WO2018228249A1 - 自动检测、抓取衣服装箱系统及其使用方法 - Google Patents

自动检测、抓取衣服装箱系统及其使用方法 Download PDF

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Publication number
WO2018228249A1
WO2018228249A1 PCT/CN2018/090073 CN2018090073W WO2018228249A1 WO 2018228249 A1 WO2018228249 A1 WO 2018228249A1 CN 2018090073 W CN2018090073 W CN 2018090073W WO 2018228249 A1 WO2018228249 A1 WO 2018228249A1
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Prior art keywords
clothes
conveyor belt
garment
grasping
black box
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PCT/CN2018/090073
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English (en)
French (fr)
Inventor
黄柏豪
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东莞晶苑毛织制衣有限公司
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Priority claimed from CN201720708920.8U external-priority patent/CN207433906U/zh
Priority claimed from CN201710458907.6A external-priority patent/CN107161392B/zh
Application filed by 东莞晶苑毛织制衣有限公司 filed Critical 东莞晶苑毛织制衣有限公司
Publication of WO2018228249A1 publication Critical patent/WO2018228249A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/20—Packaging garments, e.g. socks, stockings, shirts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged

Definitions

  • the present invention relates to the field of garment manufacturing, and more particularly to an automatic detection and grabbing garment packing system and method of use thereof.
  • the traditional clothes are all carried out manually. According to the proportion of customers, the clothes of different sizes are sorted and placed on the table, and then the packing process is carried out.
  • the labor cost is high, the occupied space is large, and the production efficiency is low. It is easy to damage the shortcomings of the clothes, and the existing grasping mechanism is not accurate due to the positional positioning of the clothes, which leads to unstable grasping, affects work efficiency, and is prone to errors.
  • An automatic detecting and grasping clothes packing system includes a casing, a conveying mechanism installed in the casing, a black box erected on the conveying mechanism, and a gripping mechanism installed above the conveying mechanism;
  • the conveying mechanism includes a conveyor belt, and an illuminant is mounted under the conveyor belt; when the illuminant emits light, a bright area is formed on a surface of the conveyor belt; a lower end of the black box is provided with an opening, and an opening of the black box is Corresponding to the bright area, a sensor and a vision system are disposed on the black box to detect a bright area of the conveyor belt, and a visual polarizer is mounted on the vision system.
  • the above-mentioned automatic detection and grabbing clothes packing system uses a backlight effect by setting a dark box and an illuminating body, so that the surface of the clothes forms a clear contrast with the bright area, so that the visual system can recognize the outline of the clothes; Determine the combination of vision and backlighting, regardless of the shape, size, thickness, color, print, and how the garment changes, the system can calculate the thickness of the garment, the center position, and the angle on the conveyor belt to capture
  • the mechanism can accurately grasp the clothes, reduce the phenomenon that the clothes can be dropped due to the inability of the grasping mechanism to accurately grasp the clothes, reduce the error rate, improve the work efficiency, and realize the effect of quickly and accurately grasping the clothes and packing the clothes; the visual polarizer and the black box
  • the use of the solution solves the problem that the visual system detection data is inaccurate due to the reflective surface of the clothing tape.
  • the conveyor belt is constructed of a light directing material.
  • the opposite sides of the chassis are respectively provided with a feeding port and a discharging port; the sensor is located at a lower end of the black box and adjacent to a side of the feeding port.
  • the illuminator is located below the end of the conveyor adjacent the feed port, and the illuminator is an LED lamp.
  • the black box is further provided with a fixing rod, the fixing rod is disposed at an upper end of the black box, and two ends of the fixing rod are fixed to opposite sides of the chassis, A vision system is mounted on a portion of the fixed rod that corresponds to the dark box.
  • the gripping mechanism includes a base, a plurality of rotating rods mounted on the base, an adjusting rod connecting the rotating rods, and an adsorption assembly mounted at a lower end of each of the adjusting rods.
  • a plurality of suction cups are mounted on the lower end of the adsorption assembly.
  • the upper end of the chassis is provided with a hanger assembly, the hanger assembly is fixedly coupled to the base, and the gripping mechanism is suspended below the hanger assembly.
  • the cross-section of the dark box is rectangular, the lower end of the four corners of the dark box has a leg extending downwardly, and the legs on both sides of the dark box are respectively mounted on both sides of the rack;
  • the lower end of the dark box has a certain distance from the surface of the conveyor belt; the dark box is disposed at a narrow end portion of the upper end portion.
  • a method for automatically detecting and grasping a clothes packing system includes the following steps:
  • an automatic detection and grabbing garment packing system comprising a casing, a conveying mechanism installed in the casing, a black box mounted on the conveying mechanism, and a gripper mounted above the conveying mechanism a mechanism;
  • the conveying mechanism comprises a feeding port;
  • the conveying mechanism comprises a conveyor belt, the conveyor belt is mounted with an illuminant below the one end of the feeding port, and when the illuminating body emits light, a surface is formed on the surface of the conveyor belt a bright area;
  • the black box is provided with a sensor and a vision system;
  • the garment enters the conveyor belt from the feed inlet
  • the sensor when the sensor detects the entry of the garment, the sensor sends a signal to the vision system; simultaneously calculates the thickness value of the garment, and then transmits the thickness value information to the grasping mechanism;
  • the vision system After receiving the signal sent by the sensor, the vision system waits until the clothes completely enter the bright area, and takes a picture of the clothes. When the clothes are at the bright area, the clothes at the bright areas are viewed from above the conveyor belt. Because of the backlight effect, the surface of the garment forms a clear contrast with the bright area, while the vision system binarizes the photo of the garment, causing the color of the garment to turn black and the bright area to be white; the vision system According to the black area of the garment, the area of the black portion is determined, from the white area to the black area, the side of the garment is found, the size of the garment and the angle between the garment and the direction of the belt transmission are calculated, that is, the clothes are determined on the conveyor belt. a coordinate position, and a deviation angle of the garment relative to the belt drive direction; the vision system then transmits the above information to the grasping mechanism;
  • the grasping mechanism receives information on the thickness value of the clothes sent by the sensor and the size of the clothes, the center position, and the angle on the conveyor belt sent by the vision system, the grasping mechanism The clothes are accurately sucked and grabbed, and the clothes are loaded into the prepared box.
  • the gripping mechanism includes a base, a plurality of rotating rods mounted on the base, an adjusting rod connecting the rotating rods, and an adsorption assembly mounted at a lower end of each of the adjusting rods.
  • a plurality of suction cups are mounted on the lower end of the adsorption assembly; in the step e, when the grasping mechanism receives the thickness value information of the clothes sent by the sensor and the size, center position, and location of the clothes sent by the vision system
  • the system drives the rotating rod, the adjusting rod and the adsorption assembly to automatically and automatically adjust the grab height and adjust the grab angle, and the suction cup accurately picks up the clothes. Put the clothes in the prepared box.
  • FIG. 1 is a perspective view of an automatic detecting and grasping clothes packing system according to a preferred embodiment of the present invention
  • Figure 2 is an assembled perspective view of the black box and transport mechanism of the automatic detection and grabbing garment packing system of Figure 1;
  • Figure 3 is a perspective view of the black box of the automatic detection and grabbing clothes packing system of Figure 2;
  • Figure 4 is a perspective view of the grasping mechanism of the automatic detecting and grasping clothes packing system of Figure 1;
  • an automatic detection and grabbing clothes packing system includes a chassis 10 , a transport mechanism 20 installed in the chassis 10 , and a black box mounted on the transport mechanism 20 . 30.
  • a picking mechanism 40 mounted above the transport mechanism 20.
  • the chassis 10 is provided with a rectangular body.
  • the four corners of the chassis 10 are provided with legs 11 , and the lower ends of the legs 11 are mounted with a fixing block 12 .
  • the fixing block 12 is fixedly connected to the ground. Specifically, the fixing block 12 is connected by bolts. The method is fixed to the ground to avoid the phenomenon that the equipment is unstable when it is working.
  • the opposite sides of the chassis 10 are respectively provided with a feeding port 13 and a discharging port 14; the opposite sides of the chassis 10 are provided with a transparent material separating plate for conveniently observing the working state in the chassis 10.
  • the upper end of the chassis 10 is provided with a hanger assembly 15 for hanging the mounting gripping mechanism 40.
  • the transport mechanism 20 is located in a lower-middle position within the chassis 10, and the chassis 10 is provided with transport means on both sides of the transport mechanism 20 for transporting the case for loading clothes.
  • the conveying mechanism 20 includes a frame 21 and a conveyor belt 22 sleeved on the frame 21.
  • the conveyor belt 22 is made of a light guiding material and has good light guiding property.
  • the conveyor belt 22 is mounted with an illuminant below the end of the feeding port 13 .
  • the illuminant is a constant-voltage constant-current LED lamp. When the LED lamp emits light, a bright area 23 is formed on the surface of the conveyor belt 22. When the clothes are in the bright area 23, the clothes at the bright area 23 are seen from above the conveyor belt 22 because of the backlight effect.
  • the surface of the garment forms a distinct contrast between the bright areas 23 and the bright areas 23.
  • the cross-section of the dark box 30 is rectangular.
  • the lower ends of the four corners of the dark box 30 extend downwardly with legs 31.
  • the legs 31 on both sides of the dark box 30 are respectively mounted on both sides of the frame 21, that is, across the conveyor belt 22, and the black box 30 is located.
  • Above the conveyor belt 22, and the lower end of the black box 30 is spaced from the surface of the conveyor belt 22 for feeding in and out; the black box 30 is disposed at a narrow end portion of the upper end portion, and the lower end of the black box 30 is open, and the opening of the black box 30 is connected to the conveyor belt.
  • the bright area 23 on the 22 corresponds; the function of the black box 30 is to prevent the outside light from entering the bright area 23, affecting the backlight effect of the clothes in the bright area 23.
  • the dark box 30 is provided with a sensor 32, a fixed rod 33, and a vision system 34 mounted on the fixed rod 333; the sensor 32 is located at the lower end of the dark box 30 and adjacent to the side of the feed port 13
  • the sensor 32 detects the entry of the garment, then sends a signal to the vision system 34, while calculating the thickness value of the garment, and then transmits the thickness value information to the gripping mechanism 40. .
  • the fixing rod 33 is disposed at an upper end portion of the black box 30, and both ends of the fixing rod 33 are fixed to opposite sides of the casing 10.
  • the vision system 34 is mounted on a portion of the fixing rod 33 corresponding to the dark box 30, that is, the vision system 34 is located in the black box 30.
  • Image Binarization refers to the process of setting the gray value of a pixel on an image to 0 or 255, that is, the process of presenting the entire image with a distinct black and white effect.
  • the vision system 34 determines the area of the black part according to the black area of the clothes, searches from the white area to the black area, finds the side of the clothes, and calculates the clothes.
  • the grabbing mechanism 40 determines the center position of the garment based on the information sent by the vision system 34 and then performs an accurate capture.
  • the use of the visual polarizer and the black box 30 solves the problem of the visual system 34 detecting inaccuracies due to the reflective surface of the garment tape.
  • the backlighting effect allows the vision system 34 to identify the contour of the garment; the combination of the thickness of the garment 32 by the sensor 32 and the combination of the vision system 34 and the backlighting effect can be calculated regardless of the shape, size, thickness, color, print, and how the garment changes. Information such as the thickness of the clothes, the center position, and the angle on the conveyor belt 22, so that the grasping mechanism 40 can accurately grasp the clothes, and reduce the phenomenon that the clothes are dropped due to the inability of the grasping mechanism 40 to accurately grasp the clothes, thereby improving the work. effectiveness.
  • the grasping mechanism 40 includes a base 41, a plurality of rotating rods 42 mounted on the base 41, an adjusting rod 43 connecting the rotating rods 42, and mounting rods 43.
  • the base 41 is fixedly connected to the hanging rod assembly 15, and the grasping mechanism 40 is suspended below the hanging rod assembly 15;
  • a suction cup 45 is mounted on the lower end of the adsorption assembly 44 for absorbing clothes and loading the clothes into the prepared box.
  • the suction cup 45 adsorbs the surface of the clothes package, moves over the box, and then the suction cup 45 deflates, the clothes are separated from the suction cup 45, and dropped into the box.
  • the grasping mechanism 40 When the grasping mechanism 40 receives the clothing thickness value information sent by the sensor 32 and the related information of the vision system 34, the system drives the rotating rod 42, the adjusting rod 43 and the adsorption assembly 44 to quickly and automatically adjust the grasping height and adjust the grasping angle. The clothes are accurately sucked and grabbed by the suction cup 45, and the clothes are loaded into the prepared box.
  • the automatic detection and grabbing garment handling system also includes a programming software control system for controlling the operation of sensor 32, vision system 34, and grasping mechanism 40.
  • Steps for automatically detecting and grabbing the clothes packing system Steps for automatically detecting and grabbing the clothes packing system:
  • the automatic detecting and grasping clothes packing system comprises a casing 10, a conveying mechanism 20 installed in the casing 10, and being erected in a black box 30 on the transport mechanism 20, and a gripping mechanism 40 mounted above the transport mechanism 20;
  • the housing 10 is provided with a feed port 13;
  • the transport mechanism 20 includes a conveyor belt 22, which is mounted below the end of the feed port 13 When the illuminant emits light, a bright area 23 is formed on the surface of the conveyor belt 22;
  • the black box 30 is provided with a sensor 32 and a vision system 34.
  • the gripping mechanism 40 includes a base 41 and a plurality of rotating rods mounted on the base 41. 42.
  • An adjusting rod 43 connecting the rotating rod 42 and an adsorption unit 44 mounted at a lower end of each adjusting rod 43 are provided with a plurality of suction cups 45 at the lower end of the adsorption unit 44.
  • the garment enters the conveyor belt 22 from the feed port 13;
  • the sensor 32 detects the entry of the garment, the sensor 32 sends a signal to the vision system 34; at the same time calculates the thickness value of the garment, and then sends the thickness value information to the grasping mechanism 40;
  • the vision system 34 After receiving the signal sent by the sensor 32, the vision system 34 waits until the clothes completely enter the bright area 23, and takes a picture of the clothes. When the clothes are in the bright area 23, the clothes at the bright area 23 are seen from above the conveyor belt 22 because of the backlight. The effect is that the surface of the garment forms a distinct contrast between the bright areas 23 and the visual system 34 binarizes the photo of the garment such that the color of the garment becomes black and the bright area 23 is white; the visual system 34 is based on the black area of the garment.
  • the vision system 34 then transmits the above information to the gripping mechanism 40.
  • the gripping mechanism 40 When the gripping mechanism 40 receives the information on the thickness value of the clothes sent from the sensor 32 and the size of the clothes, the center position, and the angle on the conveyor 22 transmitted by the visual system 34, the system drives the rotating lever 42 and the adjusting lever. 43 and the adsorption assembly 44 quickly and automatically adjusts the grasping height and adjusts the grasping angle, and the suction suction 45 accurately picks up the clothes, loads the clothes into the box, and a workflow is completed.
  • the present invention provides a clear contrast between the surface of the garment and the bright area 23 by setting the dark box 30 and the illuminator, so that the vision system 34 can recognize the outline of the garment; by providing the sensor 32, the vision system 34 and the grasping mechanism 40.
  • the system can calculate the thickness, center position, and Information such as the angle on the conveyor belt 22, so that the grasping mechanism 40 can accurately grasp the clothes, reduce the phenomenon that the clothes are dropped due to the inability of the grasping mechanism 40 to accurately grasp the clothes, reduce the error rate, improve the work efficiency, and achieve fast
  • the image boxing effect is accurately captured; the visual system 34 is also equipped with a visual polarizer, so the use of the visual polarizer and the black box 30 solves the problem that the visual system detection data is inaccurate due to the reflective surface of the clothing tape.

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  • Mechanical Engineering (AREA)
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Abstract

一种自动检测、抓取衣服装箱系统及其使用方法，包括机箱（10）、安装在机箱（10）内的传送机构（20）、架设在传送机构（20）上的暗箱（30）、以及安装在传送机构（20）上方的抓取机构（40）；传送机构（20）包括传送带（22），传送带（22）的下方安装有发光体，该发光体发光时，在传送带（22）的表面形成一亮区（23）；暗箱（30）的下端为开口设置，暗箱（30）的开口处与亮区（23）对应，暗箱（30）上设置有传感器（32）及视觉系统（34）以对所述传送带（22）的亮区（23）进行检测，视觉系统（34）上安装有视觉偏光镜。该自动检测、抓取衣服装箱系统实现了快速、准确衣服抓取衣服装箱效果。

Description

自动检测、抓取衣服装箱系统及其使用方法
本申请要求于2017年06月16日提交中国专利局、申请号为201710458907.6、发明名称为“自动检测、抓取衣服装箱系统及其使用方法”以及申请号为201720708920.8、发明名称为“自动检测、抓取衣服装箱系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及衣服制造领域，特别是涉及一种自动检测、抓取衣服装箱系统及其使用方法。
背景技术
制衣厂批量生产衣服后，需要根据客户的要求，对不同尺寸大小的衣服按照一定的比例进行装箱处理，然后封箱，出仓。
传统的衣服装箱都是人工进行，按照客户的比例要求，将不同尺寸大小的衣服分类整理摆放在桌面上，然后再进行装箱工序，存在着人工成本高、占用场地大、生产效率低、易损伤衣服的缺点，且目前现有的抓取机构由于对衣服位置定位不准，导致抓取不稳，影响工作效率，且容易出错。
发明内容
基于此，有必要针对现有技术问题，提供一种自动检测、抓取衣服装箱系统及其使用方法，能自动检测衣服的中心位置，然后对衣服进行准确的抓取装箱。
一种自动检测、抓取衣服装箱系统，包括机箱、安装在所述机箱内的传送机构、架设在所述传送机构上的暗箱、以及安装在所述传送机构上方的抓取机构；所述传送机构包括传送带，所述传送带的下方安装有发光体；该发光体发光时，在所述传送带的表面形成一亮区；所述暗箱的下端为开 口设置，所述暗箱的开口处与所述亮区对应，所述暗箱上设置有传感器及视觉系统以对所述传送带的亮区进行检测，所述视觉系统上安装有视觉偏光镜。
上述的自动检测、抓取衣服装箱系统通过设置暗箱和发光体，利用背光效应，使得衣服的表面与亮区形成明显的明暗对比，使得视觉系统可以识别衣服的轮廓；通过传感器对衣服厚度的确定及视觉系统和背光效应的结合，无论衣服的外形、大小、厚度、颜色、印花、如何变化，系统都可以计算出衣服的厚度、中心位置、以及在传送带上的角度等信息，以便抓取机构可以准确抓取衣服，减少由于抓取机构不能准确抓取衣服而使衣服掉落的现象，减少出错率，提高工作效率，实现快速、准确衣服抓取衣服装箱效果；视觉偏光镜与暗箱的配合使用解决了由于衣服胶带表面反光而导致视觉系统检测数据不准确的问题。
在其中一个实施例中，所述传送带由导光材质构成。
在其中一个实施例中，所述机箱的相对两侧分别设有进料口、出料口；所述传感器位于所述暗箱的下端且靠近所述进料口的一侧。
在其中一个实施例中，所述发光体位于所述传送带靠近所述进料口一端的下方，所述发光体为LED灯。
在其中一个实施例中，所述暗箱上还设置有固定杆，所述固定杆穿设于所述暗箱的上端部，所述固定杆的两端固定于所述机箱的相对两侧，所述视觉系统安装在所述固定杆对应所述暗箱内的部位上。
在其中一个实施例中，所述抓取机构包括一基座、安装在所述基座上的若干旋转杆、连接所述旋转杆的调节杆、安装在各所述调节杆下端的吸附组件，所述吸附组件的下端安装有若干吸盘。
在其中一个实施例中，所述机箱的上端设置有挂杆组件，所述挂杆组件与所述基座固定连接，所述抓取机构悬挂于挂杆组件的下方。
在其中一个实施例中，所述暗箱的横截面为矩形设置，所述暗箱的四 角下端向下延伸有架脚，所述暗箱两侧的架脚分别架设在所述机架的两侧；所述暗箱的下端与所述传送带表面有一定的间距；所述暗箱呈上端部窄下端部宽设置。
一种自动检测、抓取衣服装箱系统的使用方法，包括以下步骤：
a.提供一种自动检测、抓取衣服装箱系统，包括一机箱、安装在所述机箱内的传送机构、架设在所述传送机构上的暗箱、以及安装在所述传送机构上方的抓取机构；所述机箱上设有进料口；所述传送机构包括传送带，所述传送带靠近所述进料口一端的下方安装有发光体，所述发光体发光时，在所述传送带表面形成一亮区；所述暗箱上设置有传感器及视觉系统；
b.衣服从所述进料口进入到所述传送带上；
c.当所述传感器检测到衣服的进入时，所述传感器将信号发送给视觉系统；同时计算衣服的厚度值，然后将厚度值信息发送给所述抓取机构；
d.所述视觉系统接收到传感器发送过来的信号后，等到衣服完全进入所述亮区，对衣服进行拍照，衣服在所述亮区处时，从传送带上方看所述亮区处的衣服，因为背光效果，衣服的表面与所述亮区形成明显的明暗对比，同时视觉系统会对衣服照片进行二值化处理，使得衣服的颜色变成黑色，所述亮区为白色；所述视觉系统根据衣服黑色面积，确定黑色部分的区域，由白色区域到黑色区域查找，找到衣服的边侧，计算衣服的尺寸大小及衣服与所述传送带传动方向的夹角，即确定衣服在所述传送带上的坐标位置、以及衣服相对所述传送带传动方向的偏差角；然后视觉系统将上述信息发送给抓取机构；
e.当所述抓取机构收到所述传感器发送过来的衣服厚度值信息和所述视觉系统发送过来的衣服尺寸大小、中心位置、以及所述传送带上的角度等信息时，抓取机构对衣服进行准确的吸附抓取，将衣服装入准备好的箱子中。
在其中一个实施例中，所述抓取机构包括一基座、安装在所述基座上 的若干旋转杆、连接所述旋转杆的调节杆、安装在各所述调节杆下端的吸附组件，所述吸附组件下端安装有若干吸盘；上述步骤e中，当所述抓取机构收到所述传感器发送过来的衣服厚度值信息和所述视觉系统发送过来的衣服尺寸大小、中心位置、以及所述传送带上的角度等信息时，系统驱动所述旋转杆、所述调节杆及所述吸附组件快速自动调节抓取高度和调整抓取角度，由所述吸盘对衣服进行准确的吸附抓取，将衣服装入准备好的箱子中。
附图说明
图1为本发明的一较佳实施方式的自动检测、抓取衣服装箱系统的立体图；
图2为图1的自动检测、抓取衣服装箱系统的暗箱和传送机构的组装立体图；
图3为图2的自动检测、抓取衣服装箱系统的暗箱的立体图；
图4为图1的自动检测、抓取衣服装箱系统的抓取机构的立体图；
附图中各标号的含义为：
机箱-10，支脚-11，固定块-12，进料口-13，出料口-14，挂杆组件-15；
传送机构-20，机架-21，传送带-22，亮区-23；
暗箱-30，架脚-31，传感器-32，固定杆-33，视觉系统-34；
抓取机构-40，基座-41，旋转杆-42，调节杆-43，吸附组件-44，吸盘-45。
具体实施方式
为了便于理解本发明，下面将对本发明进行更全面的描述。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的 技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
请参考图1至图4，为本发明一较佳实施方式的自动检测、抓取衣服装箱系统，包括一机箱10、安装在机箱10内的传送机构20、架设在传送机构20上的暗箱30、以及安装在传送机构20上方的抓取机构40。
如图1所示，机箱10为矩形体设置，机箱10的四角设置有支脚11，各支脚11的下端安装有固定块12，固定块12与地面固定连接，具体地，固定块12通过螺栓连接方式与地面固定，避免设备在工作时，产生摇晃不稳的现象。机箱10的相对两侧分别设有进料口13、出料口14；机箱10的相对两侧安装有透明材质的隔离板，便于观察机箱10内的工作状态。机箱10的上端设置有挂杆组件15，用于悬挂安装抓取机构40。
如图1和图2所示，传送机构20位于机箱10内的中下位置，机箱10对应传送机构20的两侧安装有传送装置，该传送装置供运输用于装衣服的箱子。传送机构20包括机架21及套设在机架21上的传送带22，传送带22由导光材质构成，具有良好的导光性；传送带22靠近进料口13一端的下方安装有发光体，该发光体为恒压恒流的LED灯，LED灯发光时，在传送带22的表面形成一亮区23，衣服在亮区23处时，从传送带22上方看亮区23处的衣服，因为背光效果，衣服的表面与亮区23形成明显的明暗对比。
暗箱30的横截面为矩形设置，暗箱30的四角的下端向下延伸有架脚31，暗箱30两侧的架脚31分别架设在机架21的两侧，即横跨传送带22，暗箱30位于传送带22的上方，且暗箱30的下端与传送带22表面有一定的间距，供衣服进出；暗箱30呈上端部窄下端部宽设置，且暗箱30的下端为开口设置，暗箱30的开口处与传送带22上的亮区23对应；暗箱30的作用就是阻止外界的光线进入亮区23，影响衣服在亮区23处的背光效果。
如图2和图3所示，暗箱30上设置有传感器32、固定杆33、以及安装在固定杆333上的视觉系统34；传感器32位于的暗箱30的下端且靠近进料口13的一侧，当衣服从进料口13进入传送带22上时，传感器32会检测到衣服的进入，然后将信号发送给视觉系统34，同时计算衣服的厚度值，然后将厚度值信息发送给抓取机构40。
固定杆33穿设于暗箱30的上端部，固定杆33的两端固定于机箱10的相对两侧；视觉系统34安装在固定杆33对应暗箱30内的部位上，即视觉系统34位于暗箱30内的上端部；视觉系统34接收到传感器32发送过来的信号后，等到衣服完全进入亮区23，对衣服进行拍照，视觉系统34会对衣服照片进行二值化处理，其中，图像二值化(Image Binarization)指的是将图像上的像素点的灰度值设置为0或255，也就是将整个图像呈现出明显的黑白效果的过程。经过二值化处理，使得衣服的颜色变成黑色，亮区23为白色，视觉系统34根据衣服黑色面积，确定黑色部分的区域，由白色区域到黑色区域查找，找到衣服的边侧，计算衣服的尺寸大小及衣服与传送带22传动方向的夹角，即确定衣服在传送带22上的坐标位置、以及衣服相对传送带22传动方向的偏差角；然后视觉系统34将上述信息发送给抓取机构40，抓取机构40根据视觉系统34发过来的信息，确定衣服的中心位置，然后进行准确的抓取。
由于视觉系统34上安装有视觉偏光镜，所以视觉偏光镜与暗箱30的配合使用解决了由于衣服胶带表面反光而导致视觉系统34检测数据不准确的问题。背光效果使得视觉系统34可以识别衣服轮廓；通过传感器32对衣服厚度的确定及视觉系统34和背光效应的结合，无论衣服的外形、大小、厚度、颜色、印花、如何变化，系统都可以计算出衣服的厚度、中心位置、以及在传送带22上的角度等信息，以便抓取机构40可以准确抓取衣服，减少由于抓取机构40不能准确抓取衣服而使衣服掉落的现象，提高了工作效率。
具体地，如图1和图4所示，抓取机构40包括一基座41、安装在基座41上的若干旋转杆42、连接该旋转杆42的调节杆43、安装在各调节杆43下端的吸附组件44。基座41与挂杆组件15固定连接，将该抓取机构40悬挂于挂杆组件15的下方；吸附组件44下端安装有若干吸盘45，用于吸附衣服，将衣服装入准备好的箱子中，具体地，吸盘45吸附衣服包装的表面，移动到箱子上方，然后吸盘45放气，衣服脱离吸盘45，掉落至箱子中。当抓取机构40收到传感器32发送过来的衣服厚度值信息和视觉系统34的相关的信息时，系统驱动旋转杆42、调节杆43及吸附组件44快速自动调节抓取高度和调整抓取角度，由吸盘45对衣服进行准确的吸附抓取，将衣服装入准备好的箱子中。
为了实现自动化控制，该自动检测、抓取衣服装箱系统上还包括用于控制传感器32、视觉系统34及抓取机构40工作的编程软件控制系统。
自动检测、抓取衣服装箱系统的使用方法步骤：
1.提供一种自动检测、抓取衣服装箱系统，如图1-4所示，该自动检测、抓取衣服装箱系统包括一机箱10、安装在机箱10内的传送机构20、架设在传送机构20上的暗箱30、以及安装在传送机构20上方的抓取机构40；机箱10上设有进料口13；传送机构20包括传送带22，传送带22靠近进料口13一端的下方安装有发光体，发光体发光时，在传送带22表面形成一亮区23；暗箱30上设置有传感器32及视觉系统34，抓取机构40包括一基座41、安装在基座41上的若干旋转杆42、连接该旋转杆42的调节杆43、安装在各调节杆43下端的吸附组件44，吸附组件44下端安装有若干吸盘45。
2.衣服从进料口13进入到传送带22上；
3.当传感器32检测到衣服的进入时，传感器32将信号发送给视觉系统34；同时计算衣服的厚度值，然后将厚度值信息发送给抓取机构40；
4.视觉系统34接收到传感器32发送过来的信号后，等到衣服完全进 入亮区23，对衣服进行拍照，衣服在亮区23处时，从传送带22上方看亮区23处的衣服，因为背光效果，衣服的表面与亮区23形成明显的明暗对比，同时视觉系统34会对衣服照片进行二值化处理，使得衣服的颜色变成黑色，亮区23为白色；视觉系统34根据衣服黑色面积，确定黑色部分的区域，由白色区域到黑色区域查找，找到衣服的边侧，计算衣服的尺寸大小及衣服与传送带22传动方向的夹角，即确定衣服在传送带22上的坐标位置、以及衣服相对传送带22传动方向的偏差角；然后视觉系统34将上述信息发送给抓取机构40。
5.当抓取机构40收到传感器32发送过来的衣服厚度值信息和视觉系统34发送过来的衣服尺寸大小、中心位置、以及传送带22上的角度等信息时，系统驱动旋转杆42、调节杆43及吸附组件44快速自动调节抓取高度和调整抓取角度，由吸盘45对衣服进行准确的吸附抓取，将衣服装入箱子中，一个工作流程完成。
本发明通过设置暗箱30和发光体，利用背光效应，使得衣服的表面与亮区23形成明显的明暗对比，使得视觉系统34可以识别衣服的轮廓；通过设置传感器32、视觉系统34及抓取机构40，通过传感器32对衣服厚度的确定及视觉系统34和背光效应的结合，无论衣服的外形、大小、厚度、颜色、印花、如何变化，系统都可以计算出衣服的厚度、中心位置、以及在传送带22上的角度等信息，以便抓取机构40可以准确抓取衣服，减少由于抓取机构40不能准确抓取衣服而使衣服掉落的现象，减少了出错率，提高了工作效率，实现快速、准确抓取衣服装箱效果；视觉系统34上还安装有视觉偏光镜，所以视觉偏光镜与暗箱30的配合使用解决了由于衣服胶带表面反光而导致视觉系统检测数据不准确的问题。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种自动检测、抓取衣服装箱系统，其特征在于，包括机箱、安装在所述机箱内的传送机构、架设在所述传送机构上的暗箱、以及安装在所述传送机构上方的抓取机构；所述传送机构包括传送带，所述传送带的下方安装有发光体；该发光体发光时，在所述传送带的表面形成一亮区；所述暗箱的下端为开口设置，所述暗箱的开口处与所述亮区对应，所述暗箱上设置有传感器及视觉系统以对所述传送带的亮区进行检测，所述视觉系统上安装有视觉偏光镜。
  2. 根据权利要求1所述的自动检测、抓取衣服装箱系统，其特征在于：所述传送带由导光材质构成。
  3. 根据权利要求1所述的自动检测、抓取衣服装箱系统，其特征在于：所述机箱的相对两侧分别设有进料口、出料口；所述传感器位于所述暗箱的下端且靠近所述进料口的一侧。
  4. 根据权利要求3所述的自动检测、抓取衣服装箱系统，其特征在于：所述发光体位于所述传送带靠近所述进料口一端的下方，所述发光体为LED灯。
  5. 根据权利要求1所述的自动检测、抓取衣服装箱系统，其特征在于：所述暗箱上还设置有固定杆，所述固定杆穿设于所述暗箱的上端部，所述固定杆的两端固定于所述机箱的相对两侧，所述视觉系统安装在所述固定杆对应所述暗箱内的部位上。
  6. 根据权利要求1所述的自动检测、抓取衣服装箱系统，其特征在于：所述抓取机构包括一基座、安装在所述基座上的若干旋转杆、连接所述旋转杆的调节杆、安装在各所述调节杆下端的吸附组件，所述吸附组件的下端安装有若干吸盘。
  7. 根据权利要求6所述的自动检测、抓取衣服装箱系统，其特征在于：所述机箱的上端设置有挂杆组件，所述挂杆组件与所述基座固定连接，所 述抓取机构悬挂于挂杆组件的下方。
  8. 根据权利要求7所述的自动检测、抓取衣服装箱系统，其特征在于：所述暗箱的横截面为矩形设置，所述暗箱的四角下端向下延伸有架脚，所述暗箱两侧的架脚分别架设在所述机架的两侧；所述暗箱的下端与所述传送带表面有一定的间距；所述暗箱呈上端部窄下端部宽设置。
  9. 一种自动检测、抓取衣服装箱系统的使用方法，其特征在于，包括以下步骤：
    a.提供一种自动检测、抓取衣服装箱系统，包括一机箱、安装在所述机箱内的传送机构、架设在所述传送机构上的暗箱、以及安装在所述传送机构上方的抓取机构；所述机箱上设有进料口；所述传送机构包括传送带，所述传送带靠近所述进料口一端的下方安装有发光体，所述发光体发光时，在所述传送带表面形成一亮区；所述暗箱上设置有传感器及视觉系统；
    b.衣服从所述进料口进入到所述传送带上；
    c.当所述传感器检测到衣服的进入时，所述传感器将信号发送给视觉系统；同时计算衣服的厚度值，然后将厚度值信息发送给所述抓取机构；
    d.所述视觉系统接收到传感器发送过来的信号后，等到衣服完全进入所述亮区，对衣服进行拍照，衣服在所述亮区处时，从传送带上方看所述亮区处的衣服，因为背光效果，衣服的表面与所述亮区形成明显的明暗对比，同时视觉系统会对衣服照片进行二值化处理，使得衣服的颜色变成黑色，所述亮区为白色；所述视觉系统根据衣服黑色面积，确定黑色部分的区域，由白色区域到黑色区域查找，找到衣服的边侧，计算衣服的尺寸大小及衣服与所述传送带传动方向的夹角，即确定衣服在所述传送带上的坐标位置、以及衣服相对所述传送带传动方向的偏差角；然后视觉系统将上述信息发送给抓取机构；
    e.当所述抓取机构收到所述传感器发送过来的衣服厚度值信息和所述视觉系统发送过来的衣服尺寸大小、中心位置、以及所述传送带上的角度 等信息时，抓取机构对衣服进行准确的吸附抓取，将衣服装入准备好的箱子中。
  10. 根据权利要求9所述的自动检测、抓取衣服装箱系统的使用方法，其特征在于：所述抓取机构包括一基座、安装在所述基座上的若干旋转杆、连接所述旋转杆的调节杆、安装在各所述调节杆下端的吸附组件，所述吸附组件下端安装有若干吸盘；上述步骤e中，当所述抓取机构收到所述传感器发送过来的衣服厚度值信息和所述视觉系统发送过来的衣服尺寸大小、中心位置、以及所述传送带上的角度等信息时，系统驱动所述旋转杆、所述调节杆及所述吸附组件快速自动调节抓取高度和调整抓取角度，由所述吸盘对衣服进行准确的吸附抓取，将衣服装入准备好的箱子中。
PCT/CN2018/090073 2017-06-16 2018-06-06 自动检测、抓取衣服装箱系统及其使用方法 WO2018228249A1 (zh)

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