CN116924000A - Processing position uniform speed control method, system and storage medium - Google Patents
Processing position uniform speed control method, system and storage medium Download PDFInfo
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- CN116924000A CN116924000A CN202310924289.5A CN202310924289A CN116924000A CN 116924000 A CN116924000 A CN 116924000A CN 202310924289 A CN202310924289 A CN 202310924289A CN 116924000 A CN116924000 A CN 116924000A
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- 238000012545 processing Methods 0.000 title claims abstract description 73
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/44—Belt or chain tensioning arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
The invention discloses a method, a system and a storage medium for uniformly controlling a processing position, and belongs to the technical field of production line control. The method comprises the following steps: the camera acquires images of the conveyed materials on the conveying equipment in real time; extracting characteristic points of the image of the conveyed material, and analyzing whether the characteristic points meet the processing requirements of the processing position in real time; if the characteristic points do not meet the processing requirements, the camera calculates material deviation according to the corresponding relation between the characteristic points and the processing requirements, and a motion control instruction is output according to the material deviation; and the conveying equipment adjusts the transmission state according to the motion control instruction so that the conveyed material meets the processing requirement of the processing position. The invention uses vision to control movement, namely, the output signal of the camera is applied to the movement system, and the intelligent of the camera is improved, so that the production flow is improved, the management system is simplified, and the reliability of the system is improved.
Description
Technical Field
The invention relates to the technical field of production line control, in particular to a method, a system and a storage medium for uniformly controlling a processing position.
Background
Currently, machine vision products such as cameras on the market are widely applied to the production field, have a trend of expanding to the life field, and become an indispensable one in production. Visual acquisition is an important ring in improving the degree of production automation, and cameras are required to be more accurate and intelligent. In order to improve the working environment of the camera and improve the utilization rate of resources, most cameras on the market have a simple pulse output function, and the pulse signals are used for controlling the light source, so that the camera can acquire enough illumination in the exposure time when shooting is achieved, and further clear images are acquired. Meanwhile, in order to accurately acquire the surface characteristics of the shot object, a mode matched with a conveyor belt is often adopted, namely, the conveyor belt generates signals, such as encoder signals, in the moving process, or an object slides through a photoelectric door to generate pulse signals, and the signals are led into the camera, so that the shooting frequency of the camera is controlled, and effective shooting is achieved.
The movement of the conveyor system is controlled by a motor, whose operation is speed-dependent parameters mainly three: direction, lead, and number of pulses required for one run. The goal of controlling the motion state of the conveyor belt can be achieved by controlling the pulse number and the direction pulse in unit time.
The existing conveyor belt and the camera adopt single-phase control, namely the conveyor belt outputs an encoder signal, and the camera adaptively adjusts the shooting process after receiving the encoder signal so as to obtain a correct result. However, the system has unidirectionality, does not have self-adaptive adjustment, and cannot be used for properly processing abnormal states of materials, such as inconvenience to production caused by unequal material spacing on a conveyor belt, or incapability of timely removing foreign matters due to abnormal object falling on the conveyor belt.
Disclosure of Invention
The invention provides a processing position uniform speed control method, a processing position uniform speed control system and a storage medium, which can at least solve one of the technical problems.
In order to achieve the above purpose, the present invention proposes the following technical solutions:
a processing position uniform speed control method comprises the following steps:
the camera acquires images of the conveyed materials on the conveying equipment in real time;
extracting characteristic points of the image of the conveyed material, and analyzing whether the characteristic points meet the processing requirements of the processing position in real time;
if the characteristic points do not meet the processing requirements, the camera calculates material deviation according to the corresponding relation between the characteristic points and the processing requirements, and a motion control instruction is output according to the material deviation;
and the conveying equipment adjusts the transmission state according to the motion control instruction so that the conveyed material meets the processing requirement of the processing position.
Further, the material deviation includes:
material speed deviation, material spacing deviation, material pose deviation and abnormal material deviation.
Further, when the material deviation is the material speed deviation, the method includes:
calculating theoretical characteristic points in a current frame of the conveyed material by utilizing characteristic points in a previous frame of the conveyed material and combining a last motion control instruction sent by a camera;
calculating the material speed deviation according to the difference between the theoretical characteristic points and the real characteristic points in the current frame of the conveyed material acquired by the camera;
and outputting a motion control instruction according to the material speed deviation, wherein the motion control instruction comprises a pair of differential direction signals and one or more pairs of direction pulse signals, the direction signals are used for controlling the motion direction of a motor of the conveying equipment, and the pulse signals are used for controlling the running speed of the motor of the conveying equipment.
Further, a reference point is arranged on the conveying equipment;
calculating a theoretical value of the distance between the characteristic point in the current frame of the conveyed material and the reference point by utilizing the distance between the characteristic point in the previous frame of the conveyed material and the reference point and combining the last motion control instruction sent by the camera;
the camera obtains a true value of the distance between the characteristic point in the current frame of picture of the conveyed material and the reference point;
and calculating the material speed deviation according to the difference between the theoretical value of the distance and the true value of the distance.
Further, when the material deviation is the material spacing deviation, the method includes:
the conveyor apparatus includes two conveyor belts: a first conveyor belt and a second conveyor belt, wherein the conveyed materials are sent to the second conveyor belt from the first conveyor belt and then reach a processing station;
extracting characteristic points of the image of the conveyed material on the first conveyor belt, and analyzing the distance between the conveyed materials in real time according to the characteristic points;
if the distance does not meet the material distance requirement of the processing position, the camera calculates material distance deviation according to the relation between the distance and the material distance requirement, and outputs a motion control instruction according to the material distance deviation;
the first conveyor belt adjusts the transmission speed according to the motion control instruction, so that when the conveyed materials reach the second conveyor belt, the distance between the conveyed materials meets the material distance requirement of the processing position.
Further, the conveying equipment also comprises a position limiting device and a material overturning device; the material interval deviation comprises interval deviation caused by material overturning;
the position limiting device is used for leading conveyed materials to be conveyed from the first conveyor belt to the second conveyor belt without deviation;
the material overturning device is used for overturning the material to be in the correct transmission direction when the material interval deviation is the interval deviation caused by material overturning.
Further, when the material deviation is the material level posture deviation, the method includes:
the material pose deviation is caused by loosening of a conveyor belt of the conveying device;
the camera is a 3D camera, the characteristic points of the image of the conveyed material are extracted, and whether the height of the conveyed material meets the material height requirement of the processing position is analyzed in real time according to the characteristic points;
if the height of the conveyed material does not meet the requirement, the camera calculates the material position and posture deviation according to the relation between the height of the conveyed material and the material height requirement; outputting a motion control instruction according to the material interval deviation;
and the conveying equipment adjusts the tightness degree of the conveying belt according to the motion control instruction so that the height of the conveyed material meets the material height requirement of the processing position.
Further, when the material deviation is the abnormal material deviation, the method includes:
extracting characteristic points of the image of the conveyed material, and judging whether the material meets the processing position requirement or not according to the characteristic points;
if the material is not the material meeting the processing station requirement, then:
a camera sends a motion control instruction of emergency stop to stop the transmission equipment; or (b)
The conveying device further comprises a sorting device, wherein the sorting device is used for removing abnormal materials from the conveying device;
the camera sends a motion control instruction, and the sorting device removes abnormal materials from the conveying equipment according to the motion control instruction.
On the other hand, the invention also provides a system for controlling the uniform speed of the processing position, which comprises a camera and a conveying device, wherein the camera comprises:
the feature point extraction module is used for extracting image feature points of the conveyed materials on the conveying equipment;
the material deviation calculation module is used for calculating material deviation according to the corresponding relation between the characteristic points and the processing requirements when the characteristic points do not meet the processing requirements of the processing positions;
the control instruction sending module is used for outputting a motion control instruction according to the material deviation; and the motion control instruction controls the conveying equipment to adjust the transmission state so that the conveyed material meets the processing requirement of the processing position.
On the other hand, the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the processor executes the processing bit uniform speed control method.
In order to further improve the intellectualization of production, the scheme of the invention uses vision to control the movement, namely, the output signal of the camera is applied to a movement system, and the production flow is improved by improving the intellectualization of the camera, so that the management system is simplified, and the reliability of the system is improved. In the invention, a camera generates a control signal required by the movement of the conveyor belt and responds to feedback information according to a real-time monitoring result of the conveyor belt. And adjusting the output signal to control the motion change according to the response result, so as to form a system with feedback.
Drawings
FIG. 1 is a flow chart of a method for controlling a constant speed of a processing position according to the invention;
fig. 2 is a schematic diagram of a camera control process according to embodiment 1 of the present invention.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Example 1
The embodiment provides a method for controlling a processing position at a constant speed, as shown in fig. 1, which can be regarded as a cycle process of four processes in whole, namely, data acquisition, data processing, output results and motion system reaction: a data acquisition step of extracting characteristic points of data; a data processing step of analyzing the extracted data; an output result link for outputting a motion control instruction according to the conclusion of the data analysis; and in a reaction link of the motion system, the motion system effectively responds to the received instruction.
The method comprises the steps of acquiring data, sampling at equal time intervals, shooting a system environment, identifying conveyed materials on an acquired image, calibrating characteristic points, and extracting and recording the data of the characteristic points; the data processing stage mainly carries out contrast analysis on the extracted characteristic points, utilizes the characteristic points in the previous frame picture, combines the last motion instruction to analyze the next frame state of the characteristic points, acquires a characteristic point pre-analysis result in the next state, calculates theoretical characteristic points in the current frame picture of the conveyed material, carries out data contrast analysis on the theoretical characteristic points and the actually acquired later frame characteristic points, calculates the material speed deviation according to the difference of the characteristic points, and outputs a new motion instruction.
The motor is controlled, the conveyor belt adopts a rotating motor as a motion driving source, the control method adopts a PID algorithm, and the rotation rate of the motor is controlled by inputting pulse numbers and direction pulse instructions into a motor driver in unit time.
The camera control comprises three parts, as shown in fig. 2, namely, feature identification of materials, distance judgment of the materials and control signal output. And (3) identifying the characteristics of the objects, namely shooting and shooting the object to be detected in advance, defining characteristic points, shooting each object by a camera in the running process of the system, extracting the characteristic points of the object by using an ORB algorithm, SIFT or SURF algorithm and the like, and comparing the characteristic points to judge whether the object is a correct material. For an oversized target, the characteristic points can be extracted by a plurality of cameras, the coincident characteristic points are integrated, a larger characteristic point range is drawn, and the identification of the oversized target is completed. The distance judgment of the material can be carried out by using a 3D camera to judge the position of a travelling object, specifically, a reference point A is set on a conveyor belt, the camera captures a picture of the object on the conveyor belt according to a certain frequency, the distance between the object and the reference point in the picture is analyzed, the first position calibration is carried out, the distance between the object of the next frame and the reference point is calculated according to the target speed, the picture of the next frame is obtained after waiting for the time, the position calibration is carried out again, the difference value between the current calibrated position and the calculated position is compared, and the movement state of the object is judged to be too high or too low speed and the speed which needs to be regulated in the subsequent movement. And the signal output of the camera comprises a pair of differential direction signals and one or more pairs of direction pulse signals, the direction signals are used for controlling the movement direction of the motor, the pulse signals control the running speed of the motor, if the motor receives K pulse signals for one turn in unit time, the camera outputs K/2 signals in unit time, and the motor runs for half a cycle.
Based on the above method, the embodiment further provides a processing position uniform speed control system, which comprises a camera and a conveying device, wherein the camera comprises: the feature point extraction module is used for extracting image feature points of the conveyed materials on the conveying equipment; the material deviation calculation module is used for calculating material deviation according to the corresponding relation between the characteristic points and the processing requirements when the characteristic points do not meet the processing requirements of the processing positions; the control instruction sending module is used for outputting a motion control instruction according to the material deviation; and the motion control instruction controls the conveying equipment to adjust the transmission state so that the conveyed material meets the processing requirement of the processing position.
The embodiment further includes a computer readable storage medium, in which a computer program is stored, where the computer program when executed by a processor causes the processor to execute the processing bit uniform speed control method described above.
Example 2
The embodiment is used for carrying out abnormal treatment on materials under material accumulation, the materials on a normally moving conveyor belt are distributed at equal intervals, and when the materials are distributed at unequal intervals in the advancing process, the materials can be reset by reducing the speed of the conveyor belt, namely, the material interval deviation is corrected. The system specifically requires at least one camera and two conveyor belts, a first conveyor belt and a second conveyor belt, respectively, and an adjustment device. The detailed process is as follows: the area array camera detects the distance between the materials a and b on the first conveyor belt through an identification algorithm, if the distance is close or far, the distance does not meet the requirements, and when the material a enters the second conveyor belt, a PID algorithm is used for reducing or increasing pulse control signals so as to control the speed of the first conveyor belt, so that the materials are transferred to the second conveyor belt, and the materials are distributed on the second conveyor belt in an orderly manner at equal intervals. Wherein, at the transition position of the first conveyor belt and the second conveyor belt, an adjusting device is used to ensure that the material can accurately fall on the working area of the second conveyor belt. The adjusting device specifically comprises a position limiting device and an object overturning device. The position definition may employ, but is not limited to, a two-sided, intermediate-concave device so that the article may appear in the intermediate position of the next transfer. The article overturning adopts a shifting piece device to correct materials with the requirements of the placing direction. The problem of uneven positions of materials on the second conveyor belt can be solved by using the equal-time discharging of the first conveyor belt. Meanwhile, the adjusting device between the first conveyor belt and the second conveyor belt can avoid the problem that the pose of the material on the second conveyor belt is incorrect, so that the material can maintain the relatively correct pose in the transition process.
Example 3
In the normal running conveying system, when a non-material object is detected to enter the conveying belt, the sorting device is used or an emergency stop response mode is used for completing the abnormal processing, namely, the abnormal material deviation is corrected. The system specifically requires at least one line scan camera and one sorting device. The method comprises the specific processes that the line scanning camera collects and compares the characteristics of articles passing through the conveyor belt in real time, and when abnormal articles appear on the conveyor belt, the abnormal articles are sorted to an abnormal collection place by using the sorting device. When the foreign matters cannot be removed, the pulse control signal is stopped, maintenance personnel wait for removing the foreign matters, and the conveying system is restarted. By using the technology, the loss caused by the foreign matters entering the production process can be avoided. Meanwhile, the emergency stop controlled by the camera has high-efficiency responsiveness, and can accurately cope with the occurrence of emergency production accidents at high speed.
Example 4
The embodiment is used for processing abnormal material level gesture, namely correcting material level gesture deviation, such as spatial fluctuation caused by loosening of a conveyor belt. The system at least comprises a multi-view 3D camera and an article pose adjusting device. In the material advancing process, the height space information of the material is acquired by adopting a multi-view 3D camera, and the loosening state of the conveyor belt is judged by collecting the height information change. And according to the loosening amplitude, the distance between the loosening adjustment wheels of the conveyor belt is controlled to finish the loosening adjustment. The system also requires that the pitch of the sag control wheels of the conveyor belt be controlled by a second motor, i.e., the angle of rotation of the second motor controls the distance between the sag adjustment wheels of the conveyor belt. Two pairs of pulse control signals are output by adopting a multi-camera, wherein one pair of pulse signals is used for controlling the rotation angle of the second motor, and the other pair of pulse signals is used for controlling the movement rate of the conveyor belt.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The method for controlling the processing position at uniform speed is characterized by comprising the following steps of:
the camera acquires images of the conveyed materials on the conveying equipment in real time;
extracting characteristic points of the image of the conveyed material, and analyzing whether the characteristic points meet the processing requirements of the processing position in real time;
if the characteristic points do not meet the processing requirements, the camera calculates material deviation according to the corresponding relation between the characteristic points and the processing requirements, and a motion control instruction is output according to the material deviation;
and the conveying equipment adjusts the transmission state according to the motion control instruction so that the conveyed material meets the processing requirement of the processing position.
2. The method for uniform speed control of a processing station according to claim 1, wherein the material deviation comprises:
material speed deviation, material spacing deviation, material pose deviation and abnormal material deviation.
3. The method of claim 2, wherein when the material deviation is the material speed deviation, comprising:
calculating theoretical characteristic points in a current frame of the conveyed material by utilizing characteristic points in a previous frame of the conveyed material and combining a last motion control instruction sent by a camera;
calculating the material speed deviation according to the difference between the theoretical characteristic points and the real characteristic points in the current frame of the conveyed material acquired by the camera;
and outputting a motion control instruction according to the material speed deviation, wherein the motion control instruction comprises a pair of differential direction signals and one or more pairs of direction pulse signals, the direction signals are used for controlling the motion direction of a motor of the conveying equipment, and the pulse signals are used for controlling the running speed of the motor of the conveying equipment.
4. The method for controlling the uniform speed of a processing station according to claim 3, wherein a reference point is provided on the conveying device;
calculating a theoretical value of the distance between the characteristic point in the current frame of the conveyed material and the reference point by utilizing the distance between the characteristic point in the previous frame of the conveyed material and the reference point and combining the last motion control instruction sent by the camera;
the camera obtains a true value of the distance between the characteristic point in the current frame of picture of the conveyed material and the reference point;
and calculating the material speed deviation according to the difference between the theoretical value of the distance and the true value of the distance.
5. The method of claim 2, wherein when the material deviation is the material pitch deviation, comprising:
the conveyor apparatus includes two conveyor belts: a first conveyor belt and a second conveyor belt, wherein the conveyed materials are sent to the second conveyor belt from the first conveyor belt and then reach a processing station;
extracting characteristic points of the image of the conveyed material on the first conveyor belt, and analyzing the distance between the conveyed materials in real time according to the characteristic points;
if the distance does not meet the material distance requirement of the processing position, the camera calculates material distance deviation according to the relation between the distance and the material distance requirement, and outputs a motion control instruction according to the material distance deviation;
the first conveyor belt adjusts the transmission speed according to the motion control instruction, so that when the conveyed materials reach the second conveyor belt, the distance between the conveyed materials meets the material distance requirement of the processing position.
6. The method for uniform speed control of a processing station according to claim 5, wherein the conveying apparatus further comprises a position defining means and a material turning means; the material interval deviation comprises interval deviation caused by material overturning;
the position limiting device is used for leading conveyed materials to be conveyed from the first conveyor belt to the second conveyor belt without deviation;
the material overturning device is used for overturning the material to be in the correct transmission direction when the material interval deviation is the interval deviation caused by material overturning.
7. The processing position uniform velocity control method according to claim 2, characterized by comprising, when the material deviation is the material position deviation:
the material pose deviation is caused by loosening of a conveyor belt of the conveying device;
the camera is a 3D camera, the characteristic points of the image of the conveyed material are extracted, and whether the height of the conveyed material meets the material height requirement of the processing position is analyzed in real time according to the characteristic points;
if the height of the conveyed material does not meet the requirement, the camera calculates the material position and posture deviation according to the relation between the height of the conveyed material and the material height requirement; outputting a motion control instruction according to the material interval deviation;
and the conveying equipment adjusts the tightness degree of the conveying belt according to the motion control instruction so that the height of the conveyed material meets the material height requirement of the processing position.
8. The method of claim 2, wherein when the material deviation is the abnormal material deviation, comprising:
extracting characteristic points of the image of the conveyed material, and judging whether the material meets the processing position requirement or not according to the characteristic points;
if the material is not the material meeting the processing station requirement, then:
a camera sends a motion control instruction of emergency stop to stop the transmission equipment; or (b)
The conveying device further comprises a sorting device, wherein the sorting device is used for removing abnormal materials from the conveying device;
the camera sends a motion control instruction, and the sorting device removes abnormal materials from the conveying equipment according to the motion control instruction.
9. The utility model provides a processing position uniform velocity control system, includes camera and transfer apparatus, its characterized in that, include in the camera:
the feature point extraction module is used for extracting image feature points of the conveyed materials on the conveying equipment;
the material deviation calculation module is used for calculating material deviation according to the corresponding relation between the characteristic points and the processing requirements when the characteristic points do not meet the processing requirements of the processing positions;
the control instruction sending module is used for outputting a motion control instruction according to the material deviation; and the motion control instruction controls the conveying equipment to adjust the transmission state so that the conveyed material meets the processing requirement of the processing position.
10. A computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by a processor, causes the processor to perform the processing bit uniform velocity control method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310924289.5A CN116924000A (en) | 2023-07-26 | 2023-07-26 | Processing position uniform speed control method, system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310924289.5A CN116924000A (en) | 2023-07-26 | 2023-07-26 | Processing position uniform speed control method, system and storage medium |
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