CN109647724A - A kind of mechanical arm Automated Sorting System based on image recognition - Google Patents
A kind of mechanical arm Automated Sorting System based on image recognition Download PDFInfo
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- CN109647724A CN109647724A CN201811453237.XA CN201811453237A CN109647724A CN 109647724 A CN109647724 A CN 109647724A CN 201811453237 A CN201811453237 A CN 201811453237A CN 109647724 A CN109647724 A CN 109647724A
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- controller
- electrically connected
- mechanical arm
- sensor
- workpiece
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- 230000015654 memory Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000012546 transfer Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/08—Sorting according to size measured electrically or electronically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/28—Sorting according to weight using electrical control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Landscapes
- Sorting Of Articles (AREA)
Abstract
The invention discloses a kind of mechanical arm Automated Sorting Systems based on image recognition of sorting equipment technical field, including host, the first controller and second controller has been electrically connected in the transmission port of host, ccd sensor has been electrically connected in the input port of first controller, first distance sensor, workpiece label scanning machine and second distance sensor, belt-driven motor and first mechanical arm driving motor group has been electrically connected in the output port of first controller, the transmission port of first controller is electrically connected with memory, pressure sensor has been electrically connected in the input port of second controller, workpiece length, width and height range sensor and third range sensor, the output port of second controller is electrically connected with second mechanical arm driving motor group, when the identification of machine vision technique sorting system is effectively reduced in the present invention Between, improve accuracy of identification.
Description
Technical field
The invention discloses a kind of mechanical arm Automated Sorting System based on image recognition, specially sorting equipment technology are led
Domain.
Background technique
Workpiece sorting is the important component of industrial production link, and in traditional sorting mode, manual sorting exists
The drawbacks such as sorting efficiency is low, and unit product making time can not only be shortened by machine vision technique, it can also contract significantly
The cost for subtracting human input has very big market potential, and existing longer by machine vision technique sorting system recognition time,
Accuracy of identification is lower, can not be rechecked again to the wrong workpiece of identification.
Summary of the invention
The purpose of the present invention is to provide a kind of mechanical arm Automated Sorting System based on image recognition, to solve above-mentioned back
What is proposed in scape technology is existing longer by machine vision technique sorting system recognition time, and accuracy of identification is lower, can not be to knowledge
The problem of not wrong workpiece is rechecked again.
To achieve the above object, the invention provides the following technical scheme: a kind of mechanical arm based on image recognition divides automatically
Picking system, including host, the transmission port of the host has been electrically connected the first controller and second controller, and described
Ccd sensor, first distance sensor, workpiece label scanning machine and second has been electrically connected in the input port of one controller
Range sensor, belt-driven motor has been electrically connected in the output port of first controller and first mechanical arm is driven
Dynamic motor group, the transmission port of first controller are electrically connected with memory, the input port point of the second controller
It is not electrically connected with pressure sensor, workpiece length, width and height range sensor and third range sensor, the second controller
Output port is electrically connected with second mechanical arm driving motor group.
Preferably, tape label workpiece picture is stored in the memory.
Preferably, the ccd sensor is interline transfer ccd sensor.
Preferably, the model of first controller and second controller is FX3U-128MT/ES-A.
Compared with prior art, the beneficial effects of the present invention are:
1) present invention is provided with workpiece label scanning machine, carries out identity reading to workpiece by workpiece label scanning machine, and by work
Part identity information is sent to the first controller, the first controller by transfer think in memory corresponding workpiece pictorial information with
The pictorial information that ccd sensor is sent to compares, the first controller be not necessarily to transfer one by one pictorial information in memory with
The pictorial information that ccd sensor is sent to compares, and recognition time is short；
2) present invention setting first distance sensor, when workpiece enters ccd sensor coverage, first distance sensor hair
For the number of delivering letters to the first controller, the first controller stops belt-driven motor, and workpiece stops, and shoots and produces when workpiece being avoided to transmit
Raw smear improves ccd sensor and shoots precision；
3) present invention setting workpiece length, width and height range sensor and pressure sensor, by workpiece length, width and height and weight data into
Row measurement, and compared with normal data range, realization re-starts reinspection to the workpiece after sorting, and the present invention is effectively reduced
Machine vision technique sorting system recognition time improves accuracy of identification, and can recheck again to the workpiece after sorting, improves sorting
Accuracy.
Detailed description of the invention
Fig. 1 is Automated Sorting System structural schematic diagram of the present invention.
In figure: 1 host, 2 first controllers, 3 second controllers, 4 memories, 5 ccd sensors, 6 first distances sensing
Device, 7 workpiece label scanning machines, 8 second distance sensors, 9 belt-driven motors, 10 first mechanical arm driving motor groups, 11
Pressure sensor, 12 workpiece length, width and height range sensors, 13 third range sensors, 14 second mechanical arm driving motor groups.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of mechanical arm automatic sorting system based on image recognition
The first controller 2 and second controller 3, the first controller has been electrically connected in system, including host 1, the transmission port of host 1
Ccd sensor 5, first distance sensor 6, workpiece label scanning machine 7 and second distance has been electrically connected in 2 input port
Belt-driven motor 9 and first mechanical arm driving electricity has been electrically connected in sensor 8, the output port of the first controller 2
Unit 10, the transmission port of the first controller 2 are electrically connected with memory 4, and the input port of second controller 3 electrically connects respectively
It is connected to pressure sensor 11, workpiece length, width and height range sensor 12 and third range sensor 13, the output end of second controller 3
Mouth is electrically connected with second mechanical arm driving motor group 14.
Wherein, it is stored with tape label workpiece picture in memory 4, passes through workpiece label scanning machine 7 convenient for the first controller 2
The label information of transmission calls respective labels workpiece picture, and ccd sensor 5 is interline transfer ccd sensor, is located at 1 list
On piece, it is at low cost, possess good photography characteristic, the model of the first controller 2 and second controller 3 is FX3U-128MT/
ES-A, processing speed is fast, and programming port has high-speed communication ability, and control points are more.
Working principle: connecting power supply for the present apparatus, is programmed to the first controller 2 and second controller 3, so that first
Controller 2 and second controller 3 meet the acquisition of receiving end and the control of output end, to required sorting workpiece photographic intelligence and phase
Corresponding code storage is into memory, and when workpiece passes through first distance sensor 6, first sensor 6 sends stop signal extremely
In first controller 2, while workpiece label information is sent in the first controller 2 by workpiece label scanning machine 7, the first controller
2 stop belt-driven motor 9, and starting ccd sensor 5 starts belt-driven motor 9 while shooting, ccd sensor 5 will
Workpiece information is transmitted to the first controller 2, and the first controller 2 calls corresponding workpiece pictorial information and shooting in memory 4 to shine
Sheet data compares, and when second distance sensor 8 detects workpiece, second distance sensor 8 sends a signal to the first control
Device 2 processed, the first controller 2 send corresponding action signal to first mechanical arm driving motor group 10, first mechanical arm driving
Motor group 10 starts, and workpiece sorting is transferred to required position by mechanical arm, passes through pressure sensing by the workpiece after sorting
When device 11 and workpiece length, width and height range sensor 12, pressure sensor 11 and workpiece length, width and height range sensor 12 are by workpiece weight
It is sent to second controller 3 with length, width and height information, second controller 3 calls storage inside data to compare, when workpiece enters
When third 3 range of range sensor, third range sensor 3 sends a signal to second controller 3, and second controller 3 sends phase
Corresponding action signal to second mechanical arm driving motor group 14, mechanical arm carries out removal operation to the workpiece of sorting mistake, just
Really sorting is then without operation.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of mechanical arm Automated Sorting System based on image recognition, including host (1), it is characterised in that: the host (1)
Transmission port the first controller (2) and second controller (3), the input of first controller (2) has been electrically connected
Ccd sensor (5), first distance sensor (6), workpiece label scanning machine (7) and second distance has been electrically connected in port
Belt-driven motor (9) and the first machine has been electrically connected in the output port of sensor (8), first controller (2)
The transmission port of tool arm driving motor group (10), first controller (2) is electrically connected with memory (4), second control
Pressure sensor (11), workpiece length, width and height range sensor (12) and third has been electrically connected in the input port of device (3) processed
The output port of range sensor (13), the second controller (3) is electrically connected with second mechanical arm driving motor group (14).
2. a kind of mechanical arm Automated Sorting System based on image recognition according to claim 1, it is characterised in that: described
Tape label workpiece picture is stored in memory (4).
3. a kind of mechanical arm Automated Sorting System based on image recognition according to claim 1, it is characterised in that: described
Ccd sensor (5) is interline transfer ccd sensor.
4. a kind of mechanical arm Automated Sorting System based on image recognition according to claim 1, it is characterised in that: described
The model of first controller (2) and second controller (3) is FX3U-128MT/ES-A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811453237.XA CN109647724A (en) | 2018-11-30 | 2018-11-30 | A kind of mechanical arm Automated Sorting System based on image recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811453237.XA CN109647724A (en) | 2018-11-30 | 2018-11-30 | A kind of mechanical arm Automated Sorting System based on image recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109647724A true CN109647724A (en) | 2019-04-19 |
Family
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| CN201811453237.XA Pending CN109647724A (en) | 2018-11-30 | 2018-11-30 | A kind of mechanical arm Automated Sorting System based on image recognition |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110538802A (en) * | 2019-09-02 | 2019-12-06 | 星光印刷（苏州）有限公司 | Material sorting system for flexible automatic production |
| CN112157605A (en) * | 2020-08-26 | 2021-01-01 | 东风汽车集团有限公司 | Positioning method and device for vehicle window machining |
| CN114074077A (en) * | 2020-08-20 | 2022-02-22 | 香港生产力促进局 | Automatic picking method and system based on visual recognition |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110538802A (en) * | 2019-09-02 | 2019-12-06 | 星光印刷（苏州）有限公司 | Material sorting system for flexible automatic production |
| CN114074077A (en) * | 2020-08-20 | 2022-02-22 | 香港生产力促进局 | Automatic picking method and system based on visual recognition |
| CN112157605A (en) * | 2020-08-26 | 2021-01-01 | 东风汽车集团有限公司 | Positioning method and device for vehicle window machining |
| CN112157605B (en) * | 2020-08-26 | 2021-12-14 | 东风汽车集团有限公司 | Positioning method and device for vehicle window machining |
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Application publication date: 20190419 |