CN110342267A - A kind of the automation palletizing system and method for view-based access control model - Google Patents
A kind of the automation palletizing system and method for view-based access control model Download PDFInfo
- Publication number
- CN110342267A CN110342267A CN201910663443.1A CN201910663443A CN110342267A CN 110342267 A CN110342267 A CN 110342267A CN 201910663443 A CN201910663443 A CN 201910663443A CN 110342267 A CN110342267 A CN 110342267A
- Authority
- CN
- China
- Prior art keywords
- target object
- positioning camera
- automatically
- robot
- packet stream
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000012636 effector Substances 0.000 claims abstract description 39
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the automation palletizing systems and method of a kind of view-based access control model, including automatically for packet stream waterline, photoelectric sensor, target object, bracket, stacking subsystem, vision system, secondary positioning subsystem, the secondary positioning subsystem include secondary positioned light source and secondary positioning camera；The stacking subsystem includes robot, end effector, fixed frame, pile disk and secondary positioning subsystem；The vision system includes identification positioned light source, identification positioning camera and secondary positioning subsystem.The automation palletizing system and method for the view-based access control model are not necessarily to auxiliary positioning mechanism, adaptable to the target piece of different dimensions；It picks up success rate height, pile up precision height；Can be at one automatically for wrapping, on stacking assembly line, while the target object of a variety of categories is identified, is positioned, tracks pickup, classification stacking；High degree of automation, intelligent level are high.
Description
Technical field
The present invention relates to automation logistic warehousing and storaging field, the automation palletizing system of specially a kind of view-based access control model and side
Method.
Background technique
Palletizing system is automated in the more of present delivery industry utilization.
Existing automation is for packet, palletizing system, mostly using fixed point grasp mode；At fixed point crawl, it need to be equipped with auxiliary
Positioning mechanism is helped, to guarantee the accuracy of crawl position.It is flexible poor, and one, automatically for packet, stacking assembly line, is typically only capable to same
When to a kind of specification object carry out stacking；When article change, then the size according to object, shape is needed to redesign specific
Auxiliary positioning mechanism, it is conventional automated for packet, palletizing system, the deficiencies of flexible poor, change complexity, thus on the market there is an urgent need to
The automation palletizing system of view-based access control model and the technology of method structure can be improved, to improve this equipment.
Summary of the invention
The purpose of the present invention is to provide the automation palletizing systems and method of a kind of view-based access control model, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme: a kind of automation palletizing system of view-based access control model and
Method, including automatically for packet stream waterline, photoelectric sensor, target object, bracket, stacking subsystem, vision system, secondary positioning
Subsystem, the secondary positioning subsystem include secondary positioned light source and secondary positioning camera；The stacking subsystem includes machine
Device people, end effector, fixed frame, pile disk and secondary positioning subsystem；The vision system includes identification positioned light source, identification
Positioning camera and secondary positioning subsystem；
The artificial six-DOF robot of machine, positioned at automatically for the side of packet stream waterline；The robot, along transmission
Band direction, behind bracket；The end effector is fixed on the end flange of robot, which is provided with spring buffer
Device, the end effector are made of the array that spring bumper and vacuum chuck are constituted, the vacuum chuck structure setting
In the lower end of spring bumper；
The identification positioned light source and identification positioning camera, are fixed on bracket；The identification positioning camera, camera lens is downward
Setting, positioned at automatically for the surface of packet stream waterline；The identification positioning camera, field range cover automatically for packet stream waterline
Width direction；It is described to be placed with target object for the upper surface of packet stream waterline automatically, the secondary positioned light source and secondary fixed
Position camera is fixed on fixed frame；The secondary positioning camera, camera lens are arranged upward；
The photoelectric sensor includes photoelectric sensor transmitter and photoelectric sensor receiver, is respectively fixedly connected in automatic
For the two sides of packet stream waterline；The photoelectric sensor transmitter and photoelectric sensor receiver are located at bracket along conveyer belt direction
Before；The photoelectric sensor transmitter and photoelectric sensor receiver, within the field range of identification positioning camera；
The photoelectric sensor receiver is electrically connected with identification positioning camera, and the failing edge signal of photoelectric sensor receiver triggers identification
Positioning camera is taken pictures；
The fixed frame and pile disk, it is ipsilateral with robot relative to automatically for packet stream waterline, and operating in robot
Within range；
The identification positioned light source, identification positioning camera, secondary positioned light source, secondary positioning camera, robot, end are held
Row device is electrically connected with the central processing unit in external control cabinet respectively；
It is described to be run automatically for packet stream waterline with constant speed；The target object is rectangular-shape case kind article body, by certainly
Dynamic to be conveyed through to come for packet stream waterline, the central processing unit controls robot, at the same control end effector to target object into
Line trace is picked up, and is piled up onto corresponding pile disk.
Preferably, the number of pile disk setting with it is automatically corresponding for the type of target object on packet stream waterline.
The automation palletizing method for providing a kind of view-based access control model positioning is included the following steps: using above-mentioned system and device
Step 1:P1, when transporting target object by photoelectric sensor for packet stream waterline automatically, failing edge triggering identification is fixed
Position camera is taken pictures；
Step 2:P2, vision system handle identification positioning camera shot image, identify the type of target object, and
Calculate location information and upper surface major and minor axis of the central point for moment target object upper surface of taking pictures under world coordinate system
Posture under world coordinate system；
Step 3:P3, central processing unit is according to the central point for moment target object upper surface of taking pictures under world coordinate system
The posture information of location information and upper surface major and minor axis under world coordinate system, and automatically for the speed of packet stream waterline, control
Robot and end effector carry out tracking pickup to target object；
Target object is moved to the surface of secondary positioning camera, stopped by step 4:P4, central processing unit control robot
Pause a moment, triggers secondary positioning camera and take pictures；
Step 5:P5, vision system handle secondary positioning camera shot image, calculate moment object of taking pictures
The upper surface central point of body is in the posture of position and upper surface major and minor axis under world coordinate system under world coordinate system；
Step 6:P6, central processing unit is according to the upper surface central point for moment target object of taking pictures under world coordinate system
The posture of position and upper surface major and minor axis under world coordinate system is compensated to pose deviation is piled up, according to target object
Type control robot and end effector and target object piled up to determination to corresponding pile disk according to corresponding stacking program
Position.
Preferably, in the step 4, central processing unit controls robot and target object is moved to secondary positioning camera
When surface is paused, vertically downward, and in fixed pose, the upper surface and bottom surface of target object are in level to end effector
State.
Preferably, vision system handles secondary positioning camera shot image in the step 5, can calculate and take pictures
Bottom center's point of moment target object is in the appearance of position and bottom surface major and minor axis under world coordinate system under world coordinate system
State；Target object is the object of rectangular-shape case class, and moment target object of taking pictures is in horizontality, according to its geometrical characteristic,
Position and upper surface major and minor axis of the upper surface central point for moment target object of taking pictures under world coordinate system can be extrapolated to exist
Posture under world coordinate system.
Compared with prior art, the beneficial effects of the present invention are: the automation palletizing system of the view-based access control model and method master
If being used for stacking and designing:
It is adaptable to the target piece of different dimensions without auxiliary positioning mechanism；It picks up success rate height, pile up
Precision is high；Can at one automatically for packet, on stacking assembly line, while the target object of a variety of categories is identified, is positioned, with
Track picks up, classification is piled up；High degree of automation, intelligent level are high.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is a kind of automation palletizing method flow diagram of view-based access control model of the invention；
Fig. 3 is the schematic diagram of end effector in the present invention；
Fig. 4 is another embodiment of the invention schematic diagram.
In figure: 1, automatically for packet stream waterline, 2, photoelectric sensor, 21, photoelectric sensor transmitter, 22, photoelectric sensor
Receiver, 3, target object, 4, identification positioned light source, 5, identification positioning camera, 6, bracket, 7, robot, 8, end effector,
81, spring bumper, 82, vacuum chuck 82,9, fixed frame, 10, secondary positioned light source, 11, secondary positioning camera, 12, pile
Disk；
7A, robot, 8A, end effector, 9A, fixed frame, 10A, secondary positioned light source, 11A, secondary positioning camera,
12A, pile disk；
7B, robot, 8B, end effector, 9B, fixed frame, 10B, secondary positioned light source, 11B, secondary positioning camera,
12B, pile disk.
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.
Embodiment one:
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of automation palletizing system of view-based access control model and side
Method, including automatically for packet stream waterline (1), photoelectric sensor (2), target object (3), bracket (4), stacking subsystem, vision system
System, secondary positioning subsystem, it is characterised in that: the secondary positioning subsystem includes secondary positioned light source (10) and secondary positioning
Camera (11)；The stacking subsystem includes robot (7), end effector (8), fixed frame (9), pile disk (12) and secondary fixed
Sub-systems；The vision system includes identification positioned light source (4), identification positioning camera (5) and secondary positioning subsystem；
The robot (7) is six-DOF robot, is located at automatically for the side of packet stream waterline (1)；The robot
(7), along conveyer belt direction, it is located at behind bracket (6)；The end effector (8) is fixed on the end flange of robot (7)
On, it which is provided with spring bumper (81), the end effector (8) is by spring bumper (81) and vacuum chuck (82)
The array of composition forms, lower end of vacuum chuck (82) the structure setting in spring bumper (81)；
The identification positioned light source (4) and identification positioning camera (5), are fixed on bracket (6)；The identification positioning camera
(5), camera lens is arranged downward, is located at automatically for the surface of packet stream waterline (1)；The identification positioning camera (5), field range
Cover automatically for the width direction of packet stream waterline (1)；It is described to be placed with target object for the upper surface of packet stream waterline (1) automatically
(3), the secondary positioned light source (10) and secondary positioning camera (11) are fixed on fixed frame (9)；The secondary positioning camera
(11), camera lens is arranged upward；
The photoelectric sensor (2) includes photoelectric sensor transmitter (21) and photoelectric sensor receiver (22), difference
It is fixed on automatically for the two sides of packet stream waterline (1)；The photoelectric sensor transmitter (21) and photoelectric sensor receiver (22),
Along conveyer belt direction, it is located at before bracket (6)；The photoelectric sensor transmitter (21) and photoelectric sensor receiver
(22), it is located within the field range of identification positioning camera (5)；The photoelectric sensor receiver (22) and identification positioning camera
(5) it is electrically connected, failing edge signal triggering identification positioning camera (5) of photoelectric sensor receiver (22) is taken pictures；
The fixed frame (9) and pile disk (12), it is ipsilateral with robot (7) relative to automatically for packet stream waterline (1), and
Robot (7) can be within opereating specification；
The identification positioned light source (4), identification positioning camera (5), secondary positioned light source (10), secondary positioning camera
(11), robot (7), end effector (8) are electrically connected with the central processing unit in external control cabinet respectively；
It is described to be run automatically for packet stream waterline (1) with constant speed；The target object (3) is rectangular-shape case kind article
Body, by being conveyed through automatically for packet stream waterline (1) Lai the central processing unit controls robot (7), while controlling end effector
(8) tracking pickup is carried out to target object (3), and piled up onto corresponding pile disk (12).
Further, the number of the pile disk (12) setting with automatically for the type of target object (3) on packet stream waterline (1)
It is corresponding.
A kind of automation palletizing method of view-based access control model positioning is provided, using above-mentioned system and device, which is characterized in that packet
Include following steps:
Step 1:P1, when transporting target object (3) by photoelectric sensor (2) for packet stream waterline (1) automatically, failing edge touching
Hair identification positioning camera (5) is taken pictures；
Step 2:P2, vision system handle identification positioning camera (5) shot image, identification target object (3)
Type, and calculate location information of the central point of moment target object (3) upper surface of taking pictures under world coordinate system, Yi Jishang
Posture of the surface major and minor axis under world coordinate system；
Step 3:P3, central processing unit is according to the central point of moment target object (3) upper surface of taking pictures in world coordinate system
Under posture information under world coordinate system of location information and upper surface major and minor axis, and automatically for the speed of packet stream waterline (1)
Degree, controls robot (7) and end effector (8) carries out tracking pickup to target object (3)；
Step 4:P4, central processing unit control robot (7) and target object (3) are moved to secondary positioning camera (11)
Surface pauses a moment, triggers secondary positioning camera (11) and take pictures；
Step 5:P5, vision system handle secondary positioning camera (11) shot image, calculate moment mesh of taking pictures
Mark object (3) upper surface central point under world coordinate system position and upper surface major and minor axis under world coordinate system
Posture；
Step 6:P6, central processing unit is according to the upper surface central point for moment target object (3) of taking pictures in world coordinate system
Under posture under world coordinate system of position and upper surface major and minor axis, compensated to pose deviation is piled up, according to target
The type of object (3) controls robot (7) and end effector (8) and piles up target object (3) according to corresponding stacking program
To the determination position of corresponding pile disk (12).
Further, in the step 4, it is secondary fixed that target object (3) is moved to by central processing unit control robot (7)
When the surface of position camera (11) is paused, end effector (8) vertically downward, and in fixed pose, target object (3) it is upper
Surface and bottom surface are in horizontality.
Further, vision system handles secondary positioning camera (11) shot image in the step 5, can calculate
It takes pictures position of bottom center's point under world coordinate system of moment target object (3) out and bottom surface major and minor axis is sat in the world
Posture under mark system；Target object (3) is the object of rectangular-shape case class, and moment target object (3) of taking pictures is in horizontality,
According to its geometrical characteristic, position of the upper surface central point for moment target object (3) of taking pictures under world coordinate system can be extrapolated,
And posture of the upper surface major and minor axis under world coordinate system.
Embodiment two:
When the change in size range of target object is larger or type is more, one group of robot and end effector are difficult to win
Appoint.At this point, two sets and two sets or more of stacking subsystem can arranged automatically for the two sides of packet stream waterline.Referring to the drawings 4
It is specifically described.
A kind of automation palletizing system of view-based access control model positioning, referring to attached drawing 4, including automatically for packet stream waterline 1, photoelectric transfer
Sensor 2, it is target object 3, bracket 6, vision system, stacking subsystem A, stacking subsystem B, secondary positioning subsystem A, secondary fixed
Sub-systems B.
The secondary positioning subsystem A includes secondary positioned light source 10A and secondary positioning camera 11A；The stacking subsystem
The A that unites includes robot 7A, end effector 8A, fixed frame 9A, pile disk 12A and secondary positioning subsystem A；The secondary locator
System B includes secondary positioned light source 10B and secondary positioning camera 11B；The stacking subsystem B includes that robot 7B, end are held
Row device 8B, fixed frame 9B, pile disk 12B and secondary positioning subsystem B；The vision system includes identification positioned light source 4, identifies and determine
Position camera 5, secondary positioning subsystem A and secondary positioning subsystem B；
The stacking subsystem A and stacking subsystem B is located at automatically for the two sides of packet stream waterline 1, reasonable Arrangement machine
The installation site of device people 7A and robot 7B, and by software limit, so that robot 7A and robot 7B is obtained operating space and does not send out
Raw overlapping；In the stacking subsystem A, fixed frame 9A and pile disk 12A, be arranged in robot 7A can be within opereating specification；Institute
It states in stacking subsystem B, fixed frame 9B and pile disk 12B, be arranged in robot 7B can be within opereating specification；The pile disk 12A
It is and automatically corresponding for the species number of target object 3 on packet stream waterline 1 with the sum of the quantity of pile disk 12B, it is piled up on a kind of pile disk
A kind of target object.
End effector 8, respectively end effector 8A are fixed on the end of the robot 7A and robot 7B
With end effector 8B；The end effector 8 is equipped with spring bumper 81；Referring to attached drawing 3, the end effector 8 by
The array composition that spring bumper 81 and vacuum chuck 82 are constituted, primarily serves the effect of buffering and error compensation；Carry out
When pick-up operation, the upper surface of vacuum chuck 82 and target object 3, which need to fit closely, could form vacuum, it is contemplated that vision system
The height of the target object 3 detected has certain deviation, and therefore, adding this spring bumper 81 just seems especially heavy
It wants, robot 7 is allowed to go to pick up target object 3 with certain volume under pressure, simultaneously as the buffer function of spring, and it is unlikely
In being deformed target object 3；The rigidity of the spring bumper 81, need to according to the concrete condition of target object 3 come
It determines；
The identification positioned light source 4 and identification positioning camera 5, are fixed on bracket 6；The identification positioning camera 5, camera lens
It is arranged downward, positioned at automatically for the surface of packet stream waterline 1；The identification positioning camera 5, field range cover automatically for packet
The width direction of assembly line 1；
The secondary positioned light source 10A and secondary positioning camera 11A are fixed on fixed frame 9A；The secondary positioned light source
10B and secondary positioning camera 11B are fixed on fixed frame 9B；The secondary positioning camera 11A and secondary positioning camera 11B, mirror
Head-up it is arranged；
The photoelectric sensor 2, include two components, photoelectric sensor transmitter 21 and photoelectric sensor receiver 22,
It is respectively fixedly connected in automatically for the two sides of packet stream waterline 1；The photoelectric sensor transmitter 21 and photoelectric sensor receiver 22, edge
Conveyer belt direction, before bracket 6；The photoelectric sensor transmitter 21 and photoelectric sensor receiver 22 are located at and know
Within the field range of other positioning camera 5；The photoelectric sensor receiver 22 is electrically connected with identification positioning camera 5, photoelectric transfer
The failing edge signal triggering identification positioning camera 5 of sensor receiver 22 is taken pictures；
The identification positioned light source 4, identification positioning camera 5, secondary positioned light source 10A, secondary positioning camera 11A, machine
People 7A, end effector 8A, secondary positioned light source 10B, secondary positioning camera 11B, robot 7B, end effector 8B respectively with
Central processing unit electrical connection in external control cabinet；
It is described to be run automatically for packet stream waterline 1 with constant speed；The target object 3 is rectangular-shape case kind article body, by
Automatically it is conveyed through to come for packet stream waterline 1；The vision system identifies target object, is positioned, and central processing unit controls phase
Robot is answered, while controlling corresponding end effector and tracking pickup is carried out to target object, and piling up onto corresponding pile disk；
The automation palletizing method for providing a kind of view-based access control model positioning is included the following steps: using above-mentioned system and device
Step 1: when transporting target object 3 by photoelectric sensor 2 for packet stream waterline 1 automatically, failing edge triggering identification is fixed
Position camera 5 is taken pictures；
Step 2: vision system handles identification 5 shot image of positioning camera, identifies the type of target object 3, and
Calculate location information and upper surface length of the central point for 3 upper surface of moment target object of taking pictures under world coordinate system
Posture of the axis under world coordinate system；
Step 3: central processing unit exists according to the type of target object 3, the central point for 3 upper surface of moment target object of taking pictures
The posture information of location information and upper surface major and minor axis under world coordinate system under world coordinate system, and automatically for packet stream water
The speed of line 1, selects and controls corresponding machine people and end effector thereon carries out tracking pickup to target object 3；
Step 4: central processing unit controls the surface that target object 3 is moved to corresponding secondary positioning camera by robot,
It pauses a moment, triggers corresponding secondary positioning camera and take pictures；
Step 5: vision system handles corresponding secondary positioning camera shot image, calculates moment object of taking pictures
The upper surface central point of body 3 is in the posture of position and upper surface major and minor axis under world coordinate system under world coordinate system；
Step 6: position of the central processing unit according to the upper surface central point for moment target object 3 of taking pictures under world coordinate system
It sets and posture of the upper surface major and minor axis under world coordinate system, is compensated to pose deviation is piled up, according to corresponding stacking journey
Sequence, controls corresponding machine people and target object 3 is piled up the determination position for arriving corresponding pile disk by end effector thereon；
In the step 4, central processing unit controls corresponding machine people and target object 3 is moved to corresponding secondary positioning camera
Surface when pausing, the end effector in robot vertically downward, and in fixed pose, the upper surface of target object 3
Horizontality is in bottom surface；
The step plays 5 specific implementation are as follows: vision system handles secondary positioning camera shot image, can calculate
Take pictures moment target object 3 position and bottom surface major and minor axis of bottom center's point under world coordinate system in world coordinate system
Under posture；Target object 3 is the object of rectangular-shape case class, and moment target object 3 of taking pictures is in horizontality, several according to its
What feature, can extrapolate position and upper surface of the upper surface central point for moment target object 3 of taking pictures under world coordinate system
Posture of the major and minor axis under world coordinate system.
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 (5)
1. a kind of automation palletizing system of view-based access control model, including automatically for packet stream waterline (1), photoelectric sensor (2), object
Body (3), bracket (4), stacking subsystem, vision system, secondary positioning subsystem, it is characterised in that: the secondary positioning subsystem
System includes secondary positioned light source (10) and secondary positioning camera (11)；The stacking subsystem includes robot (7), end execution
Device (8), fixed frame (9), pile disk (12) and secondary positioning subsystem；The vision system includes identification positioned light source (4), identification
Positioning camera (5) and secondary positioning subsystem；
The robot (7) is six-DOF robot, is located at automatically for the side of packet stream waterline (1)；The robot (7),
Along conveyer belt direction, it is located at behind bracket (6)；The end effector (8) is fixed on the end flange of robot (7),
It which is provided with spring bumper (81), the end effector (8) is by spring bumper (81) and vacuum chuck (82) structure
At array composition, lower end of vacuum chuck (82) structure setting in spring bumper (81)；
The identification positioned light source (4) and identification positioning camera (5), are fixed on bracket (6)；The identification positioning camera (5),
Camera lens is arranged downward, is located at automatically for the surface of packet stream waterline (1)；The identification positioning camera (5), field range covers
Automatically for the width direction of packet stream waterline (1)；It is described to be placed with target object (3), institute for the upper surface of packet stream waterline (1) automatically
It states secondary positioned light source (10) and secondary positioning camera (11) is fixed on fixed frame (9)；The secondary positioning camera (11), mirror
Head-up it is arranged；
The photoelectric sensor (2) includes photoelectric sensor transmitter (21) and photoelectric sensor receiver (22), is respectively fixedly connected
In automatically for the two sides of packet stream waterline (1)；The photoelectric sensor transmitter (21) and photoelectric sensor receiver (22), along biography
Band direction is sent, is located at before bracket (6)；The photoelectric sensor transmitter (21) and photoelectric sensor receiver (22), position
Within the field range of identification positioning camera (5)；The photoelectric sensor receiver (22) and the electric phase of identification positioning camera (5)
Even, failing edge signal triggering identification positioning camera (5) of photoelectric sensor receiver (22) is taken pictures；
The fixed frame (9) and pile disk (12), it is ipsilateral with robot (7) relative to automatically for packet stream waterline (1), and in machine
People's (7) can be within opereating specification；
The identification positioned light source (4), identification positioning camera (5), secondary positioned light source (10), secondary positioning camera (11), machine
Device people (7), end effector (8) are electrically connected with the central processing unit in external control cabinet respectively；
It is described to be run automatically for packet stream waterline (1) with constant speed；The target object (3) is rectangular-shape case kind article body, by
Automatically it is conveyed through to come for packet stream waterline (1), the central processing unit controls robot (7), while it is right to control end effector (8)
Target object (3) carries out tracking pickup, and piles up onto corresponding pile disk (12).
2. the automation palletizing system and method for a kind of view-based access control model according to claim 1, it is characterised in that: the pile
Disk (12) setting number with it is automatically corresponding for the type of target object (3) on packet stream waterline (1).
3. a kind of automation palletizing method of view-based access control model positioning is provided, using above-mentioned system and device, which is characterized in that including
Following steps:
Step 1:P1, when transporting target object (3) by photoelectric sensor (2) for packet stream waterline (1) automatically, failing edge triggering is known
Other positioning camera (5) is taken pictures；
Step 2:P2, vision system handle identification positioning camera (5) shot image, identify the type of target object (3),
And calculate location information and upper surface of the central point of moment target object (3) upper surface of taking pictures under world coordinate system
Posture of the major and minor axis under world coordinate system；
Step 3:P3, central processing unit is according to the central point of moment target object (3) upper surface of taking pictures under world coordinate system
The posture information of location information and upper surface major and minor axis under world coordinate system, and automatically for the speed of packet stream waterline (1), control
Robot (7) processed and end effector (8) carry out tracking pickup to target object (3)；
Step 4:P4, central processing unit control robot (7) by target object (3) be moved to secondary positioning camera (11) just on
Side pauses a moment, triggers secondary positioning camera (11) and take pictures；
Step 5:P5, vision system handle secondary positioning camera (11) shot image, calculate moment object of taking pictures
The upper surface central point of body (3) is in the posture of position and upper surface major and minor axis under world coordinate system under world coordinate system；
Step 6:P6, central processing unit is according to the upper surface central point for moment target object (3) of taking pictures under world coordinate system
The posture of position and upper surface major and minor axis under world coordinate system is compensated to pose deviation is piled up, according to target object
(3) type controls robot (7) and end effector (8) and piles up target object (3) to phase according to corresponding stacking program
Answer the determination position of pile disk (12).
4. a kind of automation palletizing method of view-based access control model according to claim 2, it is characterised in that: in the step 4,
When central processing unit control robot (7) pauses the surface that target object (3) is moved to secondary positioning camera (11), end
Vertically downward, and in fixed pose, the upper surface and bottom surface of target object (3) are in horizontality to actuator (8).
5. a kind of automation palletizing method of view-based access control model according to claim 2, it is characterised in that: in the step 5
Vision system handles secondary positioning camera (11) shot image, can calculate the bottom surface for moment target object (3) of taking pictures
Central point is in the posture of position and bottom surface major and minor axis under world coordinate system under world coordinate system；Target object (3) is length
The object of cube shape case class, moment target object (3) of taking pictures are in horizontality, according to its geometrical characteristic, can extrapolate and take pictures
Position and upper surface major and minor axis of the upper surface central point of moment target object (3) under world coordinate system are in world coordinates
Posture under system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910663443.1A CN110342267A (en) | 2019-07-22 | 2019-07-22 | A kind of the automation palletizing system and method for view-based access control model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910663443.1A CN110342267A (en) | 2019-07-22 | 2019-07-22 | A kind of the automation palletizing system and method for view-based access control model |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110342267A true CN110342267A (en) | 2019-10-18 |
Family
ID=68179701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910663443.1A Pending CN110342267A (en) | 2019-07-22 | 2019-07-22 | A kind of the automation palletizing system and method for view-based access control model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110342267A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950007A (en) * | 2019-12-23 | 2020-04-03 | 山东科技大学 | Coal mine material stacking and loading robot system based on machine vision |
| CN111392084A (en) * | 2020-04-16 | 2020-07-10 | 北京好运达智创科技有限公司 | Automatic pile up neatly equipment of sleeper stirrup |
| CN111816050A (en) * | 2020-07-01 | 2020-10-23 | 武汉筑梦科技有限公司 | Multifunctional feeder based on visual feedback |
| CN112809713A (en) * | 2020-12-31 | 2021-05-18 | 珠海格力智能装备有限公司 | Clamp, clamping mechanism and clamping method |
| CN113307042A (en) * | 2021-06-11 | 2021-08-27 | 梅卡曼德（北京）机器人科技有限公司 | Object unstacking method and device based on conveyor belt, computing equipment and storage medium |
| CN113850862A (en) * | 2020-06-09 | 2021-12-28 | 顺丰科技有限公司 | Package pre-stacking system and method, industrial control equipment and storage medium |
| CN114751153A (en) * | 2022-04-24 | 2022-07-15 | 广东天太机器人有限公司 | Full-angle multi-template stacking system |
| CN114955523A (en) * | 2022-05-17 | 2022-08-30 | 北京大恒图像视觉有限公司 | Mechanical arm feeding system based on visual positioning in penicillin bottle detection industry |
| WO2024001944A1 (en) * | 2022-06-27 | 2024-01-04 | 宝山钢铁股份有限公司 | End effector for torpedo car capping robot and capping method thereof |
| CN119057820A (en) * | 2024-10-31 | 2024-12-03 | 杭州灵智科技数字化装备有限公司 | Automatic deviation correction and stacking control method for packaging bags |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007264957A (en) * | 2006-03-28 | 2007-10-11 | Fujifilm Corp | Print order receiver |
| CN104511436A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Express sorting method and system based on robot visual servo technology |
| CN106829469A (en) * | 2017-03-30 | 2017-06-13 | 武汉库柏特科技有限公司 | A kind of unordered grabbing device of robot based on double camera and method |
| CN107572248A (en) * | 2017-08-28 | 2018-01-12 | 昆山拓誉自动化科技有限公司 | A kind of conveying device based on vacuum cup |
| CN207375365U (en) * | 2017-09-20 | 2018-05-18 | 大连豪森瑞德设备制造有限公司 | Intelligent vision is accurately positioned the system of reaching the standard grade |
| CN207903531U (en) * | 2017-12-22 | 2018-09-25 | 长沙长泰机器人有限公司 | Robot automatic loading system based on laser vision |
| CN208898125U (en) * | 2018-10-18 | 2019-05-24 | 西安中科光电精密工程有限公司 | An Intelligent Palletizing System Applicable to Different Specifications of Carton Packages |
| US20190202642A1 (en) * | 2017-05-05 | 2019-07-04 | Fives Intralogistics Corp. | Off-loading, typing and item separation system |
-
2019
- 2019-07-22 CN CN201910663443.1A patent/CN110342267A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007264957A (en) * | 2006-03-28 | 2007-10-11 | Fujifilm Corp | Print order receiver |
| CN104511436A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Express sorting method and system based on robot visual servo technology |
| CN106829469A (en) * | 2017-03-30 | 2017-06-13 | 武汉库柏特科技有限公司 | A kind of unordered grabbing device of robot based on double camera and method |
| US20190202642A1 (en) * | 2017-05-05 | 2019-07-04 | Fives Intralogistics Corp. | Off-loading, typing and item separation system |
| CN107572248A (en) * | 2017-08-28 | 2018-01-12 | 昆山拓誉自动化科技有限公司 | A kind of conveying device based on vacuum cup |
| CN207375365U (en) * | 2017-09-20 | 2018-05-18 | 大连豪森瑞德设备制造有限公司 | Intelligent vision is accurately positioned the system of reaching the standard grade |
| CN207903531U (en) * | 2017-12-22 | 2018-09-25 | 长沙长泰机器人有限公司 | Robot automatic loading system based on laser vision |
| CN208898125U (en) * | 2018-10-18 | 2019-05-24 | 西安中科光电精密工程有限公司 | An Intelligent Palletizing System Applicable to Different Specifications of Carton Packages |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950007A (en) * | 2019-12-23 | 2020-04-03 | 山东科技大学 | Coal mine material stacking and loading robot system based on machine vision |
| CN111392084A (en) * | 2020-04-16 | 2020-07-10 | 北京好运达智创科技有限公司 | Automatic pile up neatly equipment of sleeper stirrup |
| CN113850862A (en) * | 2020-06-09 | 2021-12-28 | 顺丰科技有限公司 | Package pre-stacking system and method, industrial control equipment and storage medium |
| CN111816050A (en) * | 2020-07-01 | 2020-10-23 | 武汉筑梦科技有限公司 | Multifunctional feeder based on visual feedback |
| CN112809713A (en) * | 2020-12-31 | 2021-05-18 | 珠海格力智能装备有限公司 | Clamp, clamping mechanism and clamping method |
| CN113307042A (en) * | 2021-06-11 | 2021-08-27 | 梅卡曼德（北京）机器人科技有限公司 | Object unstacking method and device based on conveyor belt, computing equipment and storage medium |
| CN113307042B (en) * | 2021-06-11 | 2023-01-03 | 梅卡曼德（北京）机器人科技有限公司 | Object unstacking method and device based on conveyor belt, computing equipment and storage medium |
| CN114751153A (en) * | 2022-04-24 | 2022-07-15 | 广东天太机器人有限公司 | Full-angle multi-template stacking system |
| CN114751153B (en) * | 2022-04-24 | 2023-03-10 | 广东天太机器人有限公司 | Full-angle multi-template stacking system |
| CN114955523A (en) * | 2022-05-17 | 2022-08-30 | 北京大恒图像视觉有限公司 | Mechanical arm feeding system based on visual positioning in penicillin bottle detection industry |
| WO2024001944A1 (en) * | 2022-06-27 | 2024-01-04 | 宝山钢铁股份有限公司 | End effector for torpedo car capping robot and capping method thereof |
| CN119057820A (en) * | 2024-10-31 | 2024-12-03 | 杭州灵智科技数字化装备有限公司 | Automatic deviation correction and stacking control method for packaging bags |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110342267A (en) | A kind of the automation palletizing system and method for view-based access control model | |
| CN109279373B (en) | Flexible unstacking and stacking robot system and method based on machine vision | |
| CN108399639B (en) | Rapid automatic grabbing and placing method based on deep learning | |
| CN109178960A (en) | A kind of intelligent stacking system and method suitable for different size carton package | |
| US7591597B2 (en) | Method of moving a device provided with a camera to a desired position by means of a control system, and such a system | |
| EP3173194B1 (en) | Manipulator system, image capturing system, transfer method of object, and carrier medium | |
| JP2010012567A (en) | Article picking device | |
| CN208898125U (en) | An Intelligent Palletizing System Applicable to Different Specifications of Carton Packages | |
| CN108502262B (en) | Automatic valve bag feeding integrated system and control method | |
| CN112132889A (en) | Soft magnet posture recognition and automatic grabbing method based on binocular vision | |
| CN110802599B (en) | Control method for grabbing parts from material frame under visual guidance of robot | |
| CN107134422A (en) | Chip bonding device and method | |
| CN203650513U (en) | Mechanical gripper and industrial robot for mounting circuit for electronic product | |
| CN102614641A (en) | Intelligent integrated tennis ball picking robot | |
| CN112605993B (en) | Automatic file grabbing robot control system and method based on binocular vision guidance | |
| CN105690393A (en) | Four-axle parallel robot sorting system based on machine vision and sorting method thereof | |
| CN108305848A (en) | A kind of wafer automatic station-keeping system and the loading machine including it | |
| CN105773619A (en) | Electronic control system used for realizing grabbing behavior of humanoid robot and humanoid robot | |
| CN210233078U (en) | Goods is got and is put robot | |
| CN113021391A (en) | Integrated vision robot clamping jaw and using method thereof | |
| CN107776955A (en) | Eye mask packing machine | |
| CN110626812A (en) | 3D vision-guided carton intelligent depalletizing and palletizing integrated system and depalletizing and palletizing method | |
| CN206340102U (en) | Magnetic reads the automatic vending machine of positioning | |
| EP4334092A1 (en) | Method and computing system for performing robot motion planning and repository detection | |
| CN116853829A (en) | Brake disc stacking line and stacking method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191018 |
|
| RJ01 | Rejection of invention patent application after publication |