CN114955568A - Automatic stacking method, system and storage medium based on visual identification - Google Patents
Automatic stacking method, system and storage medium based on visual identification Download PDFInfo
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- 230000000007 visual effect Effects 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 34
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- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an automatic stacking method, an automatic stacking system and a storage medium based on visual identification, wherein the method comprises the following steps: presetting a stacking scheme according to tray information and material information in a terminal database, and storing the stacking scheme to the terminal database; scanning the materials to be stacked with the electronic tags by using a scanning device to obtain information of the materials to be stacked, and matching a corresponding stacking scheme; and controlling the carrying robot to stack and put the materials to be stacked according to the matched stacking scheme. According to the invention, through the preset stacking scheme, the information such as material information, material position state and stacking condition is determined by visual identification, so that the automatic, convenient and efficient stacking operation is realized, and the storage safety and storage management are facilitated.
Description
Technical Field
The invention belongs to the technical field of warehousing management, and particularly relates to an automatic stacking method and system based on visual identification and a storage medium.
Background
With the continuous development of economic science and technology and the enlargement of enterprise scale, the warehouse management system plays an increasingly important role. High-efficient convenient warehouse management system can provide strong back shield and strong support for production business operation, wherein automatic pile up neatly function is realized in the link of putting in storage to single carton and single cable to automatic unstacking buttress function wherein, accurate and orderly pile up neatly on the tray according to the buttress type that predetermines respectively with single carton and single cable through the manipulator, perhaps realize the automatic unstacking function in the link of leaving warehouse to single carton and single cable, according to the task of leaving warehouse that does not fully hold in the palm, tear open zero with the material of original whole support, accomplish and leave warehouse.
Because the specification and size of the cable are various, the cable with larger size is usually packaged and stored in a cable coil form, and the small-size cable coil and accessories thereof are usually packaged in a receiving way by a carton. Whether the cable coil or the carton is placed on the tray, and then the tray is conveyed to a designated position of the stereoscopic shelf by an RGV (red-green-blue) rail shuttle car and a stacker. The quantity of placing, position state, weight of cable coil, carton on the tray directly influence whether follow-up transport is safe, whether reliable, often need set up to the characteristic of different materials, if set up through the manual work, work efficiency is low.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide an automatic stacking method, a system and a storage medium based on visual identification.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention aims at providing an automatic stacking method based on visual identification, which comprises the following steps:
presetting a stacking scheme according to tray information and material information in a terminal database, and storing the stacking scheme to the terminal database;
scanning the materials to be stacked with the electronic tags by using a scanning device to obtain information of the materials to be stacked, and matching a corresponding stacking scheme;
and controlling the carrying robot to stack and put the materials to be stacked according to the matched stacking scheme.
As a preferred technical scheme, the tray information comprises a tray number, a tray size, a tray height and a tray bearing; the material information comprises material numbers, material types, material weights, material sizes, material shapes, production information and storage conditions;
the stacking scheme is characterized in that the stacking type, the type of materials to be stacked, the stacking quantity, the stacking sequence, the stacking maximum height and the stacking maximum weight are preset according to the tray information and the material information, and the stacking scheme is stored in a terminal database.
As a preferred technical scheme, the electronic tag comprises an NFC tag, a barcode and a two-dimensional code; the scanning device comprises an NFC card reader, a code scanning gun and a two-dimensional code reader.
As a preferred technical scheme, when the scanning device cannot identify the information of the materials to be stacked, the operation state and the network communication state of the scanning device are checked and/or database verification is carried out;
if the operation state of the scanning device is abnormal, sending an error report to the terminal, and overhauling or replacing the scanning device;
if the network communication state is abnormal, the scanning device gives an alarm to remind workers to investigate the network;
and if the information of the materials to be stacked is not matched after the database is verified, reminding an operator to update the database.
As a preferred technical scheme, the carrying robot is provided with a visual recognition device for collecting images of the tray and the materials; the visual recognition device comprises a CCD visual component and a 3D camera.
As a preferred technical scheme, the control carrying robot carries out stacking and warehousing operation on the materials to be stacked according to the matched stacking scheme, and the control carrying robot specifically comprises the following steps:
when the information of the materials to be stacked is matched with the stacking scheme, a stacking instruction is issued to the carrying robot;
the carrying robot adopts a visual recognition device to collect images of the materials to be stacked according to the matched stacking scheme, carries out positioning recognition on the materials to be stacked by using a visual algorithm, plans out a grabbing gesture and controls a grabbing component to grab the materials to be stacked;
the carrying robot plans and solves a motion path according to a preset tray position in the matched stacking scheme, and carries the grabbed materials to be stacked to the tray position;
the carrying robot stacks the grabbed materials to be stacked on the tray according to the stack shape preset in the matched stacking scheme;
and transferring the stacked trays to a three-dimensional shelf for warehousing, and storing the storage position to a terminal database.
As a preferred technical scheme, when the carrying robot adopts a visual recognition device to position and recognize materials to be stacked, if the types of the materials to be stacked exceed the types of the materials to be stacked preset in a matched stacking scheme, the number of the trays is judged, and if the number of the trays is greater than the types of the materials, stacking processing is respectively carried out; if the quantity of the material types exceeds the quantity of the trays, prompting error reporting is carried out, the material types needing stacking processing are selected, and the material receiving platform is used when other types of materials are grabbed to zero.
As preferred technical scheme, after transfer robot stack was accomplished, use the tray image of vision recognition device collection stack material, carry out the out-of-tolerance detection voluntarily, specifically do:
acquiring the width and height of a goods position of a pallet in a pallet image according to the collected pallet image of the stacked materials;
comparing the width and height of the goods position with preset parameters, and if the width and height of the goods position exceed the preset parameters, prompting that the current tray has out-of-range danger;
and during warehousing, weighing the stacked trays, transferring the stacked trays to a three-dimensional shelf if the total weight of the stacked trays is lower than a preset value, and otherwise, alarming to prompt overweight.
The second purpose of the invention is to provide an automatic stacking system based on visual identification, which is applied to the automatic stacking method based on visual identification and comprises a scheme presetting module, a scheme matching module and a material stacking module;
the scheme presetting module is used for presetting a stacking scheme according to the tray information and the material information in the terminal database and storing the stacking scheme to the terminal database;
the scheme matching module is used for scanning the materials to be stacked with the electronic tags by using the scanning device, acquiring information of the materials to be stacked and matching the corresponding stacking scheme;
and the material stacking module is used for controlling the carrying robot to stack and put in storage the materials to be stacked according to the matched stacking scheme.
A third object of the present invention is to provide a computer-readable storage medium storing a program, wherein the program is executed by a processor to implement the automatic stacking method based on visual recognition.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the automatic stacking method based on visual identification, which is provided by the invention, sets a stacking scheme in advance according to the specification of the tray and the material information, and stores all the stacking schemes in a database; acquiring material information of each material to be stacked, and matching a corresponding stacking scheme according to the material information; and then the materials to be stacked are grabbed and stacked on the pallet according to the matched stacking scheme by utilizing the carrying robot in combination with the visual positioning technology. The visual identification is utilized to determine information such as material information, material position states and stacking conditions, so that automatic, convenient and efficient stacking operation is realized, and storage safety and storage management are facilitated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of an automatic stacking method based on visual recognition according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a stacking scheme according to carton contents setting in an embodiment of the present invention;
FIG. 3 is a block diagram of an automated palletizing system based on visual identification in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all 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 application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
As shown in fig. 1, the present embodiment provides an automatic stacking method based on visual recognition, which includes the following steps:
s1, presetting a stacking scheme according to the tray information and the material information in the terminal database, and storing the stacking scheme in the terminal database;
specifically, the tray information at least comprises information such as a tray number, a tray size, a tray height, a tray bearing and the like; the material information at least comprises information such as material numbers, material types, material weights, material sizes, material shapes, production information, storage conditions and the like;
the stacking scheme presets stack type, types of materials to be stacked, stacking quantity, stacking sequence, maximum stacking height, maximum stacking weight and other information according to the tray information and the material information, and is stored in a terminal database.
When the materials are cartons, according to the material information of the cartons, the maximum height of goods stacking should not exceed 900mm in design and the height of the pallet is 170mm, and the height of the pallet goods should not exceed 1070mm based on the comprehensive consideration of the stability of the stacking type and the maximization of the space utilization.
S2, scanning the materials to be stacked with the electronic tags by using a scanning device, acquiring information of the materials to be stacked, and matching a corresponding stacking scheme;
specifically, the electronic tag can be an NFC tag, a bar code, a two-dimensional code, and the like, the corresponding scanning device is an NFC card reader, a code scanning gun, a two-dimensional code reader, and the like, and the material information is acquired through the scanning device.
When the scanning device cannot identify the information of the materials to be stacked, checking the running state and the network communication state of the scanning device and/or performing database verification;
if the operation state of the scanning device is abnormal, sending an error report to the terminal, and overhauling or replacing the scanning device;
if the network communication state is abnormal, the scanning device gives an alarm to remind workers to investigate the network;
and if the information of the materials to be stacked is not matched after the database is verified, reminding an operator to update the database.
And S3, controlling the carrying robot to stack and warehouse-in the materials to be stacked according to the matched stacking scheme.
Specifically, the carrying robot is provided with a visual recognition device for collecting tray and material images; the visual recognition device can be a CCD visual component, a 3D camera and the like.
When the information of the materials to be stacked is matched with the stacking scheme, a stacking instruction is issued to the carrying robot;
the carrying robot adopts a visual recognition device to collect images of the materials to be stacked according to the matched stacking scheme, carries out positioning recognition on the materials to be stacked by using a visual algorithm, plans out a grabbing gesture and controls a grabbing component to grab the materials to be stacked;
the carrying robot plans and solves a motion path according to a preset tray position in the matched stacking scheme, and carries the grabbed materials to be stacked to the tray position;
the carrying robot stacks the grabbed materials to be stacked on the tray according to the stack shape preset in the matched stacking scheme;
and transferring the stacked trays to a three-dimensional shelf for warehousing, and storing the storage position to a terminal database.
More specifically, when transfer robot carries out location discernment, if the material kind of treating the stack material surpassed in the stack scheme of matching predetermine treat the stack material kind, the suggestion is reported wrong and is selected the material kind that needs the stack to handle, and other kinds of materials snatch to zero hour and receive the material platform.
Under the common condition, materials to be stacked are of the same type, more than two types of materials are caused by worker error or messy materials, and when the carrying robot adopts a visual recognition device to position and recognize the materials to be stacked in a working space, a plurality of trays can be used for stacking respectively; but when material kind quantity exceeded tray quantity, when unable the stack, the suggestion was reported an error to the suggestion user selects the material kind that needs the stack, and the material of unable stack will snatch and place on the interim receipts material platform.
Specifically, after the transfer robot stack was accomplished, used the tray image of visual identification device collection stacked material, carried out the out-of-tolerance automatically and detected, avoided the material to surpass the tray border, appeared the risk that drops at transportation process, specifically was:
acquiring the width and height of a goods position of a pallet in a pallet image according to the collected pallet image of the stacked materials;
comparing the width and height of the goods position with preset parameters, and if the width and height of the goods position exceed the preset parameters, prompting that the current tray has out-of-range danger;
when the pallets are put in storage after stacking is finished, weighing the pallets after stacking is finished, if the total weight is lower than a preset value, transferring the pallets to a three-dimensional shelf, otherwise, alarming to prompt overweight, and if the preset weight is not more than 2000kg, normally putting the pallets in storage; when the weight of the stacked pallet exceeds 2000kg, alarming to prompt that the weight is out of limit; through the weighing judgment function, the material stored in each goods space on the three-dimensional goods shelf is ensured not to exceed 2000 kg.
It should be noted that for simplicity and clarity of description, the above-described method embodiments have been presented as a series of interrelated steps, but it should be appreciated by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the invention.
Based on the same idea as the automatic stacking method based on visual recognition in the above embodiment, the present invention further provides an automatic stacking system based on visual recognition, which can be used to execute the automatic stacking method based on visual recognition. For convenience of illustration, the schematic structural diagram of the embodiment of the automatic stacking system based on visual recognition only shows the parts related to the embodiment of the present invention, and those skilled in the art will understand that the illustrated structure does not constitute a limitation of the apparatus, and may include more or less components than those illustrated, or combine some components, or arrange different components.
As shown in fig. 3, another embodiment of the present invention provides an automatic stacking system based on visual identification, which includes a scheme presetting module, a scheme matching module and a material stacking module;
the scheme presetting module is used for presetting a stacking scheme according to tray information and material information in the terminal database and storing the stacking scheme to the terminal database;
the scheme matching module is used for scanning the materials to be stacked with the electronic tags by using the scanning device, acquiring information of the materials to be stacked and matching the corresponding stacking scheme;
and the material stacking module is used for controlling the carrying robot to stack and put in storage the materials to be stacked according to the matched stacking scheme.
It should be noted that, the automatic stacking system based on visual identification of the present invention and the automatic stacking method based on visual identification of the present invention are in one-to-one correspondence, and the technical features and the advantages thereof described in the above embodiment of the automatic stacking method based on visual identification are all applicable to the embodiment of the automatic stacking system based on visual identification, and specific contents may refer to the description in the embodiment of the method of the present invention, and are not described herein again, and thus it is stated that.
In addition, in the implementation of the automatic stacking system based on visual recognition in the above embodiment, the logical division of the program modules is only an example, and in practical applications, the above function distribution may be performed by different program modules according to needs, for example, due to configuration requirements of corresponding hardware or convenience of implementation of software, that is, the internal structure of the automatic stacking system based on visual recognition is divided into different program modules to perform all or part of the above described functions.
As shown in fig. 4, in an embodiment, a computer-readable storage medium is provided, which stores a program, and when the program is executed by a processor, the program implements the automatic stacking method based on visual recognition, specifically:
presetting a stacking scheme according to tray information and material information in a terminal database, and storing the stacking scheme to the terminal database;
scanning the materials to be stacked with the electronic tags by using a scanning device to obtain information of the materials to be stacked, and matching a corresponding stacking scheme;
and controlling the carrying robot to stack and store the materials to be stacked according to the matched stacking scheme.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a non-volatile computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The automatic stacking method based on visual identification is characterized by comprising the following steps:
presetting a stacking scheme according to tray information and material information in a terminal database, and storing the stacking scheme to the terminal database;
scanning the materials to be stacked with the electronic tags by using a scanning device to obtain information of the materials to be stacked, and matching a corresponding stacking scheme;
and controlling the carrying robot to stack and put the materials to be stacked according to the matched stacking scheme.
2. The automatic stacking method based on visual recognition of claim 1, wherein the tray information includes a tray number, a tray size, a tray height, and a tray weight; the material information comprises material numbers, material types, material weights, material sizes, material shapes, production information and storage conditions;
the stacking scheme is characterized in that the stacking type, the type of materials to be stacked, the stacking quantity, the stacking sequence, the stacking maximum height and the stacking maximum weight are preset according to the tray information and the material information, and the stacking scheme is stored in a terminal database.
3. The automatic stacking method based on visual identification of claim 1, wherein the electronic tag comprises an NFC tag, a bar code and a two-dimensional code; the scanning device comprises an NFC card reader, a code scanning gun and a two-dimensional code reader.
4. The automatic stacking method based on visual identification as claimed in claim 2, wherein when the scanning device cannot identify information of materials to be stacked, the operation state of the scanning device, the network communication state and/or the database verification are/is checked;
if the operation state of the scanning device is abnormal, sending an error report to the terminal, and overhauling or replacing the scanning device;
if the network communication state is abnormal, the scanning device gives an alarm to remind workers to investigate the network;
and if the information of the materials to be stacked is not matched after the database is verified, reminding an operator to update the database.
5. The automatic stacking method based on visual recognition as claimed in claim 2, wherein the transfer robot is provided with a visual recognition device for collecting images of trays and materials; the visual recognition device comprises a CCD visual component and a 3D camera.
6. The automatic stacking method based on visual identification as claimed in claim 5, wherein the control transfer robot performs stacking and warehousing operations on the materials to be stacked according to the matched stacking scheme, and specifically comprises:
when the information of the materials to be stacked is matched with the stacking scheme, a stacking instruction is issued to the carrying robot;
the carrying robot adopts a visual recognition device to collect images of the materials to be stacked according to the matched stacking scheme, carries out positioning recognition on the materials to be stacked by using a visual algorithm, plans out a grabbing gesture and controls a grabbing component to grab the materials to be stacked;
the carrying robot plans and solves a motion path according to a preset tray position in the matched stacking scheme, and carries the grabbed material to be stacked to the tray position;
the carrying robot stacks the grabbed materials to be stacked on the tray according to the stack shape preset in the matched stacking scheme;
and transferring the stacked trays to a three-dimensional shelf for warehousing, and storing the storage position to a terminal database.
7. The automatic stacking method based on the visual identification of claim 6, wherein when the carrying robot adopts the visual identification device to perform the positioning identification on the materials to be stacked, if the types of the materials to be stacked exceed the preset types of the materials to be stacked in the matched stacking scheme, the number of the trays is judged, and if the number of the trays is greater than the types of the materials, the stacking processing is performed respectively; if the quantity of the material types exceeds the quantity of the trays, prompting error reporting is carried out, the material types needing stacking processing are selected, and the material receiving platform is used when other types of materials are grabbed to zero.
8. The automatic stacking method based on visual identification of claim 6, wherein after the stacking of the carrying robot is completed, a visual identification device is used for collecting tray images of stacked materials, and the out-of-tolerance detection is automatically performed, specifically:
acquiring the width and height of a goods position of a pallet in a pallet image according to the collected pallet image of the stacked materials;
comparing the width and height of the goods position with preset parameters, and if the width and height of the goods position exceed the preset parameters, prompting that the current tray has out-of-range danger;
and during warehousing, weighing the stacked trays, transferring the stacked trays to a three-dimensional shelf if the total weight of the stacked trays is lower than a preset value, and otherwise, alarming to prompt overweight.
9. The automatic stacking system based on the visual identification is applied to the automatic stacking method based on the visual identification, which is characterized by comprising a scheme presetting module, a scheme matching module and a material stacking module, wherein the scheme presetting module is used for presetting a scheme matching module;
the scheme presetting module is used for presetting a stacking scheme according to the tray information and the material information in the terminal database and storing the stacking scheme to the terminal database;
the scheme matching module is used for scanning the materials to be stacked with the electronic tags by using the scanning device, acquiring information of the materials to be stacked and matching the corresponding stacking scheme;
and the material stacking module is used for controlling the carrying robot to stack and put in storage the materials to be stacked according to the matched stacking scheme.
10. A computer-readable storage medium storing a program, wherein the program, when executed by a processor, implements the automatic stacking method based on visual recognition according to any one of claims 1 to 8.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729877A (en) * | 2023-08-11 | 2023-09-12 | 安徽擎天智能科技有限公司 | Unstacking method, unstacking device, unstacking equipment and storage medium |
| CN117735201A (en) * | 2023-12-26 | 2024-03-22 | 杭州三奥智能科技有限公司 | Automatic feeding stacking mechanism of vision guiding robot |
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