CN115646821A - Control method of sorting production line based on visual regulation - Google Patents
Control method of sorting production line based on visual regulation Download PDFInfo
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- CN115646821A CN115646821A CN202211258217.3A CN202211258217A CN115646821A CN 115646821 A CN115646821 A CN 115646821A CN 202211258217 A CN202211258217 A CN 202211258217A CN 115646821 A CN115646821 A CN 115646821A
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Abstract
The invention discloses a control method of a sorting production line based on visual control, which comprises the following steps: the method comprises the steps of obtaining material tray picture information and material box picture information, and feeding back the material tray picture information and the material box picture information to a control host; the control host machine marks the coordinate points of the moon cakes on the material tray based on the picture information of the material tray to obtain the coordinate point information of the moon cakes; the control host machine marks the material box based on the material box picture information to obtain material box mark information; the control host machine divides a plurality of sorting areas on the material tray according to the coordinate point information of the moon cakes and generates area sorting instructions by combining the marking information of the material boxes; the first type of sorting mechanical arm sorts a plurality of moon cakes on the material tray according to the region sorting instruction and the region; the control host generates a global sorting instruction according to the coordinate point information of the moon cakes; and the second type of sorting mechanical arm finishes sorting operation according to the global sorting instruction. Through set up a plurality of letter sorting manipulators on the assembly line, combine vision regulation and control to carry out region letter sorting and global letter sorting in proper order to the moon cake on the charging tray, improve letter sorting efficiency.
Description
Technical Field
The invention mainly relates to the technical field of automatic production, in particular to a control method of a sorting production line based on visual control.
Background
At present, an automatic production line is generally adopted for processing and production, when moon cakes are sorted and packaged, a plurality of mechanical arms are usually arranged on a moon cake conveying belt for recognizing and grabbing, moon cakes on a material plate are repeatedly recognized and grabbed through the mechanical arms, and therefore all moon cakes are grabbed and sorted. But every manipulator only relies on self sensor to carry out the discernment of moon cake and gets and sort, leads to the manipulator discernment to press from both sides the time length of getting the moon cake, influences the efficiency of production moon cake letter sorting packing.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a control method of a sorting production line based on visual control.
The invention provides a control method of a sorting production line based on visual control, wherein the sorting production line comprises a control host, a roller conveying mechanism, a jacking device positioned in the roller conveying mechanism, a sorting conveying belt, material box conveying belts arranged on the side edges of the sorting conveying belts in parallel, and a plurality of sorting manipulators arranged above the sorting conveying belts, wherein any sorting manipulator is provided with a sub-control module and a sensor, and the sorting manipulators comprise a first sorting manipulator and a second sorting manipulator;
the control method comprises the following steps:
the method comprises the steps that a material tray full of moon cakes is driven to a sorting conveyer belt, material tray picture information on the sorting conveyer belt is obtained, and the material tray picture information is fed back to a control host;
the control host machine marks the coordinate points of the moon cakes on the material tray based on the material tray picture information to obtain the coordinate point information of the moon cakes;
driving a material box to the material box conveying belt, acquiring material box picture information on the material box conveying belt and feeding back the information to the control host;
the control host machine marks the material box based on the material box picture information to obtain material box marking information;
the control host divides a plurality of sorting areas on the material tray according to the coordinate point information of the moon cakes, and generates an area sorting instruction by combining the marking information of the material box;
the first type of sorting mechanical arm sorts a plurality of month cakes on the material tray according to the region sorting instruction to obtain a region-sorted material tray;
the control host generates a global sorting instruction according to the moon cake coordinate point information;
and the second type of sorting manipulator sorts all moon cakes on the material tray subjected to region sorting according to the global sorting instruction.
Further, the material tray that the drive is full of moon cake gets to letter sorting conveyer belt, acquires material tray picture information on the letter sorting conveyer belt, and will material tray picture information feedback control host computer includes:
the material tray full of moon cakes is driven to enter the sorting conveyer belt through the roller transmission mechanism, the picture information of the material tray is recorded through the first camera, and the picture information of the material tray is fed back to the control host.
Further, the control host marks the material box based on the material box picture information, and obtaining material box marking information includes:
and the control host receives the picture information of the material box, marks the central position of the material box according to the picture information of the material box, and records the distance between any two adjacent marking points of the material box.
Further, the control host machine marks the coordinate points of the moon cakes on the material tray based on the material tray image information, and the obtaining of the moon cake coordinate point information comprises:
after receiving the picture information, the control host extracts the arrangement picture information of the moon cakes on the material disc in the material disc picture information through image processing;
and the control host establishes a coordinate system by using the material tray, and determines the coordinates of the moon cakes on the material tray according to the arrangement picture information to obtain the coordinate point information of the moon cakes.
Furthermore, the control host extracts the outline information of the material tray according to the material tray picture information, and performs distance measurement processing on the outline information of the material tray and the edge outline information of the sorting conveying belt to generate material tray position information.
Further, the control host divides a plurality of sorting areas on the tray according to the moon cake coordinate point information, and generating an area sorting instruction by combining the material box mark information comprises:
the control host divides the material tray into a plurality of sorting areas according to the coordinate point information of the moon cakes, and the sorting areas and the first sorting mechanical arms are distributed in a one-to-one correspondence mode according to the number of the first sorting mechanical arms.
Further, the control host calculates the sorting action track of the first type of manipulator in the corresponding sorting area according to the material box mark information, and generates the area sorting instruction.
Further, the first type of sorting mechanical arm sorts the month cakes on the material tray according to the region sorting instruction, and the sorting comprises the following steps:
the first sorting mechanical arm moves to the position above the moon cakes according to the region sorting instruction, the moon cakes are identified through a sensor, and the moon cakes are fed back to the sub-control module;
the sub-control module calculates according to the transmission rate of the sorting conveyer belt to obtain the grabbing point information of the moon cakes and generate grabbing instructions;
and the first type of mechanical arm finishes the grabbing operation of the moon cakes based on the grabbing instruction.
Further, the step of generating a global sorting instruction by the control host according to the moon cake coordinate point information includes:
the control host acquires the X-axis direction distance of each row of moon cakes according to the moon cake coordinate point information;
the conveying direction of the sorting conveying belt is the Y-axis direction, and the direction perpendicular to the side edge of the sorting conveying belt is the X-axis direction.
Further, the second type sorting manipulator completes the sorting operation of the moon cakes on the material tray according to the overall sorting instruction, and the second type sorting manipulator comprises the following steps:
and the second type of sorting mechanical arm sequentially moves to the coordinate position in the X-axis direction corresponding to the moon cakes on the material tray based on the overall sorting instruction, and identifies the moon cakes moving along the Y-axis direction through a sensor and carries out clamping and sorting operations.
The invention provides a control method of a sorting production line based on visual control, which is characterized in that a plurality of sorting mechanical arms are arranged on a conveying belt of the sorting production line, and moon cakes on a material tray are sequentially subjected to regional sorting and global sorting by the aid of the sorting mechanical arms in combination with image processing, so that sorting efficiency is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a sorting line according to an embodiment of the present invention;
FIG. 2 is a schematic structural connection diagram of a control system of a sorting production line in an embodiment of the invention;
FIG. 3 is a flow chart of a sorting line control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a coordinate calculation state of a moon cake in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a control method of a sorting production line based on visual control, please refer to fig. 1 and fig. 2, the sorting production line comprises a control host 1, a roller conveying mechanism, a jacking device positioned in the roller conveying mechanism, a sorting conveyer belt 7, a first material box conveyer belt and a second material box conveyer belt positioned at two sides of the sorting conveyer belt 7, and a plurality of sorting manipulators arranged above the sorting conveyer belt 7.
Specifically, one end of the first material box conveying belt is connected with a material box feeding mechanism, a plurality of material bins are arranged on the material box feeding mechanism, a plurality of material boxes are placed in any one of the material bins, and the material box feeding mechanism can complete the feeding operation of the plurality of material boxes simultaneously.
Furthermore, the plurality of material boxes are stacked on the first material box conveying belt, the conveying speed of the first material box conveying belt is greater than that of the sorting conveying belt 7, and therefore the sorting manipulators are convenient for correspondingly placing the moon cakes in the material boxes when clamping and carrying the moon cakes.
Further, the second magazine conveyor belt has the same structural features and functional functions as the first magazine conveyor belt, and the detailed description is omitted here.
Specifically, a plurality of the letter sorting manipulator includes two first type letter sorting manipulators 4 and a second type letter sorting manipulator 5, first type letter sorting manipulator 4 is located and is close to feed mechanism 6's position, the charging tray passes through feed mechanism 6 gets into when letter sorting conveyer belt 7, along with letter sorting conveyer belt 7 passes through in proper order first type letter sorting manipulator 4 with after the letter sorting operation of second type letter sorting manipulator 5, accomplish letter sorting work.
Further, the number of the first type sorting robot 4 and the number of the second type sorting robot 5 may be adjusted.
Furthermore, a plurality of letter sorting manipulator is provided with the sensor, the sensor can be visual sensor, also can be infrared sensor, can improve the accuracy of discerning moon cake and magazine through the sensor to improve letter sorting effect of letter sorting manipulator.
Furthermore, sub-control modules are arranged in the sorting mechanical arms and used for acquiring identification information of the sensors, the sub-control modules can predict the clamping point positions of the moon cakes according to the transmission rate of the sorting conveying belts 7 and combined with moon cake identification information of the vision sensors, clamping instructions are generated, and the sorting mechanical arms are controlled to clamp the moon cakes based on the clamping instructions.
Specifically, be provided with first camera 2 and two second cameras 3 on the letter sorting production line, first camera 2 sets up the head end position of letter sorting conveyer belt, two second camera 3 is located respectively the head end position of first magazine conveyer belt and second magazine conveyer belt the charging tray gets into during the letter sorting conveyer belt 7, first camera 2 is used for catching the picture information of charging tray, second camera 3 is used for catching the magazine picture information of first magazine conveyer belt and second magazine conveyer belt.
Specifically, when the charging tray transports when jacking device's position, jacking device will the charging tray jacking makes the charging tray breaks away from the roller conveyer belt, the charging tray can the last stay of jacking device waits.
Furthermore, the jacking device can be set up to rotate the piece, can adjust the position appearance of charging tray through rotating, makes things convenient for the letter sorting manipulator to sort the operation.
Specifically, work as first camera 2 catches the entering of previous charging tray when sorting conveyer belt 7, to 1 feedback of main control system, 1 generation material loading instruction of main control system sends the jacking device, the jacking device is based on the material loading instruction descends the charging tray makes the charging tray with the contact of roller transmission band, and the drive of roller transmission band is in down to sorting conveyer belt 7 removes.
Further, a transition conveying belt is arranged between the roller conveying belt and the sorting conveying belt 7, the speed of the roller conveying belt is v1, the speed of the transition conveying belt is v2, the speed of the sorting conveying belt 7 is v3, and the constraint relation among v1, v2 and v3 is v1> v2> v3.
Furthermore, it is right through setting up the transition transmission band the charging tray cushions the speed reduction, avoids bumping between the charging tray.
Specifically, be provided with recognition device 8 on the letter sorting conveyer belt 7, first camera 2 sets up in the recognition device 8, be provided with light subassembly in the recognition device 8, light subassembly's direction of illumination orientation letter sorting conveyer belt 7, for first camera 2 provides sufficient illumination condition, works as the charging tray process during recognition device 8, the record is shot to first camera 2 the picture information of charging tray.
Furthermore, the first camera 2 records the position information of the material tray on the conveyer belt and feeds the position information back to the control host 1, the width of the sorting conveyer belt is larger than that of the material tray, and the position states of different material trays on the conveyer belt may be different in the transportation process, so that the position state of the material tray on the conveyer belt is captured by the first camera 2, and the control host 1 can adjust the sorting operation of the sorting manipulator according to the position states of the material trays.
Specifically, referring to fig. 3, the sorting method of the sorting generation line includes:
s11: and (3) driving the material tray full of moon cakes to the sorting conveyer belt 7, acquiring picture information of the material tray on the sorting conveyer belt 7, and feeding the picture information back to the control host 1.
Specifically, feed mechanism 6 transports the charging tray that will fill moon cake through roller conveying mechanism jacking device top, jacking device will the charging tray jacking makes the charging tray breaks away from the roller conveyer belt, the charging tray can stop the wait on the jacking device, when main control system 1 assigned the material loading instruction, jacking device will the charging tray descends on the roller conveyer belt, and carry under the effect of roller conveyer belt letter sorting conveyer belt 7.
Further, the first camera 2 captures a material tray entering the sorting conveyer belt 7 and feeds the material tray back to the control host 1, and the control host 1 generates a feeding instruction and performs feeding operation on the next material tray through the feeding mechanism 6.
Further, the material trays are jacked to wait through a jacking device, so that the time for each material tray to enter the sorting conveying belt 7 is controlled, and the sorting manipulator can orderly complete the sorting operation of moon cakes on each material tray.
Further, the first camera 2 records the picture information of the material tray entering the sorting conveyer belt 7, and feeds the picture information back to the control host 1.
S12: and the control host marks the coordinate points of the moon cakes on the material tray based on the material tray image information to obtain the coordinate point information of the moon cakes.
Specifically, after receiving the tray image information, the control host 1 extracts the arrangement image information of mooncakes on the trays in the tray image information through image processing, including: after the control host 1 receives the material tray picture information, the control host 1 performs image processing on the material tray picture information, extracts the profile information of the material tray, the edge profile information of the sorting conveyer belt 7 and the profile information of moon cake arrangement in the material tray, and generates arrangement picture information of moon cakes based on the profile information of the moon cakes.
Further, the control host 1 may process the picture information by a binary image method, and repeatedly process the picture information to sequentially obtain the outer contour information of moon cake arrangement in the material tray, the contour information of the material tray, and the edge contour information of the sorting conveyor 7.
Further, the binary image method is to empty points inside the object contour, that is, to judge whether the gray value of a certain point and the gray value of 8 points in the field belong to the gray value of the target object, if yes, it is indicated that the point is an inside point, and the point is changed into background gray.
Further, the control host 1 may also perform edge detection through a Roberts operator, a Sobel operator, a Prewitt operator, and a Log operator (laplacian of gaussian), and extract the profile information of the material tray, the edge profile information of the sorting conveyor belt 7, and the outer profile information of the moon cake arrangement in the material tray.
Specifically, the control host 1 establishes a coordinate system by using the material tray, and determines the coordinates of the moon cakes on the material tray according to the arrangement picture information to obtain the coordinate point information of the moon cakes.
Furthermore, in the implementation, a coordinate system is constructed by taking the nearest angular position in the material tray from the first material box conveying belt as the origin of coordinates, taking the conveying direction of moon cakes as the Y-axis direction and taking the direction perpendicular to the side edge of the first material box conveying belt as the X-axis direction, and coordinate point marking is carried out on all the moon cakes on the material tray.
S13: and driving the material box to the material box conveying belt, acquiring material box picture information on the material box conveying belt and feeding back the information to the control host.
Specifically, in this embodiment, first magazine conveyer belt with the second magazine conveyer belt all is provided with the magazine material loading machine, a plurality of magazine material loading operations can be carried out simultaneously to the magazine material loading machine, with a plurality of magazines material loading on first magazine conveyer belt and the second magazine conveyer belt.
S14: and the control host machine marks the material box based on the material box picture information to obtain material box marking information.
Specifically, the control host receives the picture information of the material box, marks the central position of the material box according to the picture information of the material box, and records the distance between any two adjacent marking points of the material box.
Specifically, the magazine loader drives empty magazines to the first magazine conveyor, magazines on the first magazine conveyor sequentially pass through the second camera 3, and the second camera 3 captures magazine picture information on the first magazine conveyor and sends the magazine picture information to the control host.
Further, the control host machine carries out image processing on the picture information of the material box according to the picture information of the material box, extracts the central position of the material box and marks the central position of the material box to obtain marking information of the material box.
S15: and the control host divides a plurality of sorting areas on the material tray according to the coordinate point information of the moon cakes and generates an area sorting instruction by combining the marking information of the material box.
The control host 1 determines the relative position information of each sorting area on the sorting conveyer belt 7 according to the position information of the material tray; the first-type sorting mechanical arm 4 acquires the relative position information of the corresponding sorting area based on the area sorting instruction, adjusts the action position of the first-type sorting mechanical arm relative to the sorting conveying belt 7 and determines the working area.
Further, the number of the sorting areas is the same as that of the first-type sorting mechanical arms 4, and the area sorting instruction designates the sorting area corresponding to each first-type sorting mechanical arm 4.
Further, in this embodiment, the sorting area is divided into two parts, namely a left sorting area and a right sorting area, which correspond to the two first-type sorting manipulators 4.
Specifically, the control host 1 determines the relative position information of each sorting area relative to the sorting conveyer belt 7 according to the position information of the material tray, the first-type sorting manipulator 4 acquires the relative position information of the corresponding sorting area based on the area sorting instruction, adjusts the action position of the sorting conveyer belt 7 relative to the first-type sorting manipulator, determines the working area, and when the material tray enters the working area of the first-type sorting manipulator 4, the first-type sorting manipulator 4 can enter a sorting working state, so that the sorting efficiency is improved.
Further, the material tray position information includes the position of the material tray relative to the sorting conveyer belt 7, such as whether the side edge of the material tray is parallel to the side edge of the sorting conveyer belt 7, the distance between the side edge of the material tray and the side edge of the sorting conveyer belt 7, and the like.
Specifically, the control host calculates the sorting action track of the first type of manipulator in the corresponding sorting area according to the material box mark information, and generates the area sorting instruction.
Further, the control host calculates a carrying and sorting path of the first sorting manipulator for finishing the moon cake sorting operation of the two adjacent material boxes according to the material box mark information, the distance marked by the two adjacent material boxes and the moon cake coordinate information on the material tray.
Furthermore, the first sorting mechanical arm 4 moves to the position above the material box conveying belt according to the carrying sorting path, recognizes the empty material box, finishes one-time sorting, gets back to the position above the material box conveying belt along the carrying sorting path after clamping the next moon cake, and recognizes the empty material box adjacent to the last-time sorting material box along the conveying direction of the material box conveying belt by a preset distance, thereby finishing the sorting of the adjacent material boxes.
S16: and the first type of sorting mechanical arm sorts the plurality of month cakes on the material tray according to the region sorting instruction.
Specifically, the first type sorting manipulator 4 determines its own working area based on the area sorting instruction, and performs a sorting operation in its own working area based on the area sorting instruction. The first sorting mechanical arm 4 identifies moon cakes on the material tray through a sensor and feeds the moon cakes back to the sub-control module, and the sub-control module is used for calculating the transmission rate of the sorting conveying belt 7 to obtain the information of the grabbing points of the moon cakes and generate grabbing instructions. The first sorting mechanical arm 4 moves the upper portion of the moon cakes corresponding to the sorting area in the material tray based on the area sorting instruction, the moon cakes on the material tray entering the working area of the first sorting mechanical arm 4 are captured through a sensor, moon cake identification information is sent to the sub-control module, and the sub-control module calculates the grabbing point of the moon cakes and generates a grabbing instruction to control the first sorting mechanical arm 4 to grab the moon cakes according to the moon cake identification information and the transmission speed v3 of the sorting conveying belt 7.
Specifically, after the moon cakes are grabbed by the first sorting mechanical arm 4, the moon cakes move to the position above the first material box conveying belt or the position above the second material box conveying belt based on the grabbing instruction, the state information of the material boxes on the material box conveying belt is identified through an infrared sensor of the first sorting mechanical arm 4, the moon cakes are placed in empty material boxes, sorting of the single moon cakes is completed, the first sorting mechanical arm 4 returns to the working area of the first sorting mechanical arm 4, and the area sorting instruction is continuously executed until the material tray leaves the working area of the first sorting mechanical arm 4 along with the sorting conveying belt 7.
Specifically, the first sorting mechanical arm moves to the position above the material box conveying belt along the sorting carrying path according to the region sorting instruction, and the sensors identify empty material boxes and sort the moon cakes into the empty material boxes.
Furthermore, the first sorting mechanical arm 4 adopts sorting logic of 'two-in-one-out' to sort and place the moon cakes of two adjacent empty material boxes, then the next adjacent empty material box is jumped to sort the moon cakes of the subsequent empty material boxes, the conveying speed of the material box conveying belt is matched to keep the beat of the first sorting mechanical arm for quick sorting, so that the first sorting mechanical arm can follow the carrying and sorting path to keep a stable working range, and the sorting efficiency of the first sorting mechanical arm is improved.
S17: and the control host generates a global sorting instruction according to the coordinate point information of the moon cakes.
S18: and the second type of sorting manipulator sorts all moon cakes on the material tray subjected to region sorting according to the global sorting instruction.
Specifically, the control host calculates the distance between each moon cake and the adjacent conveying belt according to the moon cake coordinate point information, and therefore a global sorting instruction is generated.
Specifically, referring to fig. 4, the control host 1 takes an angular position of the material taking disc as an origin, wherein a distance from the origin to the side edge of the adjacent sorting conveyor belt is x0, generates coordinate information (x 1, y 1) of each moon cake on the premise that the side edge of the material taking disc is parallel to the side edge of the sorting conveyor belt, and calculates a distance from each moon cake to the side edge of the adjacent sorting conveyor belt according to the coordinate information of each moon cake.
Further, the calculation formula is as follows:
X f ＝(y1*sinα+x1)*cosα+x0；
wherein: x f For the distance of moon cake apart from a side edge of the sorting conveyer belt, y1 is the longitudinal axis direction distance of moon cake from the original point, x1 is the transverse axis direction distance of moon cake from the original point, x0 is the distance of original point from a side edge of the sorting conveyer belt, and alpha is the included angle between a side edge of the material tray and a side edge of the sorting conveyer belt.
Further, the distance between the moon cakes and the first material box conveying belt is obtained according to the calculation formula, and the distance between the moon cakes and the second material box conveying belt can be obtained by subtracting the calculation result from the distance between the first material box conveying belt and the second material box conveying belt.
Further, the distance between the moon cakes in the left sorting area and the first material box conveying belt and the distance between the moon cakes in the right sorting area and the second material box conveying belt are calculated.
Specifically, the control host calculates the shortest carrying and sorting path from the second type sorting manipulator to the first material box conveying belt and the second material box conveying belt according to the calculation result, and summarizes to generate a global sorting instruction.
Further, the second sorting manipulator sequentially identifies the residual moon cakes on the material tray based on the overall sorting instruction and finishes the sorting operation.
Specifically, the second sorting manipulator 5 moves to the coordinate position of one of the moon cakes on the material tray in the X-axis direction based on the global sorting instruction, when the material tray enters the working area of the second sorting manipulator 5, the remaining moon cakes on the material tray move along the Y-axis direction along the sorting conveyer belt 7, and the second sorting manipulator 5 recognizes the moon cakes moving along the Y-axis direction through the vision sensor and performs clamping and sorting operations, thereby sequentially completing the clamping and sorting operations of all the remaining moon cakes.
Further, the clamping and sorting operation of the second sorting manipulator is the same as the clamping and sorting operation of the first sorting manipulator 4, the moon cake is predicted to be clamped at a clamping point by identifying the moon cake, the clamped moon cake is transported to the position above the material box conveyor belt, the empty material box is identified and placed on the empty material box, and the specific operation can refer to the operation process of the first sorting manipulator 4, which is not repeated here.
The control method comprises the steps of capturing first arrangement picture information of a full moon cake tray on a sorting conveyer belt 7, carrying out regional clamping and sorting on moon cakes on the tray in different regions, obtaining second arrangement picture information on the tray again after the regional sorting is completed, carrying out global clamping and sorting on the remaining moon cakes according to the second arrangement picture information, marking the positions of the moon cakes in combination with image processing, carrying out regional sorting and global sorting in different stages, and improving the sorting efficiency of a manipulator.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, and the like.
In addition, the control method of the sorting production line based on visual control according to the embodiment of the present invention is described in detail above, and a specific embodiment is used herein to explain the principle and the implementation manner of the present invention, and the description of the embodiment is only used to help understanding the method of the present invention and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. The control method of the sorting production line based on visual regulation is characterized in that the sorting production line comprises a control host, a roller conveying mechanism, a jacking device positioned in the roller conveying mechanism, a sorting conveying belt, material box conveying belts arranged on the side edges of the sorting conveying belts in parallel, and a plurality of sorting manipulators arranged above the sorting conveying belts, wherein any sorting manipulator is provided with a sub-control module and a sensor, and the sorting manipulators comprise a first sorting manipulator and a second sorting manipulator;
the control method comprises the following steps:
the method comprises the steps that a material tray full of moon cakes is driven to a sorting conveyer belt, material tray picture information on the sorting conveyer belt is obtained, and the material tray picture information is fed back to a control host;
the control host machine marks the coordinate points of the moon cakes on the material tray based on the material tray picture information to obtain the coordinate point information of the moon cakes;
driving a material box to the material box conveying belt, acquiring material box picture information on the material box conveying belt and feeding back the information to the control host;
the control host machine marks the material box based on the material box picture information to obtain material box marking information;
the control host divides a plurality of sorting areas on the material tray according to the coordinate point information of the moon cakes, and generates an area sorting instruction by combining the marking information of the material box;
the first type of sorting mechanical arm sorts a plurality of month cakes on the material tray according to the region sorting instruction to obtain a region-sorted material tray;
the control host generates a global sorting instruction according to the moon cake coordinate point information;
and the second type of sorting manipulator sorts all moon cakes on the material tray subjected to region sorting according to the global sorting instruction.
2. The vision-control-based control method for the sorting production line, as claimed in claim 1, wherein the step of driving the full moon cake trays to the sorting conveyer belt, obtaining the tray image information on the sorting conveyer belt, and feeding the tray image information back to the control host comprises:
the material tray full of moon cakes is driven to enter the sorting conveyer belt through the roller transmission mechanism, the picture information of the material tray is recorded through the first camera, and the picture information of the material tray is fed back to the control host.
3. The vision-based control method for sorting production line according to claim 1, wherein the control host marks the magazine based on the magazine picture information, and obtaining the magazine mark information comprises:
and the control host receives the picture information of the material box, marks the central position of the material box according to the picture information of the material box, and records the distance between any two adjacent marking points of the material box.
4. The control method of the sorting production line based on visual control according to claim 1, wherein the control host marks the coordinate points of the moon cakes on the tray based on the tray picture information, and obtaining the moon cake coordinate point information comprises:
after receiving the tray picture information, the control host extracts the arrangement picture information of moon cakes on a tray in the tray picture information through image processing;
and the control host establishes a coordinate system by using the material tray, and determines the coordinates of the moon cakes on the material tray according to the arrangement picture information to obtain the coordinate point information of the moon cakes.
5. The vision control based control method for sorting production line as claimed in claim 4, wherein the control host computer extracts the outline information of the tray according to the tray picture information, and performs distance measurement processing on the outline information of the tray and the edge outline information of the sorting conveyer belt to generate the tray position information.
6. The vision-control-based control method for sorting production lines as claimed in claim 1, wherein the control host divides a plurality of sorting areas on the tray according to the coordinate point information of the moon cakes, and generating area sorting instructions by combining the marking information of the material boxes comprises:
the control host divides the material tray into a plurality of sorting areas according to the coordinate point information of the moon cakes, and the sorting areas and the first sorting mechanical arms are distributed in a one-to-one correspondence mode according to the number of the first sorting mechanical arms.
7. The vision-based control method for sorting production lines as claimed in claim 6, wherein the control host calculates the sorting motion track of the first type manipulator in the corresponding sorting area according to the label information of the material box, and generates the area sorting command.
8. The vision-based control method for sorting production line as claimed in claim 1, wherein the sorting manipulator of the first kind sorts several month cakes on the tray by regions according to the region sorting instruction, which comprises:
the first type sorting mechanical arm moves to the position above the moon cakes according to the region sorting instruction, identifies the moon cakes through a sensor, and feeds back the moon cakes to the sub-control module;
the sub-control module calculates according to the transmission rate of the sorting conveyer belt to obtain the grabbing point information of the moon cakes and generate grabbing instructions;
and the first type of mechanical arm finishes the grabbing operation of the moon cakes based on the grabbing instruction.
9. The vision-regulation-based control method for the sorting production line, according to claim 1, wherein the step of generating the global sorting instruction by the control host according to the coordinate point information of the moon cakes comprises the following steps:
the control host acquires the X-axis direction distance of each row of moon cakes according to the moon cake coordinate point information;
the conveying direction of the sorting conveying belt is the Y-axis direction, and the direction perpendicular to the side edge of the sorting conveying belt is the X-axis direction.
10. The vision-based control method for sorting production lines as claimed in claim 9, wherein the second sorting manipulator completes the sorting operation of moon cakes on the material tray according to the global sorting instruction, and the method comprises the following steps:
and the second type of sorting mechanical arm sequentially moves to the coordinate position in the X-axis direction corresponding to the moon cakes on the material tray based on the overall sorting instruction, and identifies the moon cakes moving along the Y-axis direction through a sensor and carries out clamping and sorting operations.
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