CN116777986A - Workpiece sorting method, device and storage medium based on industrial Internet - Google Patents

Workpiece sorting method, device and storage medium based on industrial Internet Download PDF

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Publication number
CN116777986A
CN116777986A CN202310723623.0A CN202310723623A CN116777986A CN 116777986 A CN116777986 A CN 116777986A CN 202310723623 A CN202310723623 A CN 202310723623A CN 116777986 A CN116777986 A CN 116777986A
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CN
China
Prior art keywords
workpiece
grabbed
workpieces
determining
dimensional
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CN202310723623.0A
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Chinese (zh)
Inventor
崔书孝
展波
白恩林
董婷
雷学初
庞家川
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Karos Iot Technology Co ltd
Cosmoplat Industrial Intelligent Research Institute Qingdao Co Ltd
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Karos Iot Technology Co ltd
Cosmoplat Industrial Intelligent Research Institute Qingdao Co Ltd
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Application filed by Karos Iot Technology Co ltd, Cosmoplat Industrial Intelligent Research Institute Qingdao Co Ltd filed Critical Karos Iot Technology Co ltd
Priority to CN202310723623.0A priority Critical patent/CN116777986A/en
Publication of CN116777986A publication Critical patent/CN116777986A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • 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
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a workpiece sorting method, a device and a storage medium based on the industrial Internet, which relate to the technical field of automation, and the method comprises the following steps: acquiring a three-dimensional image of a stacked workpiece, and determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the three-dimensional image; acquiring a two-dimensional image of a stacked workpiece, and determining a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed; determining category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed; and controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed. According to the technical scheme, the grabbing equipment is controlled to grab and move the workpieces to be grabbed, so that the workpieces to be grabbed are sorted and classified.

Description

Workpiece sorting method, device and storage medium based on industrial Internet
Technical Field
The invention relates to the technical field of automation, in particular to a workpiece sorting method, device and storage medium based on industrial Internet.
Background
In the automatic production based on the industrial internet, some factories are limited by the number of production equipment, and often the same production equipment is used for producing workpieces with the same shape and different materials, and finally the workpieces are conveyed to a temporary storage area through a conveying line. The plurality of workpieces form stacked workpieces in the temporary storage area, and in order to store the stacked workpieces to different storage positions according to materials, the workpieces in the stacked workpieces need to be sorted and classified.
In the prior art, two-dimensional images of stacked workpieces can be acquired, position information and category information of each workpiece are determined according to the two-dimensional images, each workpiece is grabbed according to the position information of each workpiece, and each workpiece is moved to a corresponding storage position according to the category information of each workpiece.
However, gripping each workpiece based on the positional information of the workpiece determined from the two-dimensional images of the stacked workpieces may fail to grip the workpiece or cause damage to the workpiece.
Disclosure of Invention
The invention provides a workpiece sorting method, a device and a storage medium based on the industrial Internet, which realize sorting and sorting of stacked workpieces and do not damage the workpieces.
According to an aspect of the present invention, there is provided an industrial internet-based workpiece sorting method, including:
Acquiring a three-dimensional image of a stacked workpiece, and determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the three-dimensional image;
acquiring a two-dimensional image of a stacked workpiece, and determining a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed;
determining category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed;
and controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed.
Further, acquiring a three-dimensional image of the stacked workpieces, determining the workpieces to be grasped and the position information of the workpieces to be grasped according to the three-dimensional image, including:
acquiring a three-dimensional image of the stacked workpieces based on a three-dimensional image acquisition device;
and extracting point cloud data of the stacked workpieces according to the three-dimensional images of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the point cloud data of the stacked workpieces.
Further, determining the workpiece to be grasped and the position information of the workpiece to be grasped according to the point cloud data of the stacked workpieces includes:
Determining a target area according to the height information of each area in the point cloud data of the stacked workpieces;
and determining the workpiece positioned in the target area as the workpiece to be grabbed, and determining the position information of the workpiece to be grabbed according to the position information of the target area.
Further, acquiring a two-dimensional image of the stacked workpieces, and determining category information of the workpieces to be grabbed according to the two-dimensional image and the position information of the workpieces to be grabbed, wherein the method comprises the following steps:
acquiring a two-dimensional image of the stacked workpieces based on a two-dimensional image acquisition device;
and determining a two-dimensional workpiece image corresponding to the workpiece to be grabbed in the two-dimensional images of the stacked workpieces according to the position information of the workpiece to be grabbed.
Further, determining the category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed includes:
determining the reflection effect of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed;
and determining the category information of the workpiece to be grabbed according to the light reflection effect of the workpiece to be grabbed.
Further, before moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed, the method further comprises the following steps:
And determining a storage position corresponding to the class information of the workpiece to be grabbed.
Further, the method further comprises the following steps:
and after determining that all the workpieces in the stacked workpieces are moved to the corresponding storage positions, determining that the workpiece sorting is finished.
According to another aspect of the present invention, there is provided an industrial internet-based workpiece sorting apparatus, comprising:
the first acquisition module is used for acquiring a three-dimensional image of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the three-dimensional image;
the second acquisition module is used for acquiring two-dimensional images of stacked workpieces and determining the two-dimensional workpiece images of the workpieces to be grabbed according to the two-dimensional images and the position information of the workpieces to be grabbed;
the determining module is used for determining the category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed;
and the execution module is used for controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed.
According to another aspect of the present invention, there is provided a computer apparatus including:
At least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the industrial internet-based workpiece sorting method of any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the industrial internet-based workpiece sorting method according to any of the embodiments of the present invention when executed.
The technical scheme of the invention provides a workpiece sorting method based on industrial Internet, which comprises the following steps: acquiring a three-dimensional image of a stacked workpiece, and determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the three-dimensional image; acquiring a two-dimensional image of a stacked workpiece, and determining a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed; determining category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed; and controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed. According to the technical scheme, after the three-dimensional image of the stacked workpiece is obtained, the workpiece to be grabbed and the position information of the workpiece to be grabbed can be determined in the stacked workpiece through the three-dimensional image of the stacked workpiece, after the two-dimensional image of the stacked workpiece is obtained, the two-dimensional image of the workpiece to be grabbed can be obtained by cutting the two-dimensional image of the stacked workpiece through the position information of the workpiece to be grabbed, and the category information of the workpiece to be grabbed can be determined through the two-dimensional image of the workpiece to be grabbed, so that the classification of the workpiece to be grabbed is realized. The grabbing equipment is controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, sorting of the workpiece to be grabbed is achieved, the grabbing equipment is controlled to move the grabbed workpiece to be grabbed to the corresponding storage position based on the category information of the workpiece to be grabbed, and sorting of the workpiece to be grabbed is achieved. The grabbing equipment is controlled to grab and move the workpieces to be grabbed, so that the workpieces to be grabbed are sorted and classified. Because the workpiece to be grabbed is the current top-layer workpiece, when the workpiece to be grabbed is grabbed, the condition that the workpiece cannot be grabbed is avoided, and the workpiece cannot be damaged.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a workpiece sorting method based on the industrial internet according to the first embodiment;
fig. 2 is a flowchart of a workpiece sorting method based on the industrial internet according to the second embodiment;
fig. 3 is a schematic diagram of a three-dimensional image of stacked workpieces in a workpiece sorting method based on the industrial internet according to the second embodiment;
fig. 4 is a schematic diagram of a two-dimensional image of stacked workpieces in a workpiece sorting method based on the industrial internet according to the second embodiment;
fig. 5 is a schematic diagram of a three-dimensional image of a stacked workpiece after initial sorting in the workpiece sorting method based on the industrial internet according to the second embodiment;
Fig. 6 is a schematic diagram of a two-dimensional image of a stacked workpiece after initial sorting in the workpiece sorting method based on the industrial internet according to the second embodiment;
fig. 7 is a schematic structural diagram of a workpiece sorting apparatus based on the industrial internet according to the third embodiment;
fig. 8 is a schematic structural diagram of a computer device according to a fourth embodiment.
Detailed Description
In order that the manner in which the invention may be better understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The workpieces in the stacked workpieces are identical in shape and different in material quality, the workpieces with different material quality are required to be sorted, and the workpieces with different material quality are respectively moved to different storage positions.
On the one hand, two-dimensional images of stacked workpieces can be obtained, and classification of the workpieces is realized according to different light reflection effects of the workpieces. However, the hierarchical position of the workpieces in the stacked workpieces cannot be determined from the two-dimensional images, and therefore, when the workpieces are sorted based on the two-dimensional images, the workpieces pressed against the bottom may be grasped, and the workpieces may not be grasped or damaged.
On the other hand, three-dimensional images of stacked workpieces can be obtained, and the three-dimensional images can be respectively used for the hierarchical positions of the workpieces in the stacked workpieces, but the materials of the workpieces cannot be determined from the three-dimensional images, namely, the workpieces cannot be accurately classified, so that when the workpieces are classified based on the three-dimensional images, the grabbed workpieces cannot be moved to corresponding storage positions.
Therefore, the application provides the workpiece sorting method based on the industrial Internet, which realizes sorting and sorting of stacked workpieces and does not damage the workpieces.
The work sorting method based on the industrial internet according to the present application will be described in detail with reference to the drawings and examples.
Example 1
Fig. 1 is a flowchart of an industrial internet-based workpiece sorting method provided in an embodiment, which is applicable to a case where stacked workpieces need to be sorted and classified, and the method may be performed by an industrial internet-based workpiece sorting apparatus, which may be implemented in the form of hardware and/or software, and which may be configured in a computer device. As shown in fig. 1, the method includes:
s110, acquiring a three-dimensional image of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the three-dimensional image.
Wherein stacking the workpieces is understood to mean at least one workpiece stacked together. A three-dimensional image acquisition device may be provided above the stacked workpiece, and a 3D camera may be provided for acquiring a three-dimensional image of the stacked workpiece as an example.
Specifically, based on the three-dimensional image acquisition device provided above the stacked workpiece acquiring a three-dimensional image of the stacked workpiece, the three-dimensional image of the stacked workpiece can be extracted to the point cloud data of the stacked workpiece. And extracting point cloud data of the stacked workpiece according to the three-dimensional image of the stacked workpiece, wherein the point cloud data of the stacked workpiece can comprise three-dimensional coordinate information of each area in the stacked workpiece. When the workpieces in the stacked workpieces are gripped, in order to ensure that the workpieces can be gripped without damage to the workpieces, the workpieces with the highest level in the stacked workpieces can be determined as the workpieces to be gripped in sequence. Therefore, the height information of each region can be determined according to the three-dimensional coordinate information of each region in the point cloud data of the stacked workpieces, the workpieces in the region corresponding to the maximum height information are determined to be current top-level workpieces after the height information of each region in the stacked workpieces is compared, and then the current top-level workpieces can be determined to be workpieces to be grasped. Of course, while the workpiece located in the area corresponding to the maximum height information is determined as the workpiece to be grasped, the three-dimensional coordinate information of the area corresponding to the maximum height information may be determined as the position information of the workpiece to be grasped, so that the position information of the workpiece to be grasped is determined.
In this embodiment, by stacking the three-dimensional images of the workpieces, determining the workpieces to be gripped and the position information of the workpieces to be gripped in the stacked workpieces is realized, and since the workpieces to be gripped are the current top-layer workpieces, when the workpieces to be gripped are gripped, the condition that the workpieces cannot be gripped is avoided, and the workpieces cannot be damaged.
S120, acquiring a two-dimensional image of the stacked workpieces, and determining the two-dimensional workpiece image of the workpieces to be grabbed according to the two-dimensional image and the position information of the workpieces to be grabbed.
A two-dimensional image acquisition device may also be provided above the stacked workpiece, and an exemplary 2D camera may be provided for acquiring a two-dimensional image of the stacked workpiece.
Specifically, the two-dimensional image of the stacked workpiece is acquired based on the two-dimensional image acquisition device disposed above the stacked workpiece, and the two-dimensional image of the stacked workpiece acquired at this time contains the complete two-dimensional image of the workpiece to be grasped, since the workpiece to be grasped is the current top-level workpiece. The position information of the workpiece to be gripped may indicate a position of the workpiece to be gripped in the stacked workpiece, and thus, a two-dimensional workpiece image of the workpiece to be gripped may be determined from the two-dimensional image of the stacked workpiece according to the position information of the workpiece to be gripped.
In this embodiment, after the two-dimensional image of the stacked workpiece is obtained, the two-dimensional workpiece image of the workpiece to be grasped may be determined in the two-dimensional image of the stacked workpiece according to the position information of the workpiece to be grasped, and the two-dimensional workpiece image of the workpiece to be grasped may be used to determine the category information of the workpiece to be grasped, so that the two-dimensional workpiece image of the workpiece to be grasped is determined, and a data basis is provided for determining the category information of the workpiece to be grasped.
S130, determining the category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed.
Specifically, firstly, the reflection effect of the workpiece to be grasped can be determined according to the two-dimensional workpiece image of the workpiece to be grasped. The corresponding relation table of the light reflecting effect and the material information of the workpiece to be grabbed is stored in the computer equipment, so that after the light reflecting effect of the workpiece to be grabbed is determined according to the two-dimensional workpiece information of the workpiece to be grabbed, the material information of the workpiece to be grabbed can be determined according to the light reflecting effect of the workpiece to be grabbed, and then the category information of the workpiece to be grabbed can be determined according to the material information of the workpiece to be grabbed.
In this embodiment, determining the category information of the workpiece to be grabbed is achieved through the two-dimensional workpiece image of the workpiece to be grabbed, and classification of the workpiece to be grabbed is achieved.
S140, controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed.
The grabbing device is located on one side of the stacked workpieces and used for grabbing and moving the stacked workpieces.
Specifically, after the position information of the workpiece to be grabbed is determined, the position information of the workpiece to be grabbed can be sent to grabbing equipment, and then the grabbing equipment can be controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, so that the workpiece to be grabbed is sorted. After the category information of the workpiece to be grabbed is determined, the category information of the workpiece to be grabbed can be sent to grabbing equipment, and then the grabbing equipment can be controlled to move the grabbed equipment to be grabbed to the corresponding storage position based on the category information of the workpiece to be grabbed, so that the classification of the workpiece to be grabbed is realized.
In the embodiment, the grabbing equipment is controlled to grab and move the workpieces to be grabbed, so that the workpieces to be grabbed are sorted and classified.
The workpiece sorting method based on the industrial Internet provided by the embodiment comprises the following steps: acquiring a three-dimensional image of a stacked workpiece, and determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the three-dimensional image; acquiring a two-dimensional image of a stacked workpiece, and determining a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed; determining category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed; and controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed. According to the technical scheme, after the three-dimensional image of the stacked workpiece is obtained, the workpiece to be grabbed and the position information of the workpiece to be grabbed can be determined in the stacked workpiece through the three-dimensional image of the stacked workpiece, after the two-dimensional image of the stacked workpiece is obtained, the two-dimensional image of the workpiece to be grabbed can be obtained by cutting the two-dimensional image of the stacked workpiece through the position information of the workpiece to be grabbed, and the category information of the workpiece to be grabbed can be determined through the two-dimensional image of the workpiece to be grabbed, so that the classification of the workpiece to be grabbed is realized. The grabbing equipment is controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, sorting of the workpiece to be grabbed is achieved, the grabbing equipment is controlled to move the grabbed workpiece to be grabbed to the corresponding storage position based on the category information of the workpiece to be grabbed, and sorting of the workpiece to be grabbed is achieved. The grabbing equipment is controlled to grab and move the workpieces to be grabbed, so that the workpieces to be grabbed are sorted and classified. Because the workpiece to be grabbed is the current top-layer workpiece, when the workpiece to be grabbed is grabbed, the condition that the workpiece cannot be grabbed is avoided, and the workpiece cannot be damaged.
Example two
Fig. 2 is a flowchart of a workpiece sorting method based on the industrial internet according to a second embodiment, which is embodied based on the above embodiment. As shown in fig. 2, the method includes:
s210, acquiring a three-dimensional image of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the three-dimensional image.
In one embodiment, S210 may specifically include:
acquiring a three-dimensional image of the stacked workpieces based on a three-dimensional image acquisition device; and extracting point cloud data of the stacked workpieces according to the three-dimensional images of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the point cloud data of the stacked workpieces.
Specifically, based on the three-dimensional image acquisition device provided above the stacked workpiece acquiring a three-dimensional image of the stacked workpiece, the three-dimensional image of the stacked workpiece can be extracted to the point cloud data of the stacked workpiece. Fig. 3 is a schematic diagram of a three-dimensional image of a stacked workpiece in the workpiece sorting method based on the industrial internet according to the second embodiment, and point cloud data of the stacked workpiece may be extracted from the three-dimensional image shown in fig. 3, where the point cloud data may include three-dimensional coordinate information and color information of each region in the stacked workpiece.
When the workpieces in the stacked workpieces are gripped, in order to ensure that the workpieces can be gripped without damage to the workpieces, the workpieces with the highest level in the stacked workpieces can be determined as the workpieces to be gripped. The method specifically can determine the current top-layer workpiece in the stacked workpieces according to the point cloud data of the stacked workpieces, determine the current top-layer workpiece as the workpiece to be grabbed, and simultaneously determine the position information of the workpiece to be grabbed.
On the one hand, according to the color information contained in the point cloud data, determining a region corresponding to the target color as a target region in the three-dimensional image of the stacked workpieces, determining the workpiece positioned in the target region as a workpiece to be grasped, and determining the position information of the workpiece to be grasped according to the position information of the target region. The target color may be determined according to practical applications, in this embodiment, the target color may be red, that is, an area corresponding to the red may be determined as a target area in the three-dimensional image of the stacked workpieces, the workpiece located in the target area is determined as the workpiece to be grasped, and the position information of the workpiece to be grasped is determined according to the position information of the target area.
On the other hand, the height information of each region in the stacked image can be determined according to the three-dimensional coordinate information contained in the point cloud data, the region corresponding to the maximum height information is determined as a target region, the workpiece located in the target region is determined as the current top-layer workpiece, and then the current top-layer workpiece can be determined as the workpiece to be grabbed. And determining the workpiece positioned in the target area as the workpiece to be grabbed, and simultaneously determining the three-dimensional coordinate information of the target area as the position information of the workpiece to be grabbed, so that the position information of the workpiece to be grabbed is determined.
In this embodiment, after the three-dimensional image of the stacked workpiece is obtained, the point cloud data of the stacked workpiece is determined according to the three-dimensional image of the stacked workpiece, and the determination of the workpiece to be grasped and the position information of the workpiece to be grasped in the stacked workpiece is realized according to the point cloud data of the stacked workpiece.
S220, acquiring a two-dimensional image of the stacked workpieces, and determining the two-dimensional workpiece image of the workpieces to be grabbed according to the two-dimensional image and the position information of the workpieces to be grabbed.
In one embodiment, S220 may specifically include:
acquiring a two-dimensional image of the stacked workpieces based on a two-dimensional image acquisition device; and determining a two-dimensional workpiece image corresponding to the workpiece to be grabbed in the two-dimensional images of the stacked workpieces according to the position information of the workpiece to be grabbed.
Specifically, the position information of the workpiece to be grasped may indicate the position of the workpiece to be grasped in the stacked workpiece based on the two-dimensional image acquisition device provided above the stacked workpiece, and therefore, the two-dimensional workpiece image of the workpiece to be grasped may be determined in the two-dimensional image of the stacked workpiece based on the position information of the workpiece to be grasped. Fig. 4 is a schematic diagram of two-dimensional images of stacked workpieces in a workpiece sorting method based on an industrial internet according to the second embodiment, and the two-dimensional images of the stacked workpieces shown in fig. 4 can be cut through position information of the workpieces to be grabbed to obtain two-dimensional workpiece images of the workpieces to be grabbed. As shown in fig. 4, the image in the block diagram can be determined to be a two-dimensional workpiece image of the workpiece to be grasped by the position information of the workpiece to be grasped, and the two-dimensional workpiece image of the workpiece to be grasped can be obtained by cutting the two-dimensional image of the stacked workpieces based on the block diagram.
In this embodiment, after the two-dimensional image of the stacked workpiece is obtained, the two-dimensional workpiece image of the workpiece to be grasped is determined in the two-dimensional image of the stacked workpiece according to the position information of the workpiece to be grasped, and the two-dimensional workpiece image of the workpiece to be grasped can be used for determining the category information of the workpiece to be grasped, so that the two-dimensional workpiece image of the workpiece to be grasped is determined, and a data basis is provided for determining the category information of the workpiece to be grasped.
S230, determining the category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed.
In one embodiment, S230 may specifically include:
determining the reflection effect of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed; and determining the category information of the workpiece to be grabbed according to the light reflection effect of the workpiece to be grabbed.
Specifically, the light reflection effect of the workpiece to be grasped may be determined first from the two-dimensional workpiece image of the workpiece to be grasped, and for example, the level of the light reflection effect may be determined. The computer device stores a correspondence table of the light reflection effect and the material information, for example, the material information corresponding to the first-level light reflection effect may be glass, and the material information corresponding to the fourth-level light reflection effect may be rubber. Therefore, after determining the light reflecting effect of the workpiece to be grasped according to the two-dimensional workpiece information of the workpiece to be grasped, the light reflecting effect of the workpiece to be grasped can be searched in the corresponding relation table of the light reflecting effect and the material information, and the material information corresponding to the light reflecting effect of the workpiece to be grasped is determined. And then the type information of the workpiece to be grabbed can be determined according to the material information of the workpiece to be grabbed, for example, when the material information of the workpiece to be grabbed is determined to be rubber, the type information of the workpiece to be grabbed can be determined to be rubber.
The two-dimensional workpiece image of the workpiece to be grabbed only contains the workpiece to be grabbed, and when the type information of the workpiece to be grabbed is determined according to the two-dimensional workpiece image of the workpiece to be grabbed, the data amount to be processed is less, and the obtained type information is more accurate.
In this embodiment, determining the category information of the workpiece to be grabbed is achieved through the two-dimensional workpiece image of the workpiece to be grabbed, and classification of the workpiece to be grabbed is achieved.
S240, determining a storage position corresponding to the category information of the workpiece to be grabbed.
Specifically, different types of information correspond to different storage positions, and workpieces to be grabbed are stored to different storage positions according to the types of information, so that the workpieces to be grabbed can be classified and stored. Therefore, after determining the category information of the workpiece to be grasped, the storage position corresponding to the category information can be determined.
In practical application, the corresponding relation table of the category information and the storage position is stored in the computer equipment, after the category information of the workpiece to be grabbed is determined, the category information of the workpiece to be grabbed can be searched in the corresponding relation table of the category information and the storage position, and the storage position corresponding to the category information of the workpiece to be grabbed is determined.
In this embodiment, determining a storage position corresponding to category information of a workpiece to be grasped is implemented.
S250, controlling grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to a corresponding storage position according to the category information of the workpiece to be grabbed.
Specifically, after determining the position information of the workpiece to be grasped, the position information of the workpiece to be grasped may be sent to the grasping apparatus. After determining the category information of the workpiece to be grasped, the category information of the workpiece to be grasped may also be sent to the grasping apparatus. Therefore, after the position information of the workpiece to be grabbed is determined, the grabbing device can be controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and sorting of the workpiece to be grabbed is achieved. After the type information of the workpiece to be grabbed is determined, the grabbing equipment can be controlled to move the grabbed workpiece to be grabbed to the corresponding storage position based on the type information of the workpiece to be grabbed, and classification of the workpiece to be grabbed is achieved.
In the embodiment, the grabbing equipment is controlled to grab and move the workpieces to be grabbed, so that the workpieces to be grabbed are sorted and classified.
And S260, after determining that all the workpieces in the stacked workpieces are moved to the corresponding storage positions, determining that the workpiece sorting is finished.
Fig. 5 is a schematic diagram of a three-dimensional image of a stacked workpiece after the first sorting in the workpiece sorting method based on the industrial internet provided in the second embodiment, and fig. 6 is a schematic diagram of a two-dimensional image of a stacked workpiece after the first sorting in the workpiece sorting method based on the industrial internet provided in the second embodiment, where after the workpieces to be grabbed are sorted and sorted, the three-dimensional image of the stacked workpiece as shown in fig. 5 and the two-dimensional image as shown in fig. 6 can be continuously obtained. And re-determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the three-dimensional image of the stacked image, and determining the category information of the workpiece to be grabbed according to the two-dimensional image of the stacked image. And then the grabbing equipment can be controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, so that the workpiece to be grabbed is re-sorted, and the grabbing equipment is controlled to move the grabbed workpiece to be grabbed to the corresponding storage position based on the category information of the workpiece to be grabbed, so that the workpiece to be grabbed is re-sorted.
After determining that all the workpieces in the stack of workpieces are moved to the corresponding storage locations, the workpiece sorting is determined to be finished.
In this embodiment, sorting and sorting of stacked workpieces is achieved by controlling gripping and movement of all the workpieces in the stacked workpieces by the gripping apparatus.
The workpiece sorting method based on the industrial Internet provided by the embodiment comprises the following steps: acquiring a three-dimensional image of a stacked workpiece, and determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the three-dimensional image; acquiring a two-dimensional image of a stacked workpiece, and determining a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed; determining category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed; determining a storage position corresponding to the category information of the workpiece to be grabbed; the grabbing equipment is controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and the workpiece to be grabbed is moved to a corresponding storage position according to the category information of the workpiece to be grabbed; and after determining that all the workpieces in the stacked workpieces are moved to the corresponding storage positions, determining that the workpiece sorting is finished. According to the technical scheme, after the three-dimensional image of the stacked workpiece is obtained, the workpiece to be grabbed and the position information of the workpiece to be grabbed can be determined in the stacked workpiece through the three-dimensional image of the stacked workpiece, after the two-dimensional image of the stacked workpiece is obtained, the two-dimensional image of the workpiece to be grabbed can be obtained by cutting the two-dimensional image of the stacked workpiece through the position information of the workpiece to be grabbed, and the category information of the workpiece to be grabbed can be determined through the two-dimensional image of the workpiece to be grabbed, so that the classification of the workpiece to be grabbed is realized. After the storage position corresponding to the class information of the workpiece to be grabbed is determined, the grabbing device is controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, sorting of the workpiece to be grabbed is achieved, the grabbing device is controlled to move the grabbed device to be grabbed to the storage position corresponding to the class information based on the class information of the workpiece to be grabbed, and sorting of the workpiece to be grabbed is achieved. The grabbing equipment is controlled to grab and move the workpieces to be grabbed, so that the workpieces to be grabbed are sorted and classified. Because the workpiece to be grabbed is always the current top-layer workpiece, when the workpiece to be grabbed is grabbed, the condition that the workpiece cannot be grabbed is avoided, and the workpiece cannot be damaged. After determining that all the workpieces in the stack of workpieces are moved to the corresponding storage locations, the workpiece sorting is determined to be finished. The sorting and classifying of the stacked workpieces are realized by controlling the grabbing equipment to grab and move all the workpieces in the stacked workpieces.
Example III
Fig. 7 is a schematic structural diagram of a workpiece sorting apparatus based on the industrial internet according to the third embodiment, which can be applied to a case where sorting and sorting of stacked workpieces are required. The apparatus may be implemented in software and/or hardware and is typically integrated in a computer device.
As shown in fig. 7, the apparatus includes:
a first obtaining module 710, configured to obtain a three-dimensional image of a stacked workpiece, and determine a workpiece to be grabbed and position information of the workpiece to be grabbed according to the three-dimensional image;
a second obtaining module 720, configured to obtain a two-dimensional image of the stacked workpieces, and determine a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed;
a determining module 730, configured to determine category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed;
the execution module 740 is configured to control the grabbing device to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and move the workpiece to be grabbed to a corresponding storage position according to the category information of the workpiece to be grabbed.
According to the workpiece sorting device based on the industrial Internet, a three-dimensional image of stacked workpieces is obtained, and the workpieces to be grabbed and the position information of the workpieces to be grabbed are determined according to the three-dimensional image; acquiring a two-dimensional image of a stacked workpiece, and determining a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed; determining category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed; and controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed. According to the technical scheme, after the three-dimensional image of the stacked workpiece is obtained, the workpiece to be grabbed and the position information of the workpiece to be grabbed can be determined in the stacked workpiece through the three-dimensional image of the stacked workpiece, after the two-dimensional image of the stacked workpiece is obtained, the two-dimensional image of the workpiece to be grabbed can be obtained by cutting the two-dimensional image of the stacked workpiece through the position information of the workpiece to be grabbed, and the category information of the workpiece to be grabbed can be determined through the two-dimensional image of the workpiece to be grabbed, so that the classification of the workpiece to be grabbed is realized. The grabbing equipment is controlled to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, sorting of the workpiece to be grabbed is achieved, the grabbing equipment is controlled to move the grabbed workpiece to be grabbed to the corresponding storage position based on the category information of the workpiece to be grabbed, and sorting of the workpiece to be grabbed is achieved. The grabbing equipment is controlled to grab and move the workpieces to be grabbed, so that the workpieces to be grabbed are sorted and classified. Because the workpiece to be grabbed is the current top-layer workpiece, when the workpiece to be grabbed is grabbed, the condition that the workpiece cannot be grabbed is avoided, and the workpiece cannot be damaged.
Optionally, the first obtaining module 710 is specifically configured to:
acquiring a three-dimensional image of the stacked workpieces based on a three-dimensional image acquisition device; and extracting point cloud data of the stacked workpieces according to the three-dimensional images of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the point cloud data of the stacked workpieces.
Optionally, determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the point cloud data of the stacked workpieces includes:
determining a target area according to the height information of each area in the point cloud data of the stacked workpieces;
and determining the workpiece positioned in the target area as the workpiece to be grabbed, and determining the position information of the workpiece to be grabbed according to the position information of the target area.
Optionally, the second obtaining module 720 is specifically configured to:
acquiring a two-dimensional image of the stacked workpieces based on a two-dimensional image acquisition device; and determining a two-dimensional workpiece image corresponding to the workpiece to be grabbed in the two-dimensional images of the stacked workpieces according to the position information of the workpiece to be grabbed.
Optionally, the determining module 730 is specifically configured to:
determining the reflection effect of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed; and determining the category information of the workpiece to be grabbed according to the light reflection effect of the workpiece to be grabbed.
Optionally, the apparatus further comprises:
and the storage position determining module is used for determining a storage position corresponding to the category information of the workpiece to be grabbed.
Optionally, the apparatus further comprises:
and the end determining module is used for determining that the sorting of the workpieces is ended after determining that all the workpieces in the stacked workpieces are moved to the corresponding storage positions.
The workpiece sorting device based on the industrial Internet provided by the embodiment can execute the workpiece sorting method based on the industrial Internet provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the workpiece sorting method based on the industrial Internet.
It should be noted that, in the above embodiment of the workpiece sorting apparatus based on the industrial internet, each unit and module included are only divided according to the functional logic, but are not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Example IV
Fig. 8 is a schematic structural diagram of a computer device according to a fourth embodiment. Computer devices are intended to represent various forms of digital computers, such as laptops, desktops, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Computer devices may also represent various forms of mobile equipment, such as personal digital processing, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing equipment. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 8, the computer device 8 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the computer device 8 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
The various components in the computer device 8 are connected to an I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the computer device 8 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the industrial internet-based workpiece sorting method.
In some embodiments, the industrial internet-based workpiece sorting method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the computer device 8 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more of the steps of the industrial internet-based workpiece sorting method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the industrial internet-based workpiece sorting method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. An industrial internet-based workpiece sorting method, which is characterized by comprising the following steps:
acquiring a three-dimensional image of a stacked workpiece, and determining the workpiece to be grabbed and the position information of the workpiece to be grabbed according to the three-dimensional image;
acquiring a two-dimensional image of a stacked workpiece, and determining a two-dimensional workpiece image of the workpiece to be grabbed according to the two-dimensional image and the position information of the workpiece to be grabbed;
determining category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed;
And controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed.
2. The industrial internet-based workpiece sorting method according to claim 1, wherein acquiring a three-dimensional image of stacked workpieces, determining a workpiece to be gripped and positional information of the workpiece to be gripped from the three-dimensional image, comprises:
acquiring a three-dimensional image of the stacked workpieces based on a three-dimensional image acquisition device;
and extracting point cloud data of the stacked workpieces according to the three-dimensional images of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the point cloud data of the stacked workpieces.
3. The industrial internet-based workpiece sorting method according to claim 2, wherein determining the workpiece to be gripped and the positional information of the workpiece to be gripped from the point cloud data of the stacked workpieces includes:
determining a target area according to the height information of each area in the point cloud data of the stacked workpieces;
and determining the workpiece positioned in the target area as the workpiece to be grabbed, and determining the position information of the workpiece to be grabbed according to the position information of the target area.
4. The industrial internet-based workpiece sorting method of claim 3, wherein acquiring a two-dimensional image of stacked workpieces, determining a two-dimensional workpiece image of the workpiece to be gripped from the two-dimensional image and the positional information of the workpiece to be gripped, comprises:
acquiring a two-dimensional image of the stacked workpieces based on a two-dimensional image acquisition device;
and determining a two-dimensional workpiece image corresponding to the workpiece to be grabbed in the two-dimensional images of the stacked workpieces according to the position information of the workpiece to be grabbed.
5. The industrial internet-based workpiece sorting method according to claim 1, wherein determining the category information of the workpiece to be gripped from the two-dimensional workpiece image of the workpiece to be gripped comprises:
determining the reflection effect of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed;
and determining the category information of the workpiece to be grabbed according to the light reflection effect of the workpiece to be grabbed.
6. The industrial internet-based workpiece sorting method according to claim 1, further comprising, before moving the workpiece to be gripped to the corresponding storage location according to the category information of the workpiece to be gripped:
And determining a storage position corresponding to the class information of the workpiece to be grabbed.
7. The industrial internet-based workpiece sorting method of claim 1, further comprising:
and after determining that all the workpieces in the stacked workpieces are moved to the corresponding storage positions, determining that the workpiece sorting is finished.
8. Work piece sorting device based on industry internet, characterized by comprising:
the first acquisition module is used for acquiring a three-dimensional image of the stacked workpieces, and determining the workpieces to be grabbed and the position information of the workpieces to be grabbed according to the three-dimensional image;
the second acquisition module is used for acquiring two-dimensional images of stacked workpieces and determining the two-dimensional workpiece images of the workpieces to be grabbed according to the two-dimensional images and the position information of the workpieces to be grabbed;
the determining module is used for determining the category information of the workpiece to be grabbed according to the two-dimensional workpiece image of the workpiece to be grabbed;
and the execution module is used for controlling the grabbing equipment to grab the workpiece to be grabbed based on the position information of the workpiece to be grabbed, and moving the workpiece to be grabbed to the corresponding storage position according to the category information of the workpiece to be grabbed.
9. A computer device, the computer device comprising:
At least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the industrial internet-based workpiece sorting method of any of claims 1-7.
10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the industrial internet-based workpiece sorting method of any of claims 1-7.
CN202310723623.0A 2023-06-16 2023-06-16 Workpiece sorting method, device and storage medium based on industrial Internet Pending CN116777986A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310723623.0A CN116777986A (en) 2023-06-16 2023-06-16 Workpiece sorting method, device and storage medium based on industrial Internet

Publications (1)

Publication Number Publication Date
CN116777986A true CN116777986A (en) 2023-09-19

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Country Link
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