CN116273968A - Industrial sorting robot sorting method based on visual identification - Google Patents
Industrial sorting robot sorting method based on visual identification Download PDFInfo
- Publication number
- CN116273968A CN116273968A CN202310176493.3A CN202310176493A CN116273968A CN 116273968 A CN116273968 A CN 116273968A CN 202310176493 A CN202310176493 A CN 202310176493A CN 116273968 A CN116273968 A CN 116273968A
- Authority
- CN
- China
- Prior art keywords
- industrial
- sorting
- control unit
- vision
- personal computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 21
- 125000004122 cyclic group Chemical group 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 18
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000004806 packaging method and process Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
-
- 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
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Sorting Of Articles (AREA)
Abstract
The invention discloses an industrial sorting robot sorting method based on visual identification, which comprises the following steps: (1) The industrial camera collects shape characteristics, color characteristics, position characteristics and material quantity of materials and sends the shape characteristics, the color characteristics, the position characteristics and the material quantity to the industrial personal computer; (2) The industrial personal computer carries out cyclic comparison on the information and the information preset by the visual control unit, and transmits the result to the visual control unit; (3) The visual control unit performs identification and transmits the identification back to the industrial personal computer; (4) The industrial personal computer controls the sorting robot to work according to the returned result; the mechanical arm sorting mechanism of the intelligent sorting device based on machine vision has the characteristics of multiple sorting angles, wide range coverage and easiness in sorting, improves the production efficiency of enterprises, replaces manpower with the intelligent sorting device and system, can automatically sort articles intelligently, reduces the workload of express delivery personnel, saves the enterprise cost, shortens the delivery time of the express delivery articles, and improves the working efficiency.
Description
Technical Field
The invention belongs to the technical field of robot sorting, and particularly relates to an industrial sorting robot sorting method based on visual identification.
Background
With the continuous increase of labor cost, the substitution of machines for manpower to do some repetitive high-intensity labor is an important direction of modern machine research. Meanwhile, with the improvement of the living standard and the acceleration of the living rhythm of people, more and more people purchase daily supplies in an online shopping mode, the online shopping is carried out in a way of driving the development of express delivery, express delivery operators need to distribute thousands of express delivery every day, the problems of express delivery retention, untimely sorting, incapability of timely delivering and the like are often caused, articles in goods to be delivered are complex, the articles are in different packaging forms such as box packaging, clothing packaging bags and envelope bags and the like, the packaging states are different, most of the packages are complete, some of the packages are broken or the articles which are not packaged cannot be rapidly sorted, the sorting work is difficult to be carried out on the articles with different specifications and shapes, and the defects of low sorting efficiency, complicated work, high error rate and the like exist in manual sorting; therefore, there is a need for an intelligent sorting device based on machine vision to solve this problem.
Disclosure of Invention
The invention aims to provide an industrial sorting robot sorting method based on visual identification, which is used for solving the defects of complex manual operation, low efficiency and difficult sorting of the existing industrial production sorting technology.
In order to solve the technical problems, the invention adopts the following technical scheme:
the machine vision recognition system comprises an industrial personal computer, an industrial camera, a vision control unit, a sorting robot and a communication unit, wherein the industrial personal computer is connected through the communication unit and can control the industrial camera, the vision control unit is connected through the communication unit and can control the industrial personal computer, and the industrial personal computer is connected through the communication unit and can control the sorting robot;
the sorting method comprises the following steps:
(1) Setting parameters of the industrial camera through the vision control unit, collecting shape characteristics, color characteristics, position characteristics and material quantity of materials by the industrial camera, and sending the information to an industrial personal computer;
(2) The industrial personal computer carries out cyclic comparison on the position characteristic information acquired by the industrial camera and information preset by the vision control unit, and transmits the result to the vision control unit;
(3) The visual control unit identifies the shape characteristics, the color characteristics and the quantity of the corresponding materials according to the position characteristics and transmits the identification result back to the industrial personal computer;
(4) And the industrial personal computer controls the moving paths of the sorting robots and the number of the sorting robots to work according to the result returned by the visual control unit, and places the materials in the corresponding positions.
Further, the vision control unit comprises a main control server and an image acquisition card, wherein the image acquisition card is a digital acquisition card.
Further, the vision control unit further performs image and processing steps before identifying the shape features, the color features and the quantity of the corresponding materials according to the position features, so as to obtain high-quality images, improve the accuracy of the system, and eliminate noise and other interference factors by using image preprocessing.
Further, the image preprocessing includes threshold segmentation, smoothing, and HDR methods.
Further, the calculation method of the position features comprises the following steps: obtaining the angle of the space on the plane through three points on the plane; and obtaining coordinates in a three-dimensional space by combining parallax principles through two center points of the left image and the right image. (i.e., three-dimensional data of the express delivery package surface is obtained.)
Further, the industrial camera is an industrial camera adopting a CCD chip, the visual field range of the industrial camera is 15 m-15 m, and the resolution of the industrial camera is more than 500 ten thousand pixels.
Further, the sorting robot is a 5-axis manipulator or a 6-axis manipulator.
Further, the communication unit is an industrial ethernet communication unit.
Further, the industrial personal computer is an industrial computer based on a PC bus.
The invention has the beneficial effects that:
1. the mechanical arm sorting mechanism of the intelligent sorting device based on machine vision has the advantages of being large in sorting angle, wide in range coverage and low in maintenance cost, and easy to sort, avoiding manual sorting and improving the production efficiency of enterprises.
2. The intelligent sorting device and the intelligent sorting system replace manpower, can intelligently and automatically sort articles, reduce the workload of express delivery personnel, save the enterprise cost, shorten the delivery time of the express delivery articles, and improve the working efficiency.
Detailed Description
The following detailed description of the preferred embodiments of the invention is provided to enable those skilled in the art to more readily understand the advantages and features of the invention and to make a clear and concise definition of the scope of the invention.
The machine vision recognition system comprises an industrial personal computer, an industrial camera, a vision control unit, a sorting robot and a communication unit, wherein the industrial personal computer is connected through the communication unit and can control the industrial camera, the vision control unit is connected through the communication unit and can control the industrial personal computer, and the industrial personal computer is connected through the communication unit and can control the sorting robot;
the sorting method comprises the following steps:
(1) Setting parameters of the industrial camera through the vision control unit, collecting shape characteristics, color characteristics, position characteristics and material quantity of materials by the industrial camera, and sending the information to an industrial personal computer;
(2) The industrial personal computer carries out cyclic comparison on the position characteristic information acquired by the industrial camera and information preset by the vision control unit, and transmits the result to the vision control unit;
(3) The visual control unit identifies the shape characteristics, the color characteristics and the quantity of the corresponding materials according to the position characteristics and transmits the identification result back to the industrial personal computer;
(4) And the industrial personal computer controls the moving paths of the sorting robots and the number of the sorting robots to work according to the result returned by the visual control unit, and places the materials in the corresponding positions.
The visual control unit comprises a main control server and an image acquisition card, and the image acquisition card is a digital acquisition card.
The visual control unit is used for identifying the shape characteristics, the color characteristics and the quantity of the corresponding materials according to the position characteristics, and then carrying out image and processing steps before the corresponding materials are identified, so that in order to obtain high-quality images, the accuracy of the system is improved, and the noise is eliminated and other interference factors are removed by using image preprocessing.
The image preprocessing includes threshold segmentation, smoothing, and HDR methods.
The calculation method of the position features comprises the following steps: obtaining the angle of the space on the plane through three points on the plane; and obtaining coordinates in a three-dimensional space by combining the parallax principle through two center points of the left image and the right image, namely obtaining three-dimensional data of the express parcel surface.
The industrial camera is an industrial camera adopting a CCD chip, the visual field range of the industrial camera is 15m x 15m, and the resolution of the industrial camera is more than 500 ten thousand pixels.
The sorting robot is a 5-axis manipulator or a 6-axis manipulator.
The communication unit is an industrial ethernet communication unit.
The industrial personal computer is an industrial computer based on a PC bus.
The working process and working principle of the invention are as follows:
the mechanical arm sorting mechanism of the intelligent sorting device based on machine vision has the advantages of being multiple in sorting angle, wide in range coverage and easy to sort, avoiding manual sorting, improving production efficiency of enterprises, and being stable in structure and low in maintenance cost. The intelligent sorting device and the intelligent sorting system replace manpower, can intelligently and automatically sort articles, reduce the workload of express delivery personnel, save the enterprise cost, shorten the delivery time of the express delivery articles, and improve the working efficiency.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the content of the present invention or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (9)
1. The utility model provides an industrial sorting robot letter sorting method based on visual identification, machine visual identification system includes industrial computer, industrial camera, visual control unit, letter sorting robot and communication unit, the industrial computer passes through communication unit connects and can control industrial camera, visual control unit passes through communication unit connects and can control the industrial computer, the industrial computer passes through communication unit connects and can control letter sorting robot, its characterized in that, the letter sorting method includes the following steps:
(1) Setting parameters of the industrial camera through the vision control unit, collecting shape characteristics, color characteristics, position characteristics and material quantity of materials by the industrial camera, and sending the information to an industrial personal computer;
(2) The industrial personal computer carries out cyclic comparison on the position characteristic information acquired by the industrial camera and information preset by the vision control unit, and transmits the result to the vision control unit;
(3) The visual control unit identifies the shape characteristics, the color characteristics and the quantity of the corresponding materials according to the position characteristics and transmits the identification result back to the industrial personal computer;
(4) And the industrial personal computer controls the moving paths of the sorting robots and the number of the sorting robots to work according to the result returned by the visual control unit, and places the materials in the corresponding positions.
2. The vision-recognition-based industrial sorting robot sorting method of claim 1, wherein: the visual control unit comprises a main control server and an image acquisition card, and the image acquisition card is a digital acquisition card.
3. The vision-recognition-based industrial sorting robot sorting method of claim 1, wherein: the visual control unit is used for identifying the shape characteristics, the color characteristics and the quantity of the corresponding materials according to the position characteristics, and then carrying out image and processing steps before the corresponding materials are identified, so that in order to obtain high-quality images, the accuracy of the system is improved, and the noise is eliminated and other interference factors are removed by using image preprocessing.
4. A visual identification based industrial sorting robot sorting method according to claim 3, characterized in that: the image preprocessing includes threshold segmentation, smoothing, and HDR methods.
5. The vision-recognition-based industrial sorting robot sorting method of claim 1, wherein: the calculation method of the position features comprises the following steps: obtaining the angle of the space on the plane through three points on the plane; and obtaining coordinates in a three-dimensional space by combining parallax principles through two center points of the left image and the right image.
6. The vision-recognition-based industrial sorting robot sorting method of claim 1, wherein: the industrial camera is an industrial camera adopting a CCD chip, the visual field range of the industrial camera is 15m x 15m, and the resolution of the industrial camera is more than 500 ten thousand pixels.
7. The vision-recognition-based industrial sorting robot sorting method of claim 1, wherein: the sorting robot is a 5-axis manipulator or a 6-axis manipulator.
8. The vision-recognition-based industrial sorting robot sorting method of claim 1, wherein: the communication unit is an industrial ethernet communication unit.
9. The vision-recognition-based industrial sorting robot sorting method of claim 1, wherein: the industrial personal computer is an industrial computer based on a PC bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310176493.3A CN116273968A (en) | 2023-02-28 | 2023-02-28 | Industrial sorting robot sorting method based on visual identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310176493.3A CN116273968A (en) | 2023-02-28 | 2023-02-28 | Industrial sorting robot sorting method based on visual identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116273968A true CN116273968A (en) | 2023-06-23 |
Family
ID=86793513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310176493.3A Withdrawn CN116273968A (en) | 2023-02-28 | 2023-02-28 | Industrial sorting robot sorting method based on visual identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116273968A (en) |
-
2023
- 2023-02-28 CN CN202310176493.3A patent/CN116273968A/en not_active Withdrawn
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104217441B (en) | Mechanical arm positioning fetching method based on machine vision | |
| CN109365318B (en) | Multi-robot cooperation sorting method and system | |
| CN109785317B (en) | Automatic pile up neatly truss robot's vision system | |
| CN109013405A (en) | It is a kind of independently detected with cast(ing) surface and substandard products sorting function robot system | |
| CN112845143A (en) | Household garbage classification intelligent sorting system and method | |
| CN112102368B (en) | Deep learning-based robot garbage classification and sorting method | |
| CN206132657U (en) | Gilt quality intelligent detecting system based on machine vision | |
| CN207025864U (en) | Express sorter device people with image identification function | |
| CN203196911U (en) | Industrial CCD (Charge Coupled Device) based visual identification sorting system | |
| CN111136011A (en) | Material sorting method based on machine vision recognition system | |
| WO2022100145A1 (en) | Infusion bag foreign matter identification method and detection method based on artificial intelligence visual technology | |
| CN108628260A (en) | Multi items Tool set equipment based on robot and automatic assembling technique | |
| Xia et al. | Workpieces sorting system based on industrial robot of machine vision | |
| CN113689509A (en) | Binocular vision-based disordered grabbing method and system and storage medium | |
| CN101628489B (en) | Paper box molding, positioning and processing control method and positioning control system | |
| CN111168674A (en) | Test card assembling method based on CCD positioning system | |
| CN206661588U (en) | A kind of point gum machine vision servo system | |
| CN116273968A (en) | Industrial sorting robot sorting method based on visual identification | |
| CN207503007U (en) | A kind of automatic transport control system of wheel hub based on image identification | |
| CN109597382A (en) | Coal machine and manufactures intelligence blanking production system | |
| CN210418105U (en) | Lower rack mechanism of clothing sorting system | |
| CN207752527U (en) | A kind of Robotic Dynamic grasping system | |
| CN111062387B (en) | Identification method, grabbing method and related equipment for articles on conveyor belt | |
| CN204429731U (en) | A kind of automatic sorting control system of object | |
| CN209312143U (en) | A kind of robot based on machine vision stores up vending system automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230623 |