CN114955568B - Automatic stacking method, system and storage medium based on visual recognition - Google Patents
Automatic stacking method, system and storage medium based on visual recognition Download PDFInfo
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- 230000000007 visual effect Effects 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000003860 storage Methods 0.000 title claims abstract description 19
- 238000012546 transfer Methods 0.000 claims description 20
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000012795 verification Methods 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
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Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- 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 into the terminal database; scanning materials to be stacked of the electronic tag by using a scanning device, acquiring information of the materials to be stacked, and matching a corresponding stacking scheme; according to the matched stacking scheme, controlling the carrying robot to stack and warehouse-in the materials to be stacked according to the matched stacking scheme. According to the invention, through presetting a stacking scheme, the information such as material information, material position state, stacking condition and the like is determined by utilizing visual recognition, so that automatic, convenient and efficient stacking operation is realized, and the warehouse safety and warehouse management are facilitated.
Description
Technical Field
The invention belongs to the technical field of warehouse management, and particularly relates to an automatic stacking method, an automatic stacking system and a storage medium based on visual identification.
Background
With the continuous development of economic technology, the scale of enterprises is enlarged, and warehouse management systems play an increasingly important role. The high-efficiency convenient warehouse management system can provide a strong rear shield and powerful support for production camping, wherein the automatic unstacking function mainly aims at realizing the automatic stacking function of a single carton and a single cable in a warehouse-in link, and the single carton and the single cable are respectively stacked on a tray according to a preset stack shape accurately and neatly by a manipulator, or the automatic unstacking function is realized in a warehouse-out link aiming at the single carton and the single cable, and according to a warehouse-out task which is not full, the original whole-tray materials are unstacked, so that the warehouse-out is completed.
Because of the variety of cable specifications and sizes, cables with larger sizes are packaged and stored in a cable coil mode, and small-size cable coils and accessories thereof are packaged by adopting cartons. Whether the cable coil or the carton is placed on the tray, and then the tray is transported to the appointed position of the three-dimensional goods shelf through the RGV rail shuttle car and the stacker. The quantity, position state, weight of placing of cable coil, carton on the tray have directly influenced whether follow-up transport is safe, reliable, often need set up to the characteristic of different substances, if set up through the manual work, work efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provides an automatic stacking method, an automatic stacking system and a storage medium based on visual identification.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first object of the present invention is to provide an automatic stacking method based on visual recognition, comprising the following steps:
presetting a stacking scheme according to tray information and material information in a terminal database, and storing the stacking scheme into the terminal database;
Scanning materials to be stacked of the electronic tag by using a scanning device, acquiring information of the materials to be stacked, and matching a corresponding stacking scheme;
According to the matched stacking scheme, controlling the carrying robot to stack and warehouse-in the materials to be stacked according to the matched stacking scheme.
As an optimal 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 according to tray information and material information, stacking type, stacking quantity, stacking sequence, maximum stacking height and maximum stacking weight of materials to be stacked are preset, and the stacking scheme is stored in a terminal database.
As a preferable technical scheme, 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.
As an optimal technical scheme, when the scanning device cannot identify the material information to be stacked, checking the running state of the scanning device, the network communication state and/or checking a database;
if the running state of the scanning device is abnormal, sending a fault report to the terminal, and overhauling or replacing the scanning device;
if the network communication state is abnormal, the scanning device alarms to remind a worker to check the network;
And if the material information to be stacked is not matched after the database verification is carried out, reminding an operator to update the database.
As an optimal technical scheme, the transfer robot is provided with a visual identification device for collecting images of the tray and the materials; the visual recognition device comprises a CCD visual component and a 3D camera.
As an preferable technical scheme, the control handling robot stacks and stores the materials to be stacked according to the matched stacking scheme, specifically:
After the material information to be stacked is matched with the stacking scheme, a stacking instruction is issued to the transfer robot;
the transfer robot collects images of the materials to be stacked by adopting a visual recognition device according to a matched stacking scheme, performs positioning recognition on the materials to be stacked by using a visual algorithm, plans out a grabbing gesture, and controls the grabbing component to grab the materials to be stacked;
the transfer robot plans and solves a motion path according to the preset tray position in the matched stacking scheme, and transfers 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 preset stack type in the matched stacking scheme;
and transferring the trays after stacking to a three-dimensional goods shelf for warehousing, and storing the storage positions into a terminal database.
As an optimized technical scheme, when the handling robot adopts a visual recognition device to perform positioning recognition on 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 trays is judged, and if the number of the trays is larger than the types of the materials, stacking treatment is performed respectively; if the number of the material types exceeds the number of the trays, prompting to report errors and selecting the material types needing stacking, and grabbing other kinds of materials to a zero-time material collection platform.
As the preferable technical scheme, after the stacking of the carrying robot is completed, a visual recognition device is used for collecting the tray images of stacked materials, and the out-of-tolerance detection is automatically carried out, specifically:
acquiring the goods space width and the goods space height of a tray in the tray image according to the acquired tray image of the stacked materials;
comparing the cargo space width and the cargo space height with preset parameters, and if the preset parameters are exceeded, prompting that the current tray has an out-of-limit danger;
and during warehouse entry, weighing the trays after stacking, transferring the trays to a three-dimensional goods shelf if the total weight is lower than a preset value, and otherwise, alarming to prompt overweight.
The second object 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 tray information and material information in the terminal database and storing the stacking scheme into the terminal database;
The scheme matching module is used for scanning materials to be stacked of the electronic tag by using the scanning device, acquiring information of the materials to be stacked and matching corresponding stacking schemes;
The material stacking module is used for controlling the transfer robot to stack and warehouse-in 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, when executed by a processor, implements the above-described automatic stacking method based on visual recognition.
Compared with the prior art, the invention has the following advantages and beneficial effects:
According to the automatic stacking method based on visual identification, stacking schemes are set in advance according to the specification of the tray and the material information, and all stacking schemes are stored 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 grabbing and stacking the materials to be stacked on the tray according to a matched stacking scheme by utilizing a transfer robot and combining a visual positioning technology. The visual recognition is utilized to determine the information such as material information, material position state, stacking condition and the like, so that automatic, convenient and efficient stacking operation is realized, and the warehouse safety and warehouse management are facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an automatic stacking method based on visual recognition in an embodiment of the invention;
fig. 2 is a schematic diagram of a stacking scheme according to the carton material setup in an embodiment of the invention;
FIG. 3 is a block diagram of an automated stacking system based on visual recognition in an embodiment of the present invention;
Fig. 4 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases 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. Those of skill in the art will explicitly and implicitly appreciate that the described embodiments of the application may 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 tray information and material information in a terminal database, and storing the stacking scheme into the terminal database;
Specifically, the tray information at least comprises information such as tray number, tray size, tray height, tray bearing and the like; the material information at least comprises material numbers, material types, material weights, material sizes, material shapes, production information, storage conditions and the like;
the stacking scheme is used for presetting information such as stacking type, material type to be stacked, stacking quantity, stacking sequence, maximum stacking height, maximum stacking weight and the like according to the tray information and the material information, and storing the stacking scheme in a terminal database.
When the material is a carton, as shown in fig. 2, according to the material information of the carton, the maximum height of the stacking of the cargoes should not exceed 900mm, and the height of the pallet is 170mm, based on the comprehensive consideration of the stability of the stacking and the maximization of space utilization, and the height of the cargoes should not exceed 1070mm.
S2, scanning materials to be stacked of the electronic tag 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 scanning device is used for acquiring material information.
When the scanning device cannot identify the material information to be stacked, checking the running state of the scanning device, the network communication state and/or checking a database;
if the running state of the scanning device is abnormal, sending a fault report to the terminal, and overhauling or replacing the scanning device;
if the network communication state is abnormal, the scanning device alarms to remind a worker to check the network;
And if the material information to be stacked is not matched after the database verification is carried out, reminding an operator to update the database.
S3, controlling the carrying robot to stack and warehouse-in the materials to be stacked according to the matched stacking scheme.
Specifically, the transfer robot is provided with a visual recognition device for collecting the images of the tray and the materials; the visual recognition device can be a CCD visual component, a 3D camera and the like.
After the material information to be stacked is matched with the stacking scheme, a stacking instruction is issued to the transfer robot;
the transfer robot collects images of the materials to be stacked by adopting a visual recognition device according to a matched stacking scheme, performs positioning recognition on the materials to be stacked by using a visual algorithm, plans out a grabbing gesture, and controls the grabbing component to grab the materials to be stacked;
the transfer robot plans and solves a motion path according to the preset tray position in the matched stacking scheme, and transfers 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 preset stack type in the matched stacking scheme;
and transferring the trays after stacking to a three-dimensional goods shelf for warehousing, and storing the storage positions into a terminal database.
More specifically, when the transfer robot carries out positioning identification, if the material types of the materials to be stacked exceed the preset material types to be stacked in the matched stacking scheme, the error is prompted and the material types needing stacking treatment are selected, and other kinds of materials are grabbed to a zero-time material collection platform.
In general, the materials to be stacked are of the same type, and more than two types of materials are caused by mistake of workers or disorder of the materials, and when the handling robot adopts the visual recognition device to position and recognize the materials to be stacked in the working space, the handling robot is provided with a plurality of trays to respectively perform stacking treatment; but when the material kind quantity exceeds the tray quantity, when can't carry out the stack, the suggestion is reported wrong to the suggestion user selects the material kind that needs the stack, and the material that can't the stack will snatch and place on the interim receipts material platform.
Specifically, after the handling robot stack is accomplished, use visual recognition device to gather the tray image of stacking the material, carry out the out-of-tolerance automatically and detect, avoid the material to surpass the tray boundary, appear dropping the risk at the transportation, specifically do:
acquiring the goods space width and the goods space height of a tray in the tray image according to the acquired tray image of the stacked materials;
comparing the cargo space width and the cargo space height with preset parameters, and if the preset parameters are exceeded, prompting that the current tray has an out-of-limit danger;
When the trays are put in storage after stacking is completed, weighing the trays after stacking is completed, transferring the trays to a three-dimensional goods shelf if the total weight is lower than a preset value, otherwise, alarming to prompt overweight, and normally putting in storage if the preset weight is not greater than 2000 kg; when the weight of the tray after stacking is over 2000kg, alarming to prompt that the weight is over-limit; through the function of weighing judgment, the materials stored in each goods space on the three-dimensional goods shelf are ensured not to exceed 2000kg.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention.
Based on the same ideas of the vision-based automatic stacking method in the above-described embodiments, the present invention also provides a vision-based automatic stacking system that can be used to perform the vision-based automatic stacking method described above. For ease of illustration, only those portions of the embodiment of the automated stacking system that are relevant to the present invention are shown in the schematic structural diagram of the embodiment of the automated stacking system based on visual recognition, and those skilled in the art will appreciate that the illustrated structure is not limiting of the apparatus and may include more or fewer components than illustrated, or may combine certain components, or a different arrangement of components.
As shown in fig. 3, another embodiment of the present invention provides an automatic stacking system based on visual recognition, 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 into the terminal database;
the scheme matching module is used for scanning materials to be stacked of the electronic tag by using the scanning device, acquiring information of the materials to be stacked and matching corresponding stacking schemes;
The material stacking module is used for controlling the carrying robot to stack and warehouse-in the materials to be stacked according to the matched stacking scheme.
It should be noted that, the automatic stacking system based on visual recognition and the automatic stacking method based on visual recognition according to the present invention are in one-to-one correspondence, and the technical features and the beneficial effects described in the embodiments of the automatic stacking method based on visual recognition are applicable to the embodiments of the automatic stacking system based on visual recognition, and specific content can be referred to the description in the embodiments of the method according to the present invention, which is not repeated here.
In addition, in the implementation of the vision-based automatic stacking system of the above embodiment, the logic division of each program module is merely illustrative, and in practical application, the above functional allocation may be performed by different program modules according to needs, for example, in view of configuration requirements of corresponding hardware or convenience of implementation of software, that is, the internal structure of the vision-based automatic stacking system is divided into different program modules to perform all or part of the functions described above.
As shown in fig. 4, in one embodiment, a computer readable storage medium is provided, and a program is stored in a memory, where the program is executed by a processor to implement the visual recognition-based automatic stacking method, specifically:
presetting a stacking scheme according to tray information and material information in a terminal database, and storing the stacking scheme into the terminal database;
Scanning materials to be stacked of the electronic tag by using a scanning device, acquiring information of the materials to be stacked, and matching a corresponding stacking scheme;
According to the matched stacking scheme, the carrying robot is controlled to stack and warehouse-in the materials to be stacked according to the matched stacking scheme.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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 (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (5)
1. An automatic stacking method based on visual recognition, which 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 into the terminal database;
The tray information comprises tray numbers, tray sizes, tray heights and 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 according to tray information and material information, stacking type, stacking quantity, stacking sequence, maximum stacking height and maximum stacking weight of materials to be stacked are preset, and the stacking scheme is stored in a terminal database;
Scanning materials to be stacked of the electronic tag by using a scanning device, acquiring information of the materials to be stacked, and matching a corresponding stacking scheme;
According to the matched stacking scheme, controlling a carrying robot to stack and warehouse-in the materials to be stacked according to the matched stacking scheme;
The transfer robot is provided with a visual identification device and is used for collecting images of the tray and the materials; the visual recognition device comprises a CCD visual component and a 3D camera;
The control transfer robot stacks and stores the materials to be stacked according to the matched stacking scheme, and specifically comprises the following steps:
After the material information to be stacked is matched with the stacking scheme, a stacking instruction is issued to the transfer robot;
the transfer robot collects images of the materials to be stacked by adopting a visual recognition device according to a matched stacking scheme, performs positioning recognition on the materials to be stacked by using a visual algorithm, plans out a grabbing gesture, and controls the grabbing component to grab the materials to be stacked;
the transfer robot plans and solves a motion path according to the preset tray position in the matched stacking scheme, and transfers 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 preset stack type in the matched stacking scheme;
transferring the trays after stacking to a three-dimensional goods shelf for warehousing, and storing the storage positions into a terminal database;
When the handling robot adopts a visual recognition device to perform positioning recognition on 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, judging the number of trays, and if the number of the trays is larger than the types of the materials, performing stacking treatment respectively; if the number of the material types exceeds the number of the trays, prompting error reporting and selecting the material types needing stacking, and grabbing other material types to a temporary material receiving platform;
after the stacking of the carrying robot is completed, a visual recognition device is used for collecting tray images of stacked materials, and the automatic out-of-tolerance detection is carried out, and specifically comprises the following steps:
acquiring the goods space width and the goods space height of a tray in the tray image according to the acquired tray image of the stacked materials;
comparing the cargo space width and the cargo space height with preset parameters, and if the preset parameters are exceeded, prompting that the current tray has an out-of-limit danger;
and during warehouse entry, weighing the trays after stacking, transferring the trays to a three-dimensional goods shelf if the total weight is lower than a preset value, and otherwise, alarming to prompt overweight.
2. The automatic stacking method based on visual identification according to 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.
3. The automatic stacking method based on visual recognition according to claim 1, wherein when the scanning device cannot recognize the material information to be stacked, checking the operation state of the scanning device, the network communication state and/or performing database verification;
if the running state of the scanning device is abnormal, sending a fault report to the terminal, and overhauling or replacing the scanning device;
if the network communication state is abnormal, the scanning device alarms to remind a worker to check the network;
And if the material information to be stacked is not matched after the database verification is carried out, reminding an operator to update the database.
4. The automatic stacking system based on visual recognition is characterized by being applied to the automatic stacking method based on visual recognition as claimed in any one of claims 1-3, and comprising 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 into the terminal database;
The scheme matching module is used for scanning materials to be stacked of the electronic tag by using the scanning device, acquiring information of the materials to be stacked and matching corresponding stacking schemes;
The material stacking module is used for controlling the transfer robot to stack and warehouse-in the materials to be stacked according to the matched stacking scheme.
5. A computer-readable storage medium storing a program, wherein the program, when executed by a processor, implements the vision-based automated stacking method of any one of claims 1-3.
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| CN116729877B (en) * | 2023-08-11 | 2023-11-07 | 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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