CN206263537U - A kind of stacked items Automated Sorting System based on stereoscopic vision - Google Patents
A kind of stacked items Automated Sorting System based on stereoscopic vision Download PDFInfo
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- CN206263537U CN206263537U CN201621239310.XU CN201621239310U CN206263537U CN 206263537 U CN206263537 U CN 206263537U CN 201621239310 U CN201621239310 U CN 201621239310U CN 206263537 U CN206263537 U CN 206263537U
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Abstract
A kind of stacked items Automated Sorting System based on stereoscopic vision, it is characterised in that including stereo vision sensor（1）, sorting equipment（2）, charging tray（3）, control and processing system（4）With rotation percussion mechanism（5）；The stereo vision sensor（1）For gathering the charging tray（3）The three dimensional depth image of interior article is simultaneously sent to the control and processing system（4）；The control and processing system（4）From the stereo vision sensor（1）Being calculated in the image of acquisition can capture the direction of article, coordinate and crawl point and be sent to the sorting equipment（2）Capture the charging tray（3）In corresponding capture article；The utility model improves the efficiency of stacked items sorting operation, reduces manpower reduces cost, and portable strong, wide adaptability, can be supporting with Aulomatizeted Detect, assembling or vanning mounted box work flow, realizes the automatic production of intelligence.
Description
Technical field
The utility model is related to technical field of automation, more particularly to a kind of stacked items based on stereoscopic vision to divide automatically
Pick system.
Background technology
During assembling between the instrument of carrying out mounted box or part, many times workman needs the heap first from such as Turnover Box
Required individual tool or part is sorted out in folded article, the laggard luggage box of faulty materials or assembling are rejected in detection, but manually
Sorting takes time and effort, inefficiency, is also possible to break or wrong segregating articles when tired.
The content of the invention
For above-mentioned deficiency, the utility model provides a kind of stacked items Automated Sorting System based on stereoscopic vision, should
Utility model by stereovision technique position in stacked items can the coordinate of segregating articles, direction and crawl point, and be sent to
Automatic sorting device, after automatic sorting device crawl article, according to subsequent automated detection, assembling or vanning mounted box work flow
Demand by article with specify attitude be placed in the specified location of subsequent job flow.
The purpose of this utility model is achieved through the following technical solutions：A kind of stacked items based on stereoscopic vision are certainly
Dynamic sorting system, it is characterised in that including stereo vision sensor, sorting equipment, charging tray, control and processing system and rotation shake
Motivation structure.
The stereo vision sensor is used to gather the three dimensional depth image of article in the charging tray and send to the control
System and processing system；Being calculated in the image that the control and processing system are obtained from the stereo vision sensor can capture thing
The direction of product, coordinate and crawl point are simultaneously sent to the sorting equipment and capture and corresponding in the charging tray capture article.
The rotation percussion mechanism is arranged on the charging tray bottom, when the control and processing system cannot be calculated and can grabbed
When taking article, the rotation percussion mechanism drives the charging tray and the article rotating vibrations being placed in the charging tray, changes charging tray
Interior article stacking state.
The stereo vision sensor is the combination of camera and laser；The stereo vision sensor is arranged on straight line shifting
In dynamic model group, the rectilinear movement module drives the stereo vision sensor movement.
The sorting equipment includes robot and fixture；The fixture is arranged on the robot actuating station.
The rotation percussion mechanism is arranged on automatic guided vehicle.
The utility model improves the efficiency of stacked items sorting operation, reduces manpower reduces cost, and it is portable it is strong,
Wide adaptability, can be supporting with Aulomatizeted Detect, assembling or vanning mounted box work flow, realizes the automatic production of intelligence.
Brief description of the drawings
Fig. 1 is front view of the present utility model；
Fig. 2 is the structural representation of sorting equipment 2 in the utility model；
Mark is described as follows in figure：1st, stereo vision sensor；2nd, sorting equipment；21st, robot；22nd, fixture；3rd, expect
Disk；4th, control and processing system；5th, percussion mechanism is rotated；6th, move linearly module；7th, automatic guided vehicle.
Specific embodiment
It is further elaborated with reference to specific implementation case.
A kind of stacked items Automated Sorting System based on stereoscopic vision, as shown in figure 1, including stereo vision sensor 1,
Sorting equipment 2, charging tray 3, control and processing system 4 and rotation percussion mechanism 5.
The stereo vision sensor 1 is used to gather the three dimensional depth image of article in the charging tray 3 and send to described
Control and processing system 4；Being calculated in the image that the control and processing system 4 are obtained from the stereo vision sensor 1 can
Capture the direction of article, coordinate and crawl point and be sent to the sorting equipment 2 and capture and corresponding in the charging tray 3 capture thing
Product.
The rotation percussion mechanism 5 is arranged on the charging tray bottom, and when the control and processing system 4, cannot calculate can
During crawl article, the rotation percussion mechanism 5 drives the charging tray 3 and the article rotating vibrations being placed in the charging tray 3, change
Article stacking state in charging tray.
The stereo vision sensor 1 is the combination of camera and laser；The stereo vision sensor 1 is arranged on straight line
On mobile module 6, the rectilinear movement module 6 drives the stereo vision sensor 1 to move.
The rotation percussion mechanism 5 is arranged on automatic guided vehicle 7.
The sorting equipment 2 is as shown in Fig. 2 including robot 21 and fixture 22；The fixture 22 is arranged on the machine
The actuating station of people 21.
Compared with prior art, a kind of stacked items automatic sorting system based on stereoscopic vision that the utility model is provided
System, by stereovision technique position in stacked items can the coordinate of segregating articles, direction and crawl point, and be sent to automatic point
Device is picked, after automatic sorting device crawl article, according to the demand of subsequent automated detection, assembling or vanning mounted box work flow
By article to specify attitude to be placed in the specified location of subsequent job flow, the efficiency of stacked items sorting operation is improve, subtracted
Few manpower reduces cost, and portable strong, wide adaptability, can match somebody with somebody with Aulomatizeted Detect, assembling or vanning mounted box work flow
Set, realizes the automatic production of intelligence.
Claims (4)
1. a kind of stacked items Automated Sorting System based on stereoscopic vision, it is characterised in that including stereo vision sensor
（1）, sorting equipment（2）, charging tray（3）, control and processing system（4）With rotation percussion mechanism（5）；
The stereo vision sensor（1）For gathering the charging tray（3）The three dimensional depth image of interior article is simultaneously sent to described
Control and processing system（4）；The control and processing system（4）From the stereo vision sensor（1）The image of acquisition is fallen into a trap
Calculating can capture the direction of article, coordinate and crawl point and be sent to the sorting equipment（2）Capture the charging tray（3）Middle correspondence
Captured article；
The rotation percussion mechanism（5）The charging tray bottom is arranged on, when the control and processing system（4）Cannot calculate can
During crawl article, the rotation percussion mechanism（5）Drive the charging tray（3）And it is placed in the charging tray（3）Interior article rotating shake
It is dynamic, the article stacking state in change charging tray.
2. a kind of stacked items Automated Sorting System based on stereoscopic vision as claimed in claim 1, it is characterised in that described
Stereo vision sensor（1）It is the combination of camera and laser；The stereo vision sensor（1）It is arranged on rectilinear movement module
（6）On, the rectilinear movement module（6）Drive the stereo vision sensor（1）It is mobile.
3. a kind of stacked items Automated Sorting System based on stereoscopic vision as claimed in claim 1, it is characterised in that described
Sorting equipment（2）Including robot（21）And fixture（22）；The fixture（22）It is arranged on the robot（21）Actuating station.
4. a kind of stacked items Automated Sorting System based on stereoscopic vision as claimed in claim 1, it is characterised in that described
Rotation percussion mechanism（5）It is arranged at automatic guided vehicle（7）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621239310.XU CN206263537U (en) | 2016-11-24 | 2016-11-24 | A kind of stacked items Automated Sorting System based on stereoscopic vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621239310.XU CN206263537U (en) | 2016-11-24 | 2016-11-24 | A kind of stacked items Automated Sorting System based on stereoscopic vision |
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| Publication Number | Publication Date |
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| CN206263537U true CN206263537U (en) | 2017-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621239310.XU Active CN206263537U (en) | 2016-11-24 | 2016-11-24 | A kind of stacked items Automated Sorting System based on stereoscopic vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945688A (en) * | 2018-09-06 | 2018-12-07 | 深圳市博视科技有限公司 | The automatic bound device of product coding |
| CN112691925A (en) * | 2020-12-09 | 2021-04-23 | 安徽机电职业技术学院 | Automatic on-line sorting method for material stacks |
-
2016
- 2016-11-24 CN CN201621239310.XU patent/CN206263537U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945688A (en) * | 2018-09-06 | 2018-12-07 | 深圳市博视科技有限公司 | The automatic bound device of product coding |
| CN108945688B (en) * | 2018-09-06 | 2023-12-19 | 深圳市博视科技有限公司 | Automatic binding equipment for product codes |
| CN112691925A (en) * | 2020-12-09 | 2021-04-23 | 安徽机电职业技术学院 | Automatic on-line sorting method for material stacks |
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