CN117023177B - Stacker crane based on machine vision AI control - Google Patents
Stacker crane based on machine vision AI control Download PDFInfo
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- CN117023177B CN117023177B CN202311200807.5A CN202311200807A CN117023177B CN 117023177 B CN117023177 B CN 117023177B CN 202311200807 A CN202311200807 A CN 202311200807A CN 117023177 B CN117023177 B CN 117023177B
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- 238000007493 shaping process Methods 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 23
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- 210000000078 claw Anatomy 0.000 claims description 8
- 239000000843 powder Substances 0.000 claims description 8
- 239000008187 granular material Substances 0.000 claims description 7
- 238000003062 neural network model Methods 0.000 claims description 4
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- 238000012545 processing Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 8
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- 230000009471 action Effects 0.000 description 3
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control 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
- B65G57/00—Stacking of 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a stacker crane based on machine vision AI control, which comprises a conveying line, a manipulator, a stacker crane and a vision detection system; the mechanical arm is arranged at the output end of the conveying line, and the conveying line directly conveys cargoes to a clamping station of the mechanical arm; the clamping station of the manipulator is provided with a shaping mechanism, and the shaping mechanism is used for shaping cargoes; the visual detection system predicts a cargo key feature point coordinate set B of a to-be-piled layer according to the cargo thickness and the size parameters by detecting a cargo key feature point coordinate set A of a next piled layer, sets a deviation threshold of the B, acquires an actual cargo key feature point coordinate set C of the current piled layer after the current piled layer is piled, judges whether the C is within the deviation threshold range of the B, and judges the deviation of the current piled layer if the C is not within the deviation threshold range of the B; and if the deviation of the current stacking layer is judged, controlling a shaping mechanism of the manipulator to shape the goods on the current stacking layer. The invention is beneficial to improving the stacking stability.
Description
Technical Field
The invention relates to the technical field of palletizing robots, in particular to a palletizer based on machine vision AI control.
Background
The application of AI visual detection in the stacker crane field is a current trend and is also mature, as disclosed in the published Chinese patent application CN116596806A, a combined stacking control method for a visual stacking robot is disclosed, and the effect of image enhancement is improved through an improved visual recognition algorithm, so that the accuracy of combined stacking control is improved. In addition, CN112591356a discloses a visual inspection system for stacking in a closed or semi-closed limited space, and the improvement on the recognition algorithm is also performed, so as to achieve the effect of improving the inspection speed.
The above publications are all improvements in how to improve recognition accuracy. At present, a machine vision algorithm is a mature technical means, and the adoption of the means for realizing high-efficiency stacking of robots is a basic direction in the field. But new problems arise in the palletizing of bagged powders or granules. First, such cargo itself is structurally unstable. Unlike fixed packaged goods, such as carton packages, or unpackaged and structurally fixed workpieces, bagged particulate matter/powder can change its shape during transport or robotic grasping due to loose internal goods. Although visual detection in a static state is not obstacle, the visual detection of the attitude in one state simply by visual detection cannot bring significant assistance to stacking work due to certain fluidity.
According to the traditional manipulator grabbing and stacking mode. When stacking, residual particles or dust are arranged outside the bag body, so that friction is reduced; moreover, when the mechanical arm is put in, the stress is uncontrollable, so that the sliding is easy to cause, and the stacking stability is not high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a stacker crane based on machine vision AI control and a nursing bed with the structure.
The invention provides the following technical scheme:
the stacker crane based on the machine vision AI control is used for processing the stacking of bagged powder or granular material cargoes and comprises a conveying line, a manipulator, a stacking table and a vision detection system;
the mechanical arm is arranged at the output end of the conveying line, and the conveying line directly conveys cargoes to a clamping station of the mechanical arm;
the clamping station of the manipulator is provided with a shaping mechanism, the shaping mechanism is used for shaping cargoes, so that cargoes partially form an upward convex/concave structure, and during stacking, cargoes on and off a stacking layer form limit through the upward convex/concave partial structure, thereby improving stability;
the visual detection system predicts a cargo key feature point coordinate set B of a to-be-piled layer according to the cargo thickness and the size parameters by detecting a cargo key feature point coordinate set A of a next piled layer, sets a deviation threshold of the B, acquires an actual cargo key feature point coordinate set C of the current piled layer after the current piled layer is piled, judges whether the C is within the deviation threshold range of the B, and judges the deviation of the current piled layer if the C is not within the deviation threshold range of the B;
and if the deviation of the current stacking layer is judged, controlling a shaping mechanism of the manipulator to shape the goods on the current stacking layer.
Preferably, the visual detection system comprises an industrial camera arranged on the conveying line, the manipulator and the stacking table, and the visual detection system adopts a neural network model to identify the key characteristic points of goods and extract three-dimensional coordinates.
Preferably, the conveying line comprises two sections, one section is a fixed conveying line, the other section is a movable conveying line, the movable conveying line has telescopic and swinging functions, the manipulator is movably mounted at the tail end of the movable conveying line, the manipulator is provided with a sliding module, the sliding module drives the manipulator to longitudinally and transversely slide and move in a plane, and the manipulator can freely rotate relative to the sliding module.
Preferably, when the goods enter the movable conveying line, the visual detection system calculates the central line angle of the goods during conveying by detecting the coordinates of four corner points of the goods, and feeds back the central line angle to the controller, and the controller controls the manipulator to rotate a certain angle when receiving the goods, so that the goods can be positively input into the clamping position of the manipulator.
Preferably, the manipulator comprises clamping claws, two clamping claws distributed left and right form a clamping station, and the clamping claws are driven by a clamping cylinder to realize opening and closing.
Preferably, the shaping mechanism comprises a roller set arranged at the end part of the clamping claw, at least one part of the roller set is an adjusting roller set, and the adjusting roller set can be lifted or lowered.
Preferably, the adjusting roller group comprises three carrier rollers and a gear set, wherein the gear set comprises a first gear, a second gear, a third gear and a fourth gear, and also comprises a first carrier roller bracket and a second carrier roller bracket, the first gear and the second gear are meshed with each other, the first gear is fixedly connected with the first carrier roller bracket, and the second gear is rotationally connected with the first carrier roller bracket;
the third gear is fixedly and concentrically connected with the second gear. The first gear, the second gear and the fourth gear are respectively and concentrically fixedly connected with a carrier roller;
the first gear serves as an input end and drives the two carrier roller supports to fold to form an upward convex or concave structure, and simultaneously three carrier rollers of the regulating roller set rotate during folding.
Preferably, the regulating roller sets are arranged at two ends of the roller set or are independently arranged in the middle of the roller set, or the roller set consists of a plurality of regulating roller sets.
Preferably, the shaping mechanism further comprises a vibrating plate positioned above the roller set, the vibrating motor is arranged in the vibrating plate, the lower end face of the vibrating plate has a vibrating effect, the vibrating plate comprises a left vibrating plate, a right vibrating plate and a middle vibrating plate, the left vibrating plate and the right vibrating plate are hinged with the middle vibrating plate, and each vibrating plate is independently controlled to lift by three cylinders.
Preferably, shaping rollers protruding downwards are arranged at the bottoms of the two sides of the left vibration plate and the right vibration plate.
Compared with the prior art, the stacker crane based on the machine vision AI control provided by the invention has the advantages that firstly, on the connection of the manipulator and the conveying line, a mode of directly inputting the conveying line is adopted, which is different from the mode of grabbing the conveying line by the traditional manipulator, so that the bagged goods can be prevented from being deformed greatly during grabbing; secondly, arranging a shaping mechanism on the manipulator to shape the bagged goods, ensuring that the goods are stacked in a stable posture, finally, predicting the posture of the stacked goods (namely coordinate detection) by using a visual detection system, feeding back data, and if the offset occurs, reshaping the offset goods by adopting the shaping mechanism on the manipulator;
in summary, the visual detection system is used for detecting the stacked pile and the mechanical arm is used for performing subsequent intervention so as to improve the stability of each layer of stacking.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a manipulator according to the present invention;
FIG. 3 is a schematic view of another view of the manipulator of the present invention;
FIG. 4 is a schematic view of a roller set according to the present invention;
FIG. 5 is a schematic diagram of a second embodiment of a dancer roll set of the present invention;
FIG. 6 is a schematic diagram of a gear set configuration of the present invention;
FIG. 7 is a schematic view of another dancer roll set of the present invention;
FIG. 8 is a diagram of a control logic step I of the present invention;
FIG. 9 is a second diagram of the control logic steps of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to the drawings, a palletizer based on machine vision AI control, referring to fig. 1, is shown for palletizing bagged powder or granular material goods. Especially non-evacuated, bagged goods. In the case of a vacuum packed powder/granule cargo, its structure is also similar to that of a cargo with a fixed structure. However, even with vacuumized goods, the palletizer according to the present embodiment can be used for palletizing because of its certain "structural variability".
Referring to fig. 1, a conveyor line, a robot, a palletizer, and a vision inspection system are included;
the transfer chain includes two sections, and one section is fixed transfer chain 1, and another section is movable transfer chain 2, and movable transfer chain 2 has flexible and swing function, and manipulator 4 movable mounting is at the end of movable transfer chain 2, and manipulator 4 disposes slip module 3, and slip module 3 drive manipulator vertically and horizontally sliding displacement in a plane, but manipulator 40 relative slip module 3 free rotation.
As shown in fig. 1, both sides of the manipulator 4 are hinged to the end of the movable conveyor line 2 by using connecting rods. The movable conveyor line 2 itself has a telescopic and swinging function. The swinging motion swings around the end of the fixed conveying line 1, namely, swings in the left-right direction as shown in fig. 1, and a rotating shaft can be arranged at the joint of the two. The sliding module 3 drives the manipulator 4 to displace along the transverse direction and the vertical direction so as to realize stacking. When the sliding module 3 drives the manipulator 4 to do displacement, the movable conveying line 2 is naturally driven to swing and stretch. The purpose of this is to allow the robot 4 to always dock at the end of the mobile conveyor line 2.
The manipulator is arranged at the output end of the conveying line, the conveying line directly conveys cargoes to a clamping station of the manipulator 4, and the stacking table can vertically lift;
in the scheme, the mechanical arm 4 does not actively grab goods, firstly, 4 strokes of the mechanical arm are saved, and the mechanical arm is always only responsible for stacking and stacking, so that the efficiency can be improved to a certain extent; secondly, avoid manipulator 4 to cause the great deformation of goods when snatching to deformation when snatching is often more random, is unfavorable for subsequent pile up neatly.
It should be noted that, when the goods get into the activity transfer chain 2, the visual detection system calculates the central line angle of goods when carrying through detecting the coordinates at four angular points of goods to feed back to the controller, and the manipulator 4 is being accepted to the controller control, rotates certain angle for the goods can be forward input to the clamping position of manipulator 4. Avoid goods skew to get into in the centre gripping station of manipulator, the corner produces the striking to cause uncontrollable deformation, influence plastic and pile up neatly.
In addition, the stacking table is designed to be capable of vertically lifting, lifting of the manipulator is avoided, stacking actions are decomposed to two structures to a certain extent to be born, and efficiency can be improved according to time sequence cooperation. In addition, the stacking table is lifted, and is also used for realizing low-position goods delivery of the mechanical arm, so that extrusion deformation caused by heavy falling of goods is avoided.
The clamping station of the manipulator 4 is provided with a shaping mechanism, the shaping mechanism is used for shaping cargoes, so that cargoes locally form an upward convex/concave structure, and during stacking, cargoes on and off a stacking layer form limit through the upward convex/concave local structure, thereby improving stability;
in order to solve the problem of fluidity of the bagged powder/granular material goods. In this embodiment, the shaping mechanism is arranged on the manipulator 4, and the shaping mechanism is arranged into a structure suitable for stacking.
If the middle part of the pallet is convex upwards, the two sides of the pallet are concave, and limit is formed between the upper layer and the lower layer during stacking; or structures such as convex on two sides, concave in the middle, and the like.
On a conventional palletizing conveying line for bagged cargoes, a shaping structure is also arranged, and the air at the empty position in the bag is discharged through rolling by an upper roller and a lower roller. However, even though the shaping structure can uniformly grab and release the internal materials by the manipulator, the shaping structure can still generate great deformation.
In this embodiment, the cargoes are directly shaped on the manipulator, and a structure suitable for stacking is shaped. Forming it into a standardized structural shape.
A specific shaping structure is shown with reference to fig. 2 to 6;
referring to fig. 2, the manipulator 4 generally includes left and right distributed clamping jaws, which form a clamping station, and the clamping jaws are driven by a clamping cylinder 41 to open and close.
The single-side gripper jaw is composed of an array of rollers, which are locally raised or recessed in order to shape the goods. In practice, only a partial roller set needs to be lifted or lowered, and the goods naturally deform under the action of gravity.
On the basis of the above-described concept, the present embodiment therefore designs a regulating roller set, which is designed as a part of the roller set. The roller set can also be formed by combining a plurality of adjusting roller sets.
Referring to fig. 6, the adjusting roller set provided in this embodiment includes three rollers and a gear set 47, the gear set 47 includes a first gear 471, a second gear 472, a third gear 473 and a fourth gear 474, and further includes a first roller support 475 and a second roller support 476, where the first gear 471 and the second gear 472 are meshed with each other, and the first gear 471 is fixedly connected with the first roller support 475, and the second gear 472 is rotatably connected with the first roller support 475;
the third gear 473 is fixed and concentrically connected to the second gear 472, the third gear 473. The third gear 473 is meshed with the fourth gear 474, the fourth gear 474 is rotatably connected to the other end of the second carrier roller bracket 476, and the first gear 471, the second gear 472 and the fourth gear 474 are respectively and concentrically fixedly connected with a carrier roller;
the first gear 471 serves as an input end to drive the two carrier roller supports to fold to form a convex or concave structure, and simultaneously three carrier rollers of the roller group are adjusted to rotate during folding. When installed, the first gear 471 is fixed in position and rotatably coupled to the mounting bracket of the clamping jaw. The second gear 472 and the third gear 473 are all mounted in the air, the fourth gear 474 is provided with a track groove on the mounting bracket when mounted, the end of the fourth gear 474 is connected with a slider in a rotating way, and the slider is embedded and slides in the track groove for supporting.
The first gear 471 is driven by a motor, when the first gear 471 rotates, the first carrier roller support 475 rotates around the axis of the first gear 471, meanwhile, the third gear 473 drives the second carrier roller support 476 to rotate under the transmission of gear engagement, and as the rotation directions of the first gear 471 and the third gear 473 are opposite, the two carrier roller supports fold to form an upward convex or downward concave, and the upward convex and the downward concave are determined by the rotation directions. In addition, it is worth mentioning that when the bearing roller support is folding, the bearing roller is also doing rotatablely, and the bearing roller contacts with the goods when rotatory, can help powder or granule material in the wrapping bag to flow, carries out the refining, and two other bearing rollers are rotatory in opposite directions, so form certain arch in bearing roller department, also can play spacing effect when the pile up neatly. In practice, the idler supports may be folded multiple times to homogenize the material.
In addition, as shown in fig. 4 and 5, two types are preferable in this embodiment. First, as shown in fig. 4, the regulating roller sets are provided on both sides of the roller set, with the fixed roller 48 in the middle. The other is to set an adjusting roller set in the middle and fixed rollers 48 on both sides. Of course, all the fixed rollers 48 may be replaced with an adjustable roller set. To achieve different shaping effects.
As in the structure of fig. 4, the two sides of the goods can be lifted, and the middle folding is relatively concave; the goods structure is suitable for staggered stacking, namely, the two ends of the upper layer are overlapped with the middle position of the lower layer.
As in the configuration of fig. 5, the cargo is lifted up in the middle. Under the action of gravity, the materials can flow to two sides, after being placed on the stacking table, the middle of the stacking table is sunken, the materials on two sides are more than the middle of the stacking table, and the cargo structure is also suitable for staggered stacking.
If the regulating roller groups are arranged at the two ends and the middle, the two regulating roller groups can be exchanged for shaping, namely, the first layer is shaped in a mode of fig. 4, and the second layer is shaped in a mode of fig. 5, so that the stacking limit stacking is realized.
It should be noted that, in this embodiment, three rollers and gears are adopted as the adjusting roller set, and a plurality of rollers and gears may be actually connected, as shown in fig. 7, if this structure is provided, only one adjusting roller set (the middle part is convex during forward rotation and the middle part is concave during reverse rotation) needs to be provided in the middle, so that the lifting and sinking of the cargo middle part can be realized.
In addition, for supplementary plastic and supplementary blowing, still be provided with the vibrating plate in the upper portion of gripper jaw, install vibrating motor in the vibrating plate for the lower terminal surface of vibrating plate has the effect of vibration, and the vibrating plate includes control vibrating plate 44 and middle vibrating plate 43, and control vibrating plate 44 all articulates with middle vibrating plate 43 about, adopts three cylinder 42 to control every vibrating plate lift alone. The vibrating plate on both sides can fold into different shapes to adapt to protruding or sunken plastic structure on the goods, when the plastic, the vibrating plate laminating is on the goods surface, through the vibration of certain amplitude, helps its material to flow, simultaneously, makes through the vibration, and inside material is more hardened, and the plastic effect is better. In addition, be provided with protruding plastic roller down in vibrating plate both sides, plastic roller formula is in order to keep the neatly of wrapping bag edge portion, prevents, makes wrapping bag edge vacant because the flow of material in the plastic process, causes the edge "blurring", reduces visual inspection's accuracy. In addition, the shaping roller is pressed into a concave structure at the edge, and the concave structure is opposite to the convex structure formed by the carrier roller in fig. 4, so that a certain matching limiting effect can be realized during stacking.
In summary, the shaping mechanism on the manipulator 4 is used to perform standardized shaping on the goods. Standardized shaping facilitates detection by the visual inspection system. The visual detection system comprises an industrial camera arranged on the conveying line, the manipulator and the stacking table, and adopts a neural network model to identify the key characteristic points of goods and extract three-dimensional coordinates. Through the shooting pictures of multi-angle, the coordinate is extracted to build the model, and the model is more accurate. Meanwhile, because standardized shaping is adopted, a large number of images and goods can be input into the neural network model in advance for training.
Since the cargo structure is standardized, the way it is palletized is also determined. The visual detection system detects a key characteristic point coordinate set A of cargoes of a next stacking layer, predicts a cargo key characteristic point coordinate set B of the layer to be stacked according to thickness and size parameters of the cargoes, sets a deviation threshold of the B, acquires an actual cargo key characteristic point coordinate set C of the current stacking layer after the current stacking layer is stacked, judges whether the C is in the deviation threshold range of the B, and judges the deviation of the current stacking layer if the C is not in the deviation threshold range of the B;
if the deviation of the current stacking layer is judged, the shaping mechanism of the control manipulator 4 shapes the goods on the current stacking layer
During shaping, the carrier roller is downwards turned over by the adjusting roller group, the carrier roller is downwards protruded, then the surface of goods is rolled, the shaping effect is achieved, and in another preferred embodiment, a manipulator is additionally designed at the stacking table and is specially used for shaping.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The stacker crane based on the machine vision AI control is used for processing the stacking of bagged powder or granular material cargoes and is characterized by comprising a conveying line, a manipulator, a stacking table and a vision detection system;
the manipulator is arranged at the output end of the conveying line, and the conveying line directly conveys cargoes to a clamping station of the manipulator (4);
the clamping station of the manipulator (4) is provided with a shaping mechanism, the shaping mechanism is used for shaping cargoes, so that cargoes locally form an upward convex/concave structure, and during stacking, cargoes on and off a stacking layer form limit through the upward convex/concave local structure, thereby improving stability;
the mechanical arm (4) comprises clamping claws, two clamping claws distributed left and right form a clamping station, the clamping claws are driven by a clamping cylinder (41) to realize opening and closing, the shaping mechanism comprises a roller set arranged at the end part of the clamping claws, at least one part of the roller set is an adjusting roller set, and the adjusting roller set can ascend or descend;
the adjusting roller set comprises three carrier rollers and a gear set (47), wherein the gear set (47) comprises a first gear (471), a second gear (472), a third gear (473) and a fourth gear (474), and further comprises a first carrier roller support (475) and a second carrier roller support (476), the first gear (471) and the second gear (472) are meshed with each other, the first gear (471) is fixedly connected with the first carrier roller support (475), and the second gear (472) is rotationally connected with the first carrier roller support (475);
the third gear (473) is fixedly and concentrically connected with the second gear (472), the third gear (473) is fixedly connected to one end of the second carrier roller support (476), the third gear (473) is meshed with the fourth gear (474), the fourth gear (474) is rotatably connected to the other end of the second carrier roller support (476), and the first gear (471), the second gear (472) and the fourth gear (474) are concentrically and fixedly connected with a carrier roller respectively;
the first gear (471) is used as an input end to drive the two carrier roller brackets to fold to form a convex or concave structure, and simultaneously three carrier rollers of the roller group are adjusted to rotate during folding;
the visual detection system predicts a cargo key feature point coordinate set B of a to-be-piled layer according to the cargo thickness and the size parameters by detecting a cargo key feature point coordinate set A of a next piled layer, sets a deviation threshold of the B, acquires an actual cargo key feature point coordinate set C of the current piled layer after the current piled layer is piled, judges whether the C is within the deviation threshold range of the B, and judges the deviation of the current piled layer if the C is not within the deviation threshold range of the B;
and if the deviation of the current stacking layer is judged, controlling a shaping mechanism of the manipulator (4) to shape the goods on the current stacking layer.
2. The machine vision AI control-based palletizer of claim 1, wherein the vision detection system includes industrial cameras mounted on conveyor lines, manipulators and palletizing tables, and the vision detection system employs neural network models to identify cargo key feature points and extract three-dimensional coordinates.
3. The stacker crane based on machine vision AI control according to claim 2, wherein the conveyor line comprises two sections, one section is a fixed conveyor line (1) and the other section is a movable conveyor line (2), the movable conveyor line (2) has telescopic and swinging functions, the manipulator (4) is movably mounted at the tail end of the movable conveyor line (2), the manipulator (4) is provided with a sliding module (3), the sliding module (3) drives the manipulator to longitudinally and transversely slide in a plane, and the manipulator (40) can freely rotate relative to the sliding module (3).
4. A palletizer based on machine vision AI control according to claim 3, wherein when the goods enter the movable conveyor line (2), the vision detection system calculates the central line angle of the goods during conveying by detecting the coordinates of four corner points of the goods, and feeds back to the controller, and the controller controls the manipulator (4) to rotate a certain angle when receiving the goods, so that the goods can be positively input to the clamping position of the manipulator (4).
5. The machine vision AI control-based palletizer as in claim 1, wherein: the regulating roller sets are arranged at two ends of the roller set or are independently arranged in the middle of the roller set, or the roller set consists of a plurality of regulating roller sets.
6. The machine vision AI control-based palletizer as in claim 5, wherein: the shaping mechanism further comprises a vibrating plate positioned above the roller set, a vibrating motor is arranged in the vibrating plate, the lower end face of the vibrating plate has a vibrating effect, the vibrating plate comprises a left vibrating plate (44) and a right vibrating plate (43) and a middle vibrating plate (43), the left vibrating plate and the right vibrating plate (44) are hinged with the middle vibrating plate (43), and each vibrating plate is independently controlled to lift by three air cylinders (42).
7. The machine vision AI control-based palletizer as in claim 6, wherein: shaping rollers protruding downwards are arranged at the bottoms of two sides of the left vibration plate (43).
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