TWI592339B - An apparatus and its method for automatic cover opening - Google Patents

Description

Method and device for automatically opening cover

The invention relates to a method and a device for automatically opening a lid, in particular to a method and a device for controlling an arm to pick up an object at a correct position and to open the lid by recognizing and calculating the center coordinates and the rotation angle of the object.

According to the fact that automated mechanical equipment has many advantages such as reducing labor cost, improving product stability and production quality, etc., it has gradually replaced traditional manual work. With the development of technology and the introduction of robotic arms that mimic the functions of human arm, robots can be used in precision machining with automated machines or in hazardous working environments, and are widely used in various fields.

In the case of filling the contents, when filling, the container cover needs to be opened for the contents to be placed, and then the cover is closed before the subsequent packaging operation. However, if the above-mentioned opening operation is completed by manpower, it is necessary to first open the cover with human power, and then place the container in the correct filling position to ensure that the contents are completely filled in the container, so that it is not only time-consuming and laborious. At this time, if the opening and filling operations can be completed in an automated manner in conjunction with the machine, the production can be surely increased and the cost can be reduced.

In the case of the automatic opening of the cover mechanism, please refer to Japanese Laid-Open Patent Publication No. 1989-71682, which discloses the opening and closing operation of the cover for transporting the semiconductor cassette by the rotation and movement of the joint robot.

In addition, the Republic of China Announcement No. M339306 discloses an "automatic opening cover device" which is connected to a rotating mandrel for driving a rotating member, and is connected to the lower end of the connecting assembly to open the cover. When it is on the mobile device of the automated machine, it can move to the top of the inspection bottle to be inspected, and move and rotate the opener to complete the opening operation of the inspection bottle. However, the opening device needs to place the inspection bottle neatly on the carrier tray, and the bottle cap of the inspection bottle needs to have the same shape as the shape groove and the groove of the lid opener to complete the opening operation, so there is a limitation in use.

In view of the conventional method of automatically opening the cover by the opening device, it is still necessary to arrange the objects neatly by manpower, and there are limitations on the shape and type of the object, and there is still a lack of improvement.

Accordingly, it is an object of the present invention to provide a method for controlling a robotic arm to pick up an object at a correct position and to open the cover by recognizing the position and angle information of the object.

Another object of the present invention is to provide a device for recognizing and calculating the position and angle information of an object and for taking an object for opening the cover.

In order to achieve the foregoing, the present invention provides a method for automatically opening a lid, the method comprising: placing an object with a cover in a storage area; identifying a shape of the object through a visual identification system to calculate a center coordinate, and simultaneously identifying Positioning the opening end of the object, and calculating the center coordinate and the opening end position to know the rotation angle of the object; transmitting the central coordinate and the rotation angle information to the central controller; the central controller determines the received central coordinate and the rotation angle information; The central controller controls the robot to pick up the object at the correct position and angle; the robot arm rotates and moves the object to the position where the opener is set; and performs the opening operation.

Another object of the present invention is to provide an apparatus for automatically opening a lid, comprising: a storage area for placing an object having a cover; a robot arm for sucking an object of the storage area; and a visual identification system For identifying objects and generating central coordinates and rotation angle information; a cover opener for opening the cover of the object; and a central controller for receiving information of the visual identification system and controlling the mechanical information according to the information The arm picks up the object and moves to the opener position to open the cover.

In order to make the reviewers aware of the techniques, means and effects of the present invention in order to achieve the objectives, the remainder of the present invention will be described in detail with reference to the drawings.

First, referring to Fig. 1 and in conjunction with Fig. 2, the method of automatically opening the lid of the present invention is achieved by the following steps. First, an object 8 having a cover is placed in the storage area 2 (step S1) (as shown in FIG. 4). In an embodiment of the present invention, the storage area 2 is further connected with an automatic feeding device ( The object 8 is transported to the storage area 2 through the automatic feeding device, and then the external shape of the object 8 is recognized through the visual identification system 4, while the position of the cover open end 81 of the object 8 is recognized (step S3). (in conjunction with FIG. 9), wherein the visual recognition system 4 described in the above steps captures an image of the object 8 by means of a photographing method, and the visual recognition system 4 includes a visual recognition from above and below the captured image. The device 41 and a visual recognition device 42 for capturing the image from the bottom up, the upper visual recognition device 41 can recognize the shape of the object 8 through the captured image (step S2), and calculate the object 8 according to the shape. The central coordinate A (step S4), and the feature of the object 8 is captured by an image, the feature comprising an opening of the lid opening end 81 or a rotating leaflet connected with the cover body to distinguish The position of the cover opening end 81 of the object 8 is determined (step S3-1), and when the identification is successful, the rotation angle of the object 8 is calculated by using the center coordinate A of the object 8 and the cover opening end 81 (step S5), and then the center The coordinates A and the rotation angle B information are transmitted to the central controller 6 (step S6).

When the central controller 6 determines that the received central coordinate A and the rotation angle B are within a reasonable numerical range (step S7), the signal is transmitted to the robot arm 3, wherein the robot arm 3 is firstly operated by a person to open the cover of the object 8. After the opening end 81 is opened, the above-mentioned person opening operation is used as a reference for simulation, so that the cover opening end 81 can be in the form of different opening such as twisting, buttoning and dialing, and storing different types of opening paths in the center. The controller 6 enables the central controller 6 to control the rotation angle of the robot arm 3 so as to suck the object 8 placed in the storage area 2 at the correct position and angle (step S8) (as shown in Fig. 5), and the object 8 moves to the position where the cap opener 5 is set (step S9) (as shown in Fig. 6), and the cap opener 5 is composed of a body 51 and an opening piece 52 combined with the body 51 (as shown in Fig. 3). The opening piece 51 can complete the opening operation of the cover of the object 8 (step S10), and after opening the cover of the object 8, can be automatically conveyed through the conveying system 7 (as shown in Fig. 7). ).

When the image captured by the upper visual recognition device 41 cannot successfully recognize the cover opening end 81 of the object 8 (such as the circular object 8 in FIG. 10), the lower visual recognition device 42 is activated and the image is captured from the bottom up. The identification is performed (step S3-2) (such as the cover opening end 81 of the circular object 8 in FIG. 8), and if the recognition still fails, the alarm and the exclusion are performed (step S11), and the identification is automatically recognized by the visual identification system 4. The remaining objects 8 of the material zone 2 are successfully recognized and then rotated and calculated in sequence and the robot arm 3 is controlled to perform the opening operation.

Therefore, the method and device for automatically opening the cover of the present invention can obviously achieve the following effects: 1. The automatic opening method of the present invention uses the visual identification device and the lower visual recognition device to identify the center coordinates of the object and The angle of rotation, therefore, even if the object changes shape, position or direction in the storage area, the center coordinate and rotation angle of the object can be accurately recognized through the visual identification system, thereby controlling the robot to accurately pick up the object and move to the opening cover. Set the position to automatically complete the anthropomorphic opening action. 2. The automatic opening lid device of this creation can be systematically operated with the automatic feeding device and conveying system to save labor cost and improve working efficiency.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. All changes and modifications that do not depart from the technical spirit of the present invention are covered by the scope of the present invention.

In summary, the present invention has indeed broken through the tradition and has improved and innovative creation content and can be specifically implemented, which should meet the statutory requirements of the invention patent, and file a patent application according to law, and invite the examination committee of the bureau to grant legal patent rights. Creation, to the sense of virtue.

The invention 1‧‧‧ device 2‧‧‧ storage area 3‧‧‧ mechanical arm 4‧‧ visual identification system 41‧‧‧ visual identification device 42‧‧‧ visual identification device 5‧‧‧ opener 51‧‧‧Ontology 52‧‧‧Opening piece 6‧‧‧Central controller 7‧‧‧Transportation system 8‧‧‧Articles 81‧‧‧Opening end S1～S11‧‧‧Steps A‧‧‧Center coordinates B‧ ‧‧Rotation angle

Figure 1 is a block diagram of the present invention. Figure 2 is a flow chart of the present invention. Figure 3 is a perspective view of the cap opener of the present invention. Figures 4 to 7 are schematic views of the use of the present invention. Figure 8 is a plan view of another embodiment of the present invention. Figure 9 is a schematic view of the identification of a square object of the present invention. Figure 10 is a schematic illustration of the identification of a circular object of the present invention.

1‧‧‧ device

2‧‧‧Storage area

3‧‧‧ Robotic arm

4‧‧‧Visual Identification System

41‧‧‧Upper visual identification device

42‧‧‧Digital identification device

5‧‧‧Opener

6‧‧‧Central controller

7‧‧‧Conveying system

Claims (10)

A method for automatically opening a lid, the method comprising: placing an object with a cover in a storage area; identifying a shape of the object through a visual identification system to calculate a center coordinate, and identifying a position of the open end of the cover of the object; And calculating the center coordinate and the opening end position to obtain the rotation angle of the object; transmitting the central coordinate and the rotation angle information to the central controller; the central controller determines the received center coordinate and the rotation angle information; the central control The robot controls the robot to pick up the object at the correct position and angle; the robot arm rotates and moves the object to the position where the opener is set; and performs the opening operation. The method of automatically opening a cover according to claim 1, wherein the visual recognition system captures a feature of the object by means of a photographing manner to identify the open end position of the cover of the object by the feature. The method of automatically opening a lid as claimed in claim 2, wherein the feature of the article comprises an opening of the opening end of the cover or a rotating leaflet connected to the cover. The method of automatically opening a lid as claimed in claim 2, wherein when the visual recognition system is unable to recognize the feature of the object, an alarm and an exclusion are performed, and the remaining objects placed in the storage area are automatically identified. The method of automatically opening a cover according to claim 1, wherein the visual recognition system comprises a top-down recognition upper visual recognition device and a bottom-up recognition visual recognition device, and the upper visual recognition After the device completes the calculation of the central coordinate of the object, if the position of the open end of the cover of the object cannot be recognized, the lower visual recognition device is activated to identify the open end of the cover, and the calculation of the rotation angle of the object is completed. The method of automatically opening the cover according to claim 1, wherein the mechanical arm is first opened by a person to open the cover opening end of the object, and then simulated by using the above-mentioned person opening operation as a reference, and different forms are used. The opening path is stored in the central controller. A device for carrying out the method of any one of claims 1 to 6, comprising: a storage area for placing an object having a cover; a robot arm for sucking the object of the storage area; a system for identifying the object and generating central coordinates and rotation angle information; a cover opener for opening the cover of the object; and a central controller for receiving information of the visual recognition system, and Based on the information, the robot arm is controlled to pick up the object and move to the opener position to open the cover. The device of claim 7, wherein the cap opener comprises a body and an opening piece coupled to the body. The device of claim 7, wherein the mechanical arm can be automatically transported through the delivery system after opening the cover of the object. The device of claim 7, wherein the storage area replenishes the item through an automatic feeding device.