KR102486009B1 - Depaletizing automatic system and method using robot arm - Google Patents

Abstract

Disclosed are an automated depalletizing system and method, which are able to stably pick up targets with different sizes loaded on a pallet one by one by using a robot and put the targets onto a conveyor. To this end, provided is the automated depalletizing system which comprises: a camera unit respectively photographing pallets located on a lower side at three positions on the same line, generating a first to third image information, and transmitting the first to third image information to the outside; a robot arm adsorbing the central point of a target in accordance with the XYZ coordinates of the targets stacked on the pallet, and transferring the target to the conveyor; and a control device storing target pattern data on the external shape of each target used to classify the targets stacked on the pallet, conducting a comparative analysis of the first image information provided from the camera unit with the target pattern data, classifying the type of the target, detecting the XY coordinates on the central point of the target, matching the first image information with images of the second and third image information photographed by tilting down, detecting the tilt-down change value of the point of time when the images are matched, calculating the Z coordinate of the central point based on the tilt-down change value, and providing the XYZ coordinates of the target to the robot arm. According to the present invention, even when targets with different sizes are stacked on a pallet, each target can be transferred to a conveyor in a stable manner by using a robot arm.

Description

Depalletizing automation system and method using a robot arm {DEPALETIZING AUTOMATIC SYSTEM AND METHOD USING ROBOT ARM}

The present invention relates to a depalletizing automation system and method for transporting objects loaded on pallets to a conveyor using a robot, and more specifically, objects of different sizes loaded on pallets are stably picked up one by one using a robot. It relates to a depalletizing automation system and method for inputting into a conveyor.

Palletizing/depalletizing is the process of lifting or lowering work objects on pallets. Palletizing refers to the work of stacking work objects on pallets. Indicates the operation of unloading a work object from a pallet. At this time, the work object may include a packaging box loaded with products.

Recently, a robot arm for palletizing/depalletizing is used for high-speed processing of logistics. The depalletizing operation in which these robot arms pick up work objects loaded on pallets, that is, packaging boxes, one by one, and put them on a conveyor belt is an essential technology for logistics automation.

However, due to the limitation of the recognition range of the 3D camera for detecting work objects such as packing boxes, there is a problem in handling loading objects having different sizes during the depalletizing operation of the robot arm.

Republic of Korea Patent Publication No. 10-2021-0068979 (published on June 10, 2021) Republic of Korea Patent Publication No. 10-2021-0137060 (published on November 17, 2021) Republic of Korea Patent Registration No. 10-1187234 (2012.10.02 announcement) Republic of Korea Patent Registration No. 10-0865165 (Announced on October 24, 2008)

Therefore, the first object of the present invention is a depalletizing operation that can automatically perform depalletizing operation for objects loaded with different sizes, away from performing the depalletizing operation only for objects of uniform size. It is to provide Zing automation system.

In addition, a second object of the present invention is to provide a depalletizing automation method that can stably transfer objects to a conveyor by selecting an adsorption position of objects in consideration of the size of each object even when different objects are loaded on a pallet. is in providing

In order to achieve the above-described first object of the present invention, in one embodiment of the present invention, the first to third image information are generated by photographing palettes located in the downward direction at three locations located on the same line, respectively, and the first to third image information are generated. A camera unit that transmits third image information to the outside, a robot arm that absorbs the center point of an object according to the XYZ coordinates of the object stacked on the pallet and transfers it to the conveyor, and each object used to distinguish the objects loaded on the pallet Object pattern data for the appearance of is stored, and the first image information provided from the camera unit is compared and analyzed with the object pattern data to classify the type of object, detect the XY coordinates of the center point of the object, and first image information Detects the tilt-down change value at the time when the image is matched by attempting image matching of the second and third image information captured while tilting down, calculates the Z coordinate of the center point based on the tilt-down change value, and It provides a depalletizing automation system including a control device for providing XYZ coordinates of the robot arm.

In addition, in order to achieve the second object of the present invention, in one embodiment of the present invention, the pattern data storage step of storing the object pattern data for the appearance of each object used to distinguish the objects loaded on the pallet in the control device And, a palette photographing step of generating first to third image information by photographing pallets located in the downward direction at three places located on the same line by the camera unit, and transmitting the first to third image information to the control device; A center point analysis step in which the control device compares and analyzes the first image information provided from the camera unit with the object pattern data to distinguish the type of objects loaded on the pallet and detects XY coordinates of the center point of the object; The control device compares and analyzes the objects of the second and third image information captured while tilting down based on the object of the first image information, detects the tilt-down change value at the time when the images of the object match each other, and the tilt-down change A distance analysis step of calculating the Z coordinate of the center point based on the value, a coordinate information transmission step of transmitting the coordinate information to the robot arm after the controller generates coordinate information including the XYZ coordinates of the center point, and the robot arm Provided is a depalletizing automation method including a transfer step of adsorbing the center point of the objects stacked on the pallet according to the coordinate information received from the control device and transferring it to the conveyor.

According to the present invention, even if objects of different sizes are stacked on pallets, each object can be stably transferred to the conveyor using a robot arm.

In addition, since the present invention analyzes the center point of the object and provides the adsorption force around the center point, depalletizing of the object can be performed while minimizing the shaking of the product accommodated inside the object, such as a packaging box.

In addition, since the present invention stores and utilizes object pattern data for the appearance of objects to be loaded on the pallet in advance, it is possible to accurately analyze the type of objects loaded on the pallet, thereby preventing damage to objects due to errors in object analysis. there is.

1 is a configuration diagram illustrating an automated depalletizing system according to an embodiment of the present invention.
2 is a block diagram illustrating an automated depalletizing system according to the present invention.
3 is a conceptual diagram for explaining image matching of objects photographed by the first to third cameras of the present invention.
4 is a configuration diagram showing an automated depalletizing system according to another embodiment of the present invention.
5 is a schematic diagram illustrating a field of view and a region of interest of a first camera according to the present invention.
6 is a schematic diagram for explaining tilt-down change values of second and third cameras having the same viewpoint with respect to the first camera according to the present invention.
Figure 7 is a schematic diagram for explaining how the control device according to the present invention resets the pick-up order of the object.
8 is a flowchart illustrating an automated depalletizing method according to an embodiment of the present invention.

Hereinafter, a depalletizing automation system (hereinafter, abbreviated as 'depalletizing automation system') using a robot arm according to preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram for explaining an automated depalletizing system according to an embodiment of the present invention, and FIG. 2 is a block diagram showing an automated depalletizing system according to the present invention.

1 and 2, the depalletizing automation system according to the present invention includes a camera unit 100 for generating image information by photographing a pallet P and transmitting the image information to the outside, and a pallet P ) The robot arm 200 adsorbs and transfers the object B stacked on the pallet 400, and analyzes the image information provided from the camera unit 100 to determine the number of objects B stacked on the pallet P. A control device 300 is provided to the robot arm 200 by generating XYZ coordinates, which are the suction positions of the object B, after classifying the type.

The depalletizing operation using this automated depalletizing system analyzes the coordinates of the central point, which is the adsorption position of objects (B) stacked on the pallet (P), adsorbs the center point of the object (B), and This is a repeating operation of putting down (B) on the conveyor 400.

Hereinafter, each component will be described in more detail with reference to the drawings.

The depalletizing automation system according to the present invention includes a camera unit 100 .

The camera unit 100 photographs the pallets P located in the downward direction at three places located on the same line, respectively, to generate first to third image information, and transmits the first to third image information to the outside. , It includes a first camera 110, a second camera 120, and a third camera 130, and optionally may further include a tilt motor (not shown) and an encoder (not shown).

The first camera 110 transmits the first image information generated by photographing the pallet P to the control device 300, an object that can be compared with the second camera 120 and the third camera 130. In order to take a reference image of (B), as shown in FIG. First image information is generated.

The second camera 120 is installed to be spaced apart from the first camera 110, and the second image information, which is a real-time image generated by photographing the pallet P on which the object B is loaded through tilt-down, is displayed. It is transmitted to the control device 300.

3 is a conceptual diagram for explaining image matching of an object B captured by the first to third cameras of the present invention. Referring to FIG. 3 , the second camera 120 is rotated so that an image matched with an image of an object B captured by the first camera 110 is detected for an object B loaded on a pallet P. while generating second image information.

To this end, the camera unit 100 may include a tilt motor installed in the second camera 120 so that the second camera 120 can be tilted down.

And the camera unit 100 is a second camera 120 in which the image of the object B photographed through the second camera 120 is matched with the image of the object B photographed through the first camera 110. An encoder capable of detecting the rotation angle may be provided. This encoder is installed in the tilt motor to detect the rotation angle of the second camera 120 .

The third camera 130 is located on the same line as the first camera 110 and the second camera 120, is installed on the opposite side of the second camera 120 with the first camera 110 as the center, tilt The third image information, which is a real-time image generated by photographing the pallet P on which the object B is loaded, is transmitted to the control device 300 through the download.

This third camera 130 is Third image information is generated while being rotated so that an image matched with the image of the object B captured by the first camera 110 is detected for the object B loaded on the pallet P.

To this end, the camera unit 100 may include a tilt motor installed in the third camera 130 so that the third camera 130 can be tilted down.

And the camera unit 100 is a third camera 130, in which the image of the object B photographed through the third camera 130 is matched with the image of the object B photographed through the first camera 110. An encoder capable of detecting the rotation angle may be provided. This encoder is installed in the tilt motor to detect the rotation angle of the third camera 130 .

The tilt motor of the second camera 120 and the third camera 130 operates as much as the displacement matching the image of the object B in the X-axis direction based on the image information of the first camera 110 . And the tilt motor of the second camera 120 installed on the left side of the first camera 110 rotates clockwise at 90 degrees (°), and the third camera 130 installed on the right side of the first camera 110 The tilt motor rotates counterclockwise at 90 degrees (°).

4 is a configuration diagram showing an automated depalletizing system according to another embodiment of the present invention. In the camera unit 100 according to the present invention, the first camera 110, the second camera 120, and the third camera 130 may be installed independently of each other as shown in FIG. 1 or integrally installed as shown in FIG. 4 It could be.

In addition, the camera unit 100 of the present invention may be installed separately from the robot arm 200 as shown in FIG. 1, or may be installed on the robot arm 200 as shown in FIG.

As a first embodiment, the camera unit 100 according to the present invention generates image information from a palette image generated by the first to third cameras 110, 120, and 130 photographing the palette P with a camera field of view, and then the image information is provided to the control device 300. In this case, the control device 300 edits each of the first to third image information into an image of the region of interest through the image editing software provided therein and uses the image information.

As a second embodiment, the camera unit 100 according to the present invention transmits the palette image generated by photographing the palette P with the camera's field of view to the control device 300, and the region of interest provided by the control device 300 The region of interest may be photographed according to the information to generate first to third image information, and the first to third image information may be provided to the control device 300 .

As a third embodiment, the camera unit 100 according to the present invention transmits the pallet image generated by photographing the pallet P with the camera's field of view to the controller 300, and the first to third cameras 110, 120, and 130 Image information on the region of interest is generated by editing the palette image generated by photographing the palette P according to the region of interest information provided from the control device 300 through the self-contained image editing software, 3 Image information may be provided to the control device 300 .

The depalletizing automation system according to the present invention includes a robot arm (200).

The robot arm 200 adsorbs the center point of the object (B) according to the XYZ coordinates of the object (B) stacked on the pallet (P) and transfers it to the conveyor 400, the pallet (P) and the conveyor 400 A driving unit (not shown) that provides power to move back and forth between the driving unit and the multi-joint frame unit 210 coupled to the driving unit and reciprocating between the pallet P and the conveyor 400 according to the operation of the driving unit 210 , and an adsorption unit 220 installed at the end of the articulated frame unit 210 so as to adsorb the object B according to the movement of the articulated frame unit 210, and optionally the articulated frame unit ( 210) may be configured to further include a height adjusting unit for adjusting the height of the multi-joint frame unit 210 according to the position of the objects B stacked on the pallet P.

The height adjustment unit may be configured such that a height adjustment module formed on the other side opposite to the one side moves up and down in a state in which one side is fixed to a plane. At this time, the height adjustment module is configured to move up and down between the first height and the second height, and its upper end may be connected to the lower end of the multi-joint frame unit 210. Accordingly, the overall height of the multi-joint frame unit 210 may be controlled through the height adjusting unit.

The driving unit drives the articulated frame unit 210 to rotate/move the articulated frame unit 210 in X, Y, and Z spaces, and a driving motor or the like can be used. In addition, the driving unit may adjust the height of the distal end by rotating/moving the multi-joint frame unit 210 in X, Y, and Z spaces. Accordingly, the height of the suction unit 220 located at the distal end of the multi-joint frame unit 210 may also vary in conjunction with each other.

The multi-joint frame unit 210 is formed in a multi-joint shape and can be driven for each joint by a driving mechanism. Accordingly, the multi-joint frame unit 210 includes a plurality of hinges and a plurality of frame modules formed to be rotatable/movable through the plurality of hinges, and has a multi-joint form capable of rotating/moving in X, Y, and Z spaces. may be a robot of

For example, the multi-joint frame unit 210 includes a first frame module 211 connected to the ground or a height adjusting unit, a first hinge 212 assembled to the first frame module 211, and the first The second frame module 213 assembled to the hinge 212, the second hinge 214 assembled to the second frame module 213, and the third frame module assembled to the second hinge 214 ( 215), the third hinge 216 assembled to the third frame module 215, the fourth frame module 217 assembled to the third hinge 216, and the fourth frame module 217 It includes an adsorption unit 220 connected to.

Here, the multi-joint frame unit 210 has been exemplified as a configuration including three hinges and four frame modules, but is not limited thereto.

The adsorption unit 220 is installed at the end of the multi-joint frame unit 210 so as to be in contact with the object B according to the movement of the multi-joint frame unit 210, and the object stacked on the pallet P ( The upper surface of B) is adsorbed to separate from the pallet (P), and while the object (B) is moved to the conveyor 400, the object (B) is continuously provided with adsorption force. The adsorption unit 220 includes an adsorption plate equipped with an adsorption head adsorbing the object B, and the adsorption plate is provided with one or more adsorption heads to adsorb the object B.

When performing work using the robot arm 200 having such a structure, the pallet (P) and the conveyor so that the robot arm 200 can adsorb the object (B) and put it on a specific position of the conveyor 400 (400) should be located within the movement range of the robot arm (200).

The depalletizing automation system according to the present invention includes a control device (300).

The control device 300 is wired or wirelessly connected to the camera unit 100 and the robot arm 200, and the appearance of each object B used to distinguish the loaded object B of the pallet P. Object pattern data for is stored.

The control device 300 compares and analyzes the first image information provided from the camera unit 100 with the object pattern data to classify the type of object B and detects the XY coordinates of the center point of the object B .

The control device 300 attempts image matching of the first image information and the second and third image information captured while tilting down, detects a tilt-down change value at the time when the images are matched, and based on the tilt-down change value By calculating the Z coordinate of the center point, XYZ coordinates for the center point of the object (B) are generated. In this case, the control device 300 provides the XYZ coordinates of the object (B) to the robot arm (200).

As a first embodiment, the control device 300 according to the present invention, when the first to third image information, which is a palette image, is provided from the camera unit 100, extracts the detection region of the object (B) and obtains the region of interest information and edits the first to third image information into an image of interest through self-contained image editing software based on the information on the region of interest, and the first to third image information edited as the region of interest image. Image matching can be analyzed based on image information.

As a second embodiment, when a palette image is provided from the camera unit 100, the control device 300 according to the present invention extracts a detection area of the object B from the palette image to generate interest area information, and Area information is provided to the camera unit 100 . In addition, the control device 300 may analyze image matching based on first to third image information generated by photographing the region of interest from the camera unit 100 according to the region of interest information.

As a third embodiment, the control device 300 according to the present invention, when the first image information to the third image information edited as the ROI image is provided from the camera unit 100, the first image information to the third image information Image matching can be analyzed based on information.

5 is a schematic diagram for explaining a field of view and a region of interest of a first camera according to the present invention, and FIG. 6 is a tilt-down change value of second and third cameras whose viewpoints coincide with the first camera according to the present invention. It is a schematic diagram to explain.

Referring to FIGS. 5 and 6 , the controller 300 rotates the second camera 120 by controlling a tilt motor installed in the second camera 120, and displays a first image provided from the first camera 110. A first tilt-down change value (θ ₁ ) at a point in time at which the image (object) is matched is detected by attempting to match the information with the second image information captured while tilting-down the tilt motor of the second camera 120 . At this time, the controller 300 collects the first tilt-down change value θ ₁ from the first encoder installed in the tilt motor of the second camera 120 at the time when the images are matched.

The controller 300 controls the tilt motor installed in the third camera 130 to rotate the third camera 130, and the first image information provided from the first camera 110 and the third camera 130 A second tilt-down change value (θ ₂ ) at a point in time at which the images are matched is detected by trying to match the image of the third image information captured while tilting down the tilt motor of the image. At this time, the controller 300 collects the second tilt-down change value θ ₂ from the second encoder installed in the tilt motor of the third camera 130 at the time when the images are matched.

The control device 300 collects the first tilt-down change value (θ ₁ ) from the first encoder, and collects the second tilt-down change value (θ ₂ ) from the second encoder, and the following [Equation 1] Calculate the distance between the first camera 110 and the object (B) through.

[Equation 1]

h = d / [tan(90-θ ₁ )+ tan(90-θ ₂ )]

The control device 300 acquires the positional coordinate values of the objects B stacked on the pallet P, sets the picking order of the objects B according to the Z coordinate values, and provides coordinate information including the picking order. It is generated and provided to the robot arm 200.

As a specific aspect, a method of acquiring the positional coordinates of the object (B) divides the image coordinates of the camera unit 100 from (0.0) to (640,480), and sets the position of the robot arm 200 for each coordinate value A method of inputting and storing motor parameter values into the controller 300 in advance may be used. For example, when the position of the center point of the object (B) is recognized, the robot arm 200 rotates the motor with X = 1000, Y = 1500, Z = 1700, which are parameter values of the motor corresponding to the corresponding coordinate values, An object (B) whose center point is located in XYZ coordinates is picked.

Figure 7 is a schematic diagram for explaining how the control device according to the present invention resets the pick-up order of the object.

In addition, the control device 300, as shown in (a) of FIG. 7, when there are a plurality of objects B in the first image information, the XYZ coordinates of the plurality of objects B included in the captured image After acquiring it at once, the picking order is set using the Z coordinate, and the robot arm 200 sequentially reciprocates between the pallet P and the conveyor 400 according to the set picking order, while moving the object B on the conveyor 400) and transmits pickup information for controlling the robot arm 200 to the robot arm 200.

In addition, the control device 300 acquires the XYZ coordinates of the remaining objects B again after the highest priority object is transferred to the conveyor 400, as shown in (b) of FIG. 7, and picks using the Z coordinates Generates pickup information whose order is reset.

For example, when a plurality of XYZ coordinates of the object B are calculated in the first image information, the control device 300 gives priority to XYZ coordinates having a small Z coordinate and generates pickup information in which the picking order is set, and the robot arm (200) can be provided.

In addition, the control device 300 calculates a plurality of XYZ coordinates of the object (B) in the first image information and when a difference occurs within a predetermined range of Z coordinates of each object (B), each object (B ) analyzes the XYZ coordinates and the separation distance of the robot arm 200 instead of the Z coordinate, and then generates pickup information in which the picking order is set with priority given to the XYZ coordinates of the distant object, and provides it to the robot arm 200 can

In other words, when the control device 300 analyzes the image information and calculates a plurality of XYZ coordinates, the object B having the smallest Z coordinate or the object B that is far from the robot arm 200 is first conveyed. It is selected as an adsorption object (B) to be transferred to (400).

The depalletizing automation system according to the present invention may further include a conveyor 400 .

The conveyor 400 moves the object (B) adsorbed and transported by the robot arm 200 to the rear, and may be configured as a belt conveyor 400 or a chain conveyor 400.

8 is a flowchart illustrating an automated depalletizing method according to an embodiment of the present invention.

Referring to FIG. 6, the depalletizing automation method according to the present invention includes a pattern data storage step (S100) of storing object pattern data for the appearance of each object (B) to be used, and three locations located in the downward direction. A palette photographing step (S200) of generating first to third image information by photographing each pallet (P), and comparing and analyzing the first image information with object pattern data to obtain an object (B) loaded on the pallet (P). The center point analysis step (S300) of distinguishing the types of and detecting the XY coordinates of the center point of the object (B), and comparing the object (B) of the first image information and the object (B) of the second and third image information Distance analysis step of calculating the Z coordinate of the center point with the tilt-down change value after detecting the tilt-down change value that generated the second and third image information at the time when the image of the object (B) is matched with each other by analysis (S400) And, a coordinate information transmission step (S500) of generating and transmitting coordinate information including the XYZ coordinates of the center point, and transferring the objects (B) stacked on the pallet (P) to the conveyor 400 according to the coordinate information A transfer step (S600) is included.

In the pattern data storage step (S100), the control device 300 converts the object pattern data for the appearance of each object B to be used so that the control device 300 can distinguish the objects B loaded on the pallet P. save to

In the palette photographing step (S200), the camera unit 100 photographs the pallets P located in the downward direction at three locations located on the same line, respectively, to generate first to third image information, and the first to third image information are captured. Image information is transmitted to the control device 300 .

More specifically, in the palette photographing step (S200), the first image information generated by the first camera 110 of the camera unit 100 located in the center among three places located on the same line photographs the palette P as described above. It is transmitted to the control device 300. In addition, the second camera 120 of the camera unit 100 installed to be spaced apart from the first camera 110 is a real-time image generated by photographing the pallet P on which the object B is loaded through tilt-down. Image information is transmitted to the control device 300 . In addition, the third camera 130 of the camera unit 100 installed on the opposite side of the second camera 120 centered on the first camera 110 tilts down the pallet P on which the object B is loaded. The third image information, which is a real-time image generated by photographing, is transmitted to the control device 300 .

In the center point analysis step (S300), the control device 300 compares and analyzes the first image information provided from the camera unit 100 with the object pattern data to distinguish the type of objects B loaded on the pallet P. and detect the XY coordinates of the center point of the object (B).

In the center point analysis step (S300), when the controller 300 analyzes the first image information and determines that the object B is not loaded on the pallet P, the conveyor 400 so that the depalletizing operation is terminated. Stop the operation and control the robot arm 200 so that the robot arm 200 is rotated to the initial position.

In the distance analysis step (S400), the control device 300 compares and analyzes the object (B) of the second and third image information captured while tilting down based on the object (B) of the first image information to determine the object (B) ) detects a tilt-down change value at a time when the images of ) are matched with each other, and calculates the Z coordinate of the center point based on the tilt-down change value.

In the coordinate information transmission step (S500), the control device 300 transmits the coordinate information to the robot arm 200 after generating coordinate information including the XYZ coordinates of the center point.

As necessary, in the coordinate information transmission step (S500), when the XYZ coordinates of the object (B) are calculated in plurality, the control device 300 prioritizes the XYZ coordinates having the smallest Z coordinates, and the robot arm 200 ) can be provided. This is for the control device 300 to select the object B to be transferred first among the two or more objects B when two or more objects B are stacked together in the horizontal direction on the pallet P. In other words, when a plurality of XYZ coordinates are calculated by analyzing the image information, the control device 300 selects the object B having the smallest Z coordinate as the adsorption target object B so that it is transferred to the conveyor 400 first, XYZ coordinates for this are provided to the robot arm 200.

In addition, in the coordinate information transmission step (S500), when the XYZ coordinates of the object (B) are calculated in plurality and the Z coordinate of each object (B) is different within a predetermined numerical range, the control device 300 After each object (B) analyzes the XYZ coordinates and the separation distance of the robot arm 200 instead of the Z coordinate, the XYZ coordinates of the object with the far separation distance are prioritized and provided to the robot arm 200. In other words, the control device 300 analyzes the image information, and when a plurality of XYZ coordinates in which the Z coordinate is within a predetermined numerical range are calculated, the conveyor 400 starts from the object B that is far from the robot arm 200. ) is selected as an adsorption object (B) to be transferred, and XYZ coordinates thereof are provided to the robot arm 200.

In the transfer step (S600), the robot arm 200 adsorbs the center point of the object B stacked on the pallet P according to the coordinate information received from the control device 300 and transfers it to the conveyor 400.

In the pattern data storage step (S100), pallet photographing step (S200), center point analysis step (S300), distance analysis step (S400), coordinate information transmission step (S500), and transfer step (S600), the above-described depalletizing Since detailed configurations included in the automation system are used, duplicate contents are omitted.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention described in the claims below. You will understand that you can.

100: camera unit 110: first camera
120: second camera 130: third camera
200: robot arm 210: multi-joint frame
211: first frame module 212: first hinge
213: second frame module 214: second hinge
215: third frame module 216: third hinge
217: fourth frame module 220: adsorption unit
300: control device 400: conveyor
P: Pallet B: Object

Claims (9)

a camera unit for generating first to third image information by taking pictures of pallets located in the lower direction at three locations located on the same line, and transmitting the first to third image information to the outside;
A robot arm for adsorbing the center point of the object according to the XYZ coordinates of the object stacked on the pallet and transferring it to the conveyor; and
Object pattern data for the appearance of each object used to distinguish objects loaded on the pallet is stored, and the first image information provided from the camera unit is compared and analyzed with the object pattern data to classify the type of object and Detect the XY coordinates of the center point, try image matching between the first image information and the second and third image information captured while tilting down, detect the tilt-down change value at the time when the image is matched, and the tilt-down change value And a control device for calculating the Z coordinate of the center point based on and providing the XYZ coordinates of the object to the robot arm,
The camera unit is installed to be spaced apart from the first camera and the first camera for transmitting first image information generated by photographing a plane image of the pallet in the vertical direction of the pallet to the control device, and the object is loaded through tilt-down A second camera for transmitting second image information, which is a real-time image generated by photographing the pallet, to the control device, and located on the same line as the first camera and the second camera, A third camera installed on the opposite side and transmitting third image information, which is a real-time image generated by photographing a pallet loaded with objects through tilt-down, to the control device, and the second camera and the third camera are tilt-down a tilt motor installed in the second camera and the third camera, and an encoder installed in the tilt motor to detect rotation angles of the second camera and the third camera,
The control device rotates the second camera by controlling a tilt motor installed in the second camera, and attempts image matching between the first image information and the second image information captured by tilting down the tilt motor of the second camera to obtain an image. The first tilt-down change value at the matched time point is collected from the encoder installed in the tilt motor of the second camera, and the tilt motor installed in the third camera is controlled to rotate the third camera and the first image information and the third camera are rotated. The image matching of the third image information captured by tilting down the tilt motor is attempted, and the second tilt-down change value at the time when the image is matched is collected from the encoder installed in the tilt motor of the third camera, and the first tilt-down change value And the depalletizing automation system, characterized in that for calculating the Z coordinate, which is the distance between the first camera and the center point of the object, based on the second tilt-down change value. delete According to claim 1,
The camera unit transmits a palette image generated by photographing the palette to the control device, and captures an ROI according to ROI information provided from the control device to generate first to third image information,
The depalletizing automation system, characterized in that the control device extracts the object detection region from the pallet image provided from the camera unit, generates ROI information, and provides the ROI information to the camera unit. delete The method of claim 1, wherein the control device
When the XYZ coordinates of the object are calculated in plurality, the XYZ coordinates having the smallest Z coordinates are given priority and provided to the robot arm. A pattern data storage step of storing object pattern data for the appearance of each object used to distinguish the objects loaded on the pallet in a control device;
The first camera of the camera unit located at the center of three locations located on the same line photographs a plane image of the pallet in the vertical direction of the pallet, transmits first image information generated to the control device, and is installed to be spaced apart from the first camera. The second camera of the camera unit transmits second image information, which is a real-time image generated by photographing a pallet loaded with objects through tilt-down, to the control device, and a camera installed opposite the second camera centered on the first camera A palette photographing step of transmitting third image information, which is a real-time image generated by photographing a pallet on which objects are loaded, to the control device by a third negative camera through a tilt-down;
A center point analysis step in which the control device compares and analyzes the first image information provided from the camera unit with the object pattern data to classify the type of objects loaded on the pallet and detects XY coordinates of the center point of the object;
The control device controls the tilt motor installed in the second camera to rotate the second camera, and attempts image matching between the first image information and the second image information captured by tilting down the tilt motor of the second camera to obtain an image. The first tilt-down change value at the matched time point is collected from an encoder installed in the tilt motor of the second camera, and the tilt motor installed in the third camera is controlled to rotate the third camera and the first image information and the third camera are rotated. The image matching of the third image information captured by tilting down the tilt motor is attempted, and the second tilt-down change value at the time when the image is matched is collected from the encoder installed in the tilt motor of the third camera, and the first tilt-down change value and a distance analysis step of calculating a Z coordinate that is a distance between the first camera and the central point of the object based on the second tilt-down change value;
Coordinate information transmission step of transmitting the coordinate information to the robot arm after the control device generates coordinate information including the XYZ coordinates of the center point; and
A method for automating depalletizing comprising a transfer step in which the robot arm adsorbs the center point of the objects stacked on the pallet according to the coordinate information received from the control device and transfers them to the conveyor. delete The method of claim 6, wherein in the step of transmitting the coordinate information
When a plurality of XYZ coordinates of the object are calculated, the control device prioritizes XYZ coordinates having a small Z coordinate and provides them to the robot arm. The method of claim 6, wherein in the step of transmitting the coordinate information
If the XYZ coordinates of the object are calculated in plurality and the Z coordinate of each object has a difference within a predetermined numerical range, the control device analyzes the XYZ coordinates of each object and the separation distance of the robot arm, and then A depalletizing automation method characterized in that the XYZ coordinates of the object are prioritized and provided to the robot arm.

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