper part, wherein the upper part is provided with a first groove,
the manipulator grabbing unit adjusts the initial positioning height of the sucking disc and plans a travelling path according to the instruction of the control system PLC by combining the position coordinate of the standard part package, the included angle between the standard part package and the conveying line and the area of the top of the uppermost layer package, and executes grabbing action to convey the package from the special-shaped part removing conveyor to the sorting machine leading-in unit;
5) the special-shaped piece and the non-grabbing piece are removed,
for non-standard part packages, the mechanical hand grabbing unit does not perform grabbing action, and the special-shaped part removing conveyor conveys forwards and downwards to convey the special-shaped parts into the non-standard part conveyor;
6) and then the sorting is carried out,
the packages enter a sorting loop line through a sorting machine guide-in unit until a sorting task is completed;
the bar code of the package is positioned at the bottom, and information scanning code input is carried out through a bottom surface scanning unit at the front end of the sorting machine guide-in unit.
Further, in the above step 3), the drawing of the two-dimensional interface is performed by the third binocular 3D camera to perform segmentation recognition, and the overlapped part is decomposed to generate the external dimension, the position coordinate information and the top area size data of each parcel.
Further, in step 2) and step 3), the flow detection is to detect whether a certain time conveying area is in a blank and non-package state through the first binocular 3D camera and the second binocular 3D camera.
Further, in step 4), the sequence condition of grabbing the parcel by the manipulator grabbing unit comprises: under the same conditions, the high priority is given; the same height, the larger area of the top is preferred; the same height, the same area and the closer distance are preferred.
Further, in the step 4), based on the segmentation recognition result of the third binocular 3D camera and the distribution of the coordinate system of the transverse belt conveyor, the information of the wrapping space position of the standard piece is known, and a travel path for executing grabbing is planned according to the information; and the manipulator grabbing unit determines the running track and the pressing height during grabbing according to the package coordinate and the height information identified by the third binocular 3D camera.
In summary, the automatic loading sorting control method has the advantages and beneficial effects that:
1. realizes a non-manual workpiece loading operation, full-process automatic identification and sorting solution, and can meet the requirements of high-speed logistics sorting operation
2. The manual work loading link in the prior art is eliminated, so that the labor investment can be greatly reduced, the labor cost and the labor load can be reduced, and the requirement on the professional skills of the personnel is also reduced.
3. According to the method, a single-piece separation processing device and a single-piece separation processing technology are not adopted any more, a large number of mixed pieces of stacked packages can be grabbed and flow control can be achieved, and the overall sorting efficiency, accuracy and piece loading processing capacity of equipment can be improved.
4. This application is adopted the parcel to cut apart recognition technology, is favorable to improving the automation and the intelligent level of letter sorting equipment.
5. According to the method and the device, the static 3D binocular camera is adopted to collect the point cloud data of the parcel position in real time, and the accuracy and the reaction speed of grabbing the parcel by the subsequent manipulator are effectively improved.
6. This application is based on cutting apart the identification data, can realize that the manipulator is kept away the barrier automatically when snatching and snatchs to the mixed piece of various state parcels that pile up, and the snatching process is quick accurate.
7. This application is taken the manipulator to push down the suction type and is snatched the parcel, can select the pressure size according to parcel identification data in a flexible way, takes protective measure to the parcel simultaneously, can not destroy the article in the parcel.
Drawings
The present application is now further described with reference to the following drawings;
FIG. 1 is a schematic view of an automatic pick-up control method according to the present application;
FIG. 2 is a schematic side cross-sectional view of the automatic pick-up control system;
FIG. 3 is a schematic diagram of the automatic pick-up control system;
FIG. 4 is a partial schematic view of the structure shown in FIG. 3;
FIG. 5 is a schematic diagram of camera photographing and parcel identification results;
FIG. 6 is a schematic flow control diagram on a first flow conveyor;
FIG. 7 is a schematic view of flow and segmentation recognition on a traverser conveyor;
FIG. 8 is a schematic view of a grasping area coordinate system;
FIG. 9 is a schematic diagram of a grasp range and a path plan;
in the above drawings, a first conveyor line 1, an unpacking chute 2, a first flow conveyor 3, a chute 4, a transverse moving belt conveyor 5, a non-standard part conveyor 6, a manipulator grabbing unit 7, a bottom surface scanning unit 8, a sorting machine introducing unit 9, a manual position 10, a sorting loop 11, a second flow conveyor 12, a special-shaped part removing conveyor 13, a first binocular 3D camera 14, a second binocular 3D camera 15, a third binocular 3D camera 16, a flow control indicator lamp 17 and a scanner 18.
Detailed Description
Embodiment 1, as shown in fig. 1 to 9, an automatic loading and sorting control system includes a first conveyor 1 for unpacking and delivering parcels, an unpacking chute 2 connected to the first conveyor 1 and delivering the unpacked parcels downward into a first flow conveyor 3;
the first flow conveyor 3 is a planar belt conveyor, which can store and convey goods; a first binocular 3D camera 14 is arranged vertically above the first flow conveyor 3 for detecting whether the number of parcels on the first flow conveyor 3 reaches a set value;
a flow control indicator lamp 17 is installed at the end part of the first flow conveyor 3, when the number of packages reaches the upper limit, a first double-eye 3D camera feeds a detection signal back to a control system PLC, the flow control indicator lamp 17 is electrified and lightened, and the manual/automatic unpacking station of the first conveyor 1 above is prompted to stop throwing the packages in through the unpacking chute 2;
the first flow conveyor 3 is communicated with the transverse belt conveyor 5 downwards through the chute 4, and the transverse belt conveyor 5 is communicated with the sorting machine guide-in unit 9; a manipulator grabbing unit 7 and a bottom surface scanning unit 8 are arranged between the transverse belt conveyor 5 and the sorting machine guide-in unit 9;
be provided with non-standard piece transfer chain 6 in the perpendicular below of sideslip belt feeder 5, be provided with people's station 10 and non-standard piece spout at non-standard piece transfer chain 6 end to adopt the manual mode to sweep sign indicating number discernment to non-standard piece parcel.
Further, the transverse moving belt conveyor 5 is composed of a second flow conveyor 12 and a special-shaped part removing conveyor 13 which are sequentially communicated, a second binocular 3D camera 15 is arranged above the second flow conveyor 12 in the vertical direction, and a third binocular 3D camera 16 is arranged above the special-shaped part removing conveyor 13 in the vertical direction.
The parcel gets into sideslip belt feeder 5 through spout 4, realizes cutting apart discernment and manipulator gripping upper part to the parcel on sideslip belt feeder 5.
Wherein, on the second flow conveyor 12, a second binocular 3D camera 15 is used for flow detection and control; on the special-shaped part removing conveyor 13, a third binocular 3D camera 16 is adopted to identify and judge whether the package belongs to a non-standard part, if the package belongs to the non-standard part, the manipulator grabbing unit 7 does not execute grabbing action, and when the special-shaped part removing conveyor 13 conveys forwards, the non-standard part package flows downwards into the non-standard part conveyor 6, the non-standard part conveyor 6 is a continuous conveying device, the middle part of the non-standard part conveyor is provided with a climbing section, the tail end of the non-standard part conveyor is provided with a sliding groove, and the non-standard part which is not grabbed is manually fed and repositioned at the manual position 10; if the parcel belongs to the standard part and the shape data identification is completed, the manipulator grabbing unit 7 grabs and sends the parcel into the sorting machine introducing unit 9.
When the second binocular 3D camera 15 and the third binocular 3D camera 16 perform flow detection and parcel appearance recognition, parcel barcode scanning is performed accordingly. If the bar codes of the packages are not scanned successfully, the bar codes of the packages are located at the bottoms of the bar codes, and the bar codes are scanned through the bottom scanning unit 8 in the process that the packages are grabbed and sent into the sorting machine leading-in unit 9 by the manipulator grabbing unit 7. After the parcel is identified and information is recorded by scanning, the parcel is sent into the sorting machine leading-in unit 9 by the manipulator grabbing unit 7 and is transferred to the sorting loop line 11, so that the whole flow of leading-in and loading of the parcel is completed.
The third binocular 3D camera 16 performs segmentation and identification on the packages, and independent identification of each package, and acquisition of position coordinate information and overall dimension data of each package can be achieved no matter whether the packages are in a single-piece separation, stacking or stacking state. And then, the information and the data are calculated by the control system PLC and then transmitted to the manipulator grabbing unit 7, the manipulator grabbing unit 7 selectively grabs the standard part package, and a travelling path and a pressing height are planned in advance by combining the overall dimension of the goods, so that effective obstacle avoidance operation is implemented.
The manipulator snatchs unit 7, its terminal is installed the sucking disc and implements the action of snatching in order to absorb the top of parcel, can adjust the pressure parameter that the sucking disc pushed down according to the area size at goods top in order to improve and snatch the dynamics. The initial station of the manipulator gripping unit 7 is located outside the profile-part rejection conveyor 13 and the initial positioning height of the suction cups is adjusted to be significantly higher than the height of all standard part packages, including the measured height of the uppermost package in a stack or pile.
Based on the application of the automatic workpiece feeding and sorting control system, the application provides an automatic workpiece feeding and sorting control method comprising the following steps:
1) and the goods are unpacked,
unpacking goods on a first conveying line 1, and sending the unpacked goods downwards into a first flow conveyor 3 through an unpacking chute 2;
2) and the flow control is carried out according to the flow rate,
the parcels enter the first flow control conveyor 3 in batches, and flow detection is carried out through the first binocular 3D camera 14 until the number of the parcels reaches the maximum value set by the first flow control conveyor 3;
the batch of packages are sent to a transverse belt conveyor 5 through a chute 4;
3) and then the image is divided and identified,
on the second flow conveyor 12, flow detection and control are carried out through a second binocular 3D camera 15 until the number of packages reaches the maximum value set by the second flow conveyor 12;
the packages are conveyed to a profile part removing conveyor 13 through a second flow conveyor 12;
on the special-shaped piece removing conveyor 13, the appearance size data of each piece of package, the included angle between the position and the conveying line, and the top area and the inclination angle of the uppermost layer package are separately identified through a third binocular 3D camera 16;
uploading the identification data and the calculation result to a control system PLC;
4) and an upper part, wherein the upper part is provided with a first groove,
the manipulator grabbing unit 7 adjusts the initial positioning height of the sucking disc and plans a traveling path according to the instruction of the control system PLC by combining the position coordinate of the standard part package, the included angle between the standard part package and the conveying line and the area of the top of the uppermost layer package, and executes grabbing action to convey the package from the special-shaped part removing conveyor 13 to the sorting machine guiding unit 9;
5) the special-shaped piece and the non-grabbing piece are removed,
for the non-standard part package, the mechanical arm grabbing unit 7 does not perform grabbing action, and the special-shaped part removing conveyor 13 conveys the special-shaped part forward and conveys the special-shaped part downward into the non-standard part conveyor 6;
6) and then the sorting is carried out,
the packages enter a sorting loop line 11 through a sorting machine guide-in unit 9 until a sorting task is completed;
the bar code of the package is positioned at the bottom, and information scanning code input is carried out through a bottom surface scanning unit 8 at the front end of a sorting machine guide-in unit 9.
Further, in the above step 3), the present application is different from the prior art in that all the goods are processed into a queue form of a single package flat state without separating the single piece.
For a single tile, multiple regular or irregular stacking case, a two-dimensional interface is rendered by the third binocular 3D camera 16 for segmentation recognition, and the overlapped portions are decomposed to generate the overall dimensions (including length, width and height), position coordinate information and top area size data of each parcel for use in performing subsequent mix grabbing actions.
A diffuse reflection sensor is arranged on the third binocular 3D camera 16, and the diffuse reflection sensor effectively recognizes the distance from each parcel to calculate the height of each parcel, and finally divides the data of the parcels in a stacked or single state and transmits the data to the control system PLC to send an instruction to perform a grabbing action.
In the process that the third binocular 3D camera 16 conducts segmentation identification on each piece of package, the second flow conveyor 12 and the special-shaped piece removing conveyor 13 stop conveying until the manipulator grabbing unit 7 completely executes grabbing actions of standard piece packages;
as shown in fig. 5, the upper left drawing shows that the bulk packages enter the profile removing conveyor 13 in a mixed form and the phenomena of single-piece tiling and stacking exist;
the left lower graph is the result of camera photographing, the boundary information of each parcel and the coordinate data of each endpoint on the boundary are identified, and meanwhile, the information that the stacking phenomenon exists among the parcels is identified;
the right image is a segmentation recognition result of the third binocular 3D camera 16, and for the phenomenon of package stacking or tilting, the time of the diffuse reflection sensor signal reaching each end point on the package boundary is calculated to recognize the coordinate data of each end point of the package length and width; the method comprises the steps of detecting the distance between each end point on the top of each parcel and a camera, and calculating the actual height of each parcel. Meanwhile, the third binocular 3D camera 16 adjusts the photographing angle to obtain the calculation result of the height of the inclined surface of the inclined parcel, i.e., the inclination angle of the top of the parcel.
Specifically, the 3D camera has a volume measurement function, namely, laser is emitted in a visual field range, the laser can be reflected back to the 3D camera after encountering an object, the transmission speed of the laser is constant, the time for each emitted light to be reflected back to the camera through the object can be used for calculating the distance between a reflection point and the camera, the real-time length, the width and the height of a package relative to a conveying line plane can be obtained, the space coordinates of each end point on each surface boundary of the package are finally generated, meanwhile, segmentation data among stacked packages can be generated, basic data of the shape size and height information are generated for each package, and direct reference is provided for the subsequent grabbing path and the pressing height of a sucker. The manipulator grabbing unit 7 searches the highest interference point on the advancing path, so that the manipulator can conveniently avoid the obstacle during grabbing.
And further, obtaining the length, width and height of each piece of package and the included angle data between the package and the conveying line so as to calculate the final three-dimensional data of the package. The effective data information is fed back to the control system PLC to further control the grabbing action of the manipulator grabbing unit 7.
In step 2) and step 3), the flow rate is detected whether a certain time conveying area is in a blank and non-wrapping state through the first binocular 3D camera 14 and the second binocular 3D camera 15.
As shown in fig. 6, the first flow conveyor 3 has a parcel storage area L × W, and the first duplex 3D camera 14 photographs and identifies the number and distribution of parcels thereon. The package should be in a continuous state as it is conveyed in the forward direction. When the area L1W is detected to be in a blank state at a certain time, which indicates that the package is in short supply, the first double-purpose 3D camera 14 feeds back the identification result to the control system PLC, so as to send a command to the first conveying line 1 to continue to request the unpacking area to supplement package conveying, and the value L1 is the set detected value of the unpacking area.
As shown in fig. 7, the area of the package storage area of the cross conveyor 5 is L2 × W2, the area of the storage area of the second flow conveyor 12 is L3 × W2, and the area of the recognition buffer and the manipulator grasping area of the profile reject conveyor 13 is L4 × W2.
The packages fed by the first flow conveyor 3 arrive at the region L3W 2, and the second binocular 3D camera 15 above the region L3W 2 collects the flow information of the packages in real time, and the detection method is the same as that of the first binocular 3D camera 14. When the area L5W 2 is detected to be blank at a certain time, the situation that the package is in shortage is indicated, and the detection result is further fed back to the control system PLC to indicate that the first flow conveyor 3 continues to convey the package to the area L5W 2;
l2 is the overall length of the line of the transverse belt conveyor 5, L3 is the overall length of the second flow conveyor 12, L4 is the overall length of the special-shaped part removing conveyor 13, L5 is a set value of a pack supplementing area, and W2 is the effective width of the conveying area.
As shown in fig. 8 and 9, in step 4), the sequence conditions for the robot grasping unit 7 to grasp the package include:
at the same time, a plurality of parcels exist in the visual field range, are divided and identified, and correspondingly obtain position information at the same time, the grabbing sequence of different parcels is found out according to a grabbing and screening algorithm, specifically, all parcels are sorted according to spatial positions, and the judgment conditions are respectively as follows:
under the same condition, the priority is high, namely all the parcel information is compared, a higher parcel is found, the grabbing priority is the highest, and therefore the collision interference possibility is the minimum when the parcels are grabbed;
the larger area of the top part has the priority of the same height, namely the package with the larger area of the top part has the highest possibility of being packed on the top, so that the situation that a plurality of packages are grabbed at one time can be avoided;
the same height, the same area and the preference of close distance are given to achieve the maximum efficiency and simultaneously avoid the interference of grabbing paths.
In the step 4), based on the segmentation recognition result of the third binocular 3D camera 16 and the coordinate system distribution of the cross belt conveyor 5, the information of the wrapping space position of the standard part is known, and accordingly, a travel path for performing grabbing is planned.
Specifically, based on the third binocular 3D camera 16 positioning position, coordinates and a detection boundary are set on the special-shaped piece rejection conveyor 13. Selecting zero coordinates, selecting positive directions of an X axis and a Y axis, and then measuring data of a coordinate origin O of the special-shaped piece removing conveyor 13 from the edges X1, X2, Y1 and Y2 of the conveying line.
When the third binocular 3D camera 16 measures the actual length, width, and height data of the parcel, the physical boundary of the parcel is correspondingly generated and its external dimensions and coordinate information are obtained.
As shown in fig. 9, O1 is a central point of a fixed position of the robot gripper unit 7, O2 is an initial zero point position of a suction cup performing a gripping action, and assuming that O1 coordinates are (xo1, yo1) and O2 coordinates are (xo2, yo2, zo2), distances a1 and b1 of an O1 point from a selected coordinate origin O of the third binocular 3D camera 16 in positive directions of the X axis and the Y axis are measured, and coordinates of the corresponding O point are (a1, b 1); similarly, the distance (a2 and b2) between the coordinate O2 at the zero point position of the manipulator suction cup and the O1 in the positive directions along the X axis and the Y axis can be measured, and the height z2 of the O2 point from the plane of the conveying line is measured, so that the actual coordinate of the O2 point can be determined as (a1+ a2, b1+ b2 and z2), and at this time, the coordinate position of the O2 point is the initial position of the manipulator suction cup for grabbing the package.
Then, the manipulator grasping unit 7 determines the trajectory of the movement and the height of the pressing-down at the time of grasping according to the package coordinates and the height information recognized by the third binocular 3D camera 16.
In summary, the embodiments shown in the drawings are only preferred embodiments for achieving the objects of the present invention. Those skilled in the art can now appreciate that many other alternative constructions will be apparent which are consistent with the design of this invention. Other structural features thus obtained are also intended to fall within the scope of the solution according to the invention.
Claims (5)
1. An automatic workpiece feeding sorting control method is characterized in that: comprises the following steps of (a) carrying out,
1) and the goods are unpacked,
unpacking goods on a first conveying line, and sending the unpacked goods downwards into a first flow conveyor through an unpacking chute;
2) and the flow control is carried out according to the flow rate,
the parcels enter a first flow control conveyor in batches, and flow detection is carried out through a first binocular 3D camera until the number of the parcels reaches the maximum value set by the first flow control conveyor;
the batch of packages are sent to the transverse belt conveyor through the chute;
3) and then the image is divided and identified,
detecting and controlling the flow on a second flow conveyor through a second binocular 3D camera until the number of the packages reaches the maximum value set by the second flow conveyor;
the packages are conveyed to a special-shaped piece removing conveyor through a second flow conveyor;
on the special-shaped piece removing conveyor, the appearance size data of each piece of package, the included angle between the position and the conveying line, and the top area and the inclination angle of the uppermost layer of package are separately identified through a third binocular 3D camera;
uploading the identification data and the calculation result to a control system PLC;
4) and an upper part, wherein the upper part is provided with a first groove,
the manipulator grabbing unit adjusts the initial positioning height of the sucking disc and plans a travelling path according to the instruction of the control system PLC by combining the position coordinate of the standard part package, the included angle between the standard part package and the conveying line and the area of the top of the uppermost layer package, and executes grabbing action to convey the package from the special-shaped part removing conveyor to the sorting machine leading-in unit;
5) the special-shaped piece and the non-grabbing piece are removed,
for non-standard part packages, the mechanical hand grabbing unit does not perform grabbing action, and the special-shaped part removing conveyor conveys forwards and downwards to convey the special-shaped parts into the non-standard part conveyor;
6) and then the sorting is carried out,
the packages enter a sorting loop line through a sorting machine guide-in unit until a sorting task is completed;
the bar code of the package is positioned at the bottom, and information scanning code input is carried out through a bottom surface scanning unit at the front end of the sorting machine guide-in unit.
2. The automatic pick-up control method of claim 1, further comprising: in the step 3), a third binocular 3D camera is used for drawing a two-dimensional interface for segmentation and identification, and the overlapped part is decomposed to generate the external dimension, the position coordinate information and the top area size data of each parcel.
3. The automatic pick-up control method according to claim 1 or 2, characterized in that: in the step 2) and the step 3), the flow detection is to detect whether a certain time conveying area is in a blank and non-wrapping state through the first binocular 3D camera and the second binocular 3D camera.
4. The automatic pick-up control method of claim 3, wherein: in step 4), the sequence condition of grabbing the package by the manipulator grabbing unit comprises the following steps: under the same conditions, the high priority is given; the same height, the larger area of the top is preferred; the same height, the same area and the closer distance are preferred.
5. The automatic pick-up control method of claim 4, wherein: in the step 4), based on the segmentation recognition result of the third binocular 3D camera and the coordinate system distribution of the transverse belt conveyor, the information of the wrapping space position of the standard part is known, and a travel path for executing grabbing is planned according to the information;
and the manipulator grabbing unit determines the running track and the pressing height during grabbing according to the package coordinate and the height information identified by the third binocular 3D camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111625188.5A CN114377969A (en) | 2021-12-28 | 2021-12-28 | Automatic workpiece feeding sorting control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111625188.5A CN114377969A (en) | 2021-12-28 | 2021-12-28 | Automatic workpiece feeding sorting control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114377969A true CN114377969A (en) | 2022-04-22 |
Family
ID=81197681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111625188.5A Pending CN114377969A (en) | 2021-12-28 | 2021-12-28 | Automatic workpiece feeding sorting control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114377969A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335611A (en) * | 2018-10-16 | 2019-02-15 | 无锡弘宜智能科技有限公司 | Mixing package automatic arranging device |
| CN111282827A (en) * | 2020-02-28 | 2020-06-16 | 科捷智能装备有限公司 | Automatic workpiece feeding and quick sorting control method |
| CN112642734A (en) * | 2020-12-18 | 2021-04-13 | 科捷智能科技股份有限公司 | Full-automatic package guiding and loading control method |
| CN112791967A (en) * | 2020-12-18 | 2021-05-14 | 科捷智能科技股份有限公司 | Abnormal part detection and flow regulation sorting method |
| US20210308722A1 (en) * | 2020-04-03 | 2021-10-07 | Material Handling Systems, Inc. | System and method for transferring parcels from a first conveyor to a second conveyor |
-
2021
- 2021-12-28 CN CN202111625188.5A patent/CN114377969A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335611A (en) * | 2018-10-16 | 2019-02-15 | 无锡弘宜智能科技有限公司 | Mixing package automatic arranging device |
| CN111282827A (en) * | 2020-02-28 | 2020-06-16 | 科捷智能装备有限公司 | Automatic workpiece feeding and quick sorting control method |
| US20210308722A1 (en) * | 2020-04-03 | 2021-10-07 | Material Handling Systems, Inc. | System and method for transferring parcels from a first conveyor to a second conveyor |
| CN112642734A (en) * | 2020-12-18 | 2021-04-13 | 科捷智能科技股份有限公司 | Full-automatic package guiding and loading control method |
| CN112791967A (en) * | 2020-12-18 | 2021-05-14 | 科捷智能科技股份有限公司 | Abnormal part detection and flow regulation sorting method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102048330B1 (en) | A device for feeding items to a sorting machine and sorting machine | |
| CN109158320B (en) | Logistics sorting system and logistics sorting method | |
| US11433429B2 (en) | Logistics sorting system and logistics sorting method | |
| JP7018071B2 (en) | Goods classification and sorting system | |
| CN112642734B (en) | Full-automatic package guiding and loading control method | |
| CN109926342B (en) | Express efficient sorting system and sorting method thereof | |
| JP2020529303A5 (en) | ||
| CN112791962B (en) | Method for separating side-by-side parcels | |
| CN109454003B (en) | Goods sorting method, device and computer readable storage medium | |
| JP2010519013A (en) | Method and system for processing items | |
| CA3126138C (en) | Systems and methods for separating objects using vacuum diverts with one or more object processing systems | |
| CN110104359A (en) | A kind of warehouse goods sorting method, system and equipment | |
| CN111282827B (en) | Automatic workpiece feeding and quick sorting control method | |
| CN112691925A (en) | Automatic on-line sorting method for material stacks | |
| US20230303342A1 (en) | Robotic induction of heavy objects by pushing | |
| CN214298135U (en) | Full-automatic package guiding and feeding device | |
| CN208771894U (en) | A kind of sorting delivery system | |
| CN217141226U (en) | Automatic workpiece feeding sorting control system | |
| CN213612694U (en) | Intelligent sorting system | |
| CN114377969A (en) | Automatic workpiece feeding sorting control method | |
| CN112791973A (en) | Logistics sorting system | |
| CN112047136A (en) | Intelligent express package loading system and control method thereof | |
| EP1549577B1 (en) | Automated production system for object identification, selection and transport | |
| US20230321694A1 (en) | Detection of heavy objects using computer vision | |
| CN208771896U (en) | A kind of sorting delivery system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |