CN210995365U - Product sorting and processing system based on 3D vision - Google Patents

Abstract

The utility model discloses a product sorting and processing system based on three-dimensional vision. The system includes: a sorting controller; a sorting pool mechanism, including a sorting pool for placing materials; a three-dimensional vision mechanism, arranged above the sorting pool and connected with the sorting controller, used for Under the control of the sorting controller, collect the three-dimensional image of the material corresponding to the material placed on the sorting tank, identify the identification and positioning information corresponding to the target material based on the three-dimensional image of the material, and send the identification and positioning information to the the sorting controller; the sorting actuator is arranged on the periphery of the sorting tank and connected to the sorting controller, and is used for sorting materials according to the identification and positioning information under the control of the sorting controller. sorting. The system guarantees the accuracy and practicability of the sorting process to avoid the failure of material sorting due to the shape, mutual occlusion or stacking of the target material.

Description

Product sorting and processing system based on 3D vision

technical field

The utility model relates to the technical field of machine vision control, in particular to a product sorting and processing system based on three-dimensional vision.

Background technique

In recent years, the application of sorting technology in warehousing, logistics and other industries has become more and more extensive, and the degree of automation of sorting has become higher and higher. Existing sorting systems are mainly based on barcode recognition, two-dimensional code recognition or two-dimensional visual recognition technology. Among them, the scope of use of barcode identification and two-dimensional code identification is limited to the identification of barcodes or two-dimensional codes and other identification codes for objects to be sorted. Two-dimensional visual recognition needs to process the sorted objects in advance, so that the sorted objects do not block, stack and interfere with each other; moreover, only the coordinate information of the two-dimensional plane can be provided during the two-dimensional visual recognition process. When the objects to be sorted are sorted, it is easy to lead to the failure of the sorting process, that is, the sorting system based on two-dimensional visual recognition is mainly used when the objects to be sorted have no special shape, and the objects to be sorted do not have mutual occlusion and stacking. .

Utility model content

Aiming at the problem that the sorting system based on two-dimensional visual recognition affects the normal operation of the sorting work due to special shapes, or mutual blocking and stacking of sorting objects during the sorting process, a product sorting and processing system based on three-dimensional vision is provided. .

The utility model provides a three-dimensional vision-based product sorting and processing system, comprising:

sorting controller;

Sorting pond mechanism, including sorting ponds for placing materials;

A three-dimensional vision mechanism, arranged above the sorting tank and connected to the sorting controller, is used to collect the three-dimensional image of the material corresponding to the material placed on the sorting tank under the control of the sorting controller, Identify the identification and positioning information corresponding to the target material based on the three-dimensional image of the material, and send the identification and positioning information to the sorting controller;

The sorting actuator is arranged on the periphery of the sorting tank and connected with the sorting controller, and is used for sorting materials according to the identification and positioning information under the control of the sorting controller.

Preferably, the sorting tank mechanism further includes a sorting motion unit connected to the sorting tank and the sorting controller, for turning the top of the sorting tank over under the control of the sorting controller the material placed.

Preferably, the sorting tank includes a sorting column and at least one sorting ring arranged on the periphery of the sorting column; the sorting motion unit is connected to the sorting column and is used to control the sorting column Reciprocating movement along the axial direction of the sorting column; the sorting motion unit is connected with the sorting ring, and is used to control the reciprocating movement of the sorting ring along the axial direction of the sorting ring.

Preferably, the three-dimensional vision mechanism includes a three-dimensional camera and a vision processing unit, the three-dimensional camera is arranged directly above the sorting tank, and is used for collecting three-dimensional images of materials corresponding to the materials placed on the sorting tank; The visual processing unit is connected to the three-dimensional camera, and is used for identifying the identification and positioning information corresponding to the target material based on the three-dimensional image of the material.

Preferably, the three-dimensional vision mechanism further includes a visual light source, and the visual light source is disposed directly above the sorting tank and directly below the three-dimensional camera.

Preferably, the sorting execution mechanism includes at least one material receiving port, and the sorting controller is connected to at least one sorting robot arranged on the periphery of the sorting tank, and the sorting controller is connected to the sorting robot according to the identification and positioning information. The robot sends a material sorting instruction and receives the target material through the material receiving port.

Preferably, the three-dimensional vision-based product sorting and processing system further includes a manufacturing execution system connected to the sorting controller for issuing sorting order information.

Preferably, the three-dimensional vision-based product sorting and processing system further includes a material warehouse control mechanism connected to the manufacturing execution system and the sorting pool mechanism, and the material warehouse control mechanism is used for sorting according to the sorting order. The information conveys the material to the sorting tank mechanism.

Preferably, the three-dimensional vision-based product sorting and processing system further includes a material packaging mechanism connected to the sorting controller, for packaging the sorted target materials.

Preferably, the material packaging mechanism includes a material collecting unit for collecting the target material, a plastic packaging machine for packaging and packaging the target material, and a spraying machine for coding, which are sequentially connected by a material conveying unit. Code machine, the material collecting unit is connected with the sorting executing mechanism through the material collecting channel.

The above-mentioned three-dimensional vision-based product sorting and processing system collects the three-dimensional image of the material corresponding to the material placed on the sorting tank through the three-dimensional vision mechanism, and identifies the category, position information and attitude information corresponding to the target material based on the three-dimensional image of the material. Identification and positioning information, It can help to avoid the influence of the shape, mutual occlusion or stacking of the target material on the identification and positioning of the material, and can ensure the accuracy of the identification and positioning process; then guide the sorting actuator according to the category, position information and attitude information of the target material, etc. Identify the positioning information, pick and sort the target materials in an orderly and three-dimensional direction, so as to ensure the accuracy and operability of the sorting process, and achieve the flexibility for the target materials of various types, indeterminate attitudes, occlusions and stacking. The effect of sorting is to avoid the failure of material sorting due to the shape, mutual occlusion or stacking of the target materials, and to improve the efficiency and accuracy of material sorting.

Description of drawings

1 is a schematic diagram of a product sorting and processing system based on three-dimensional vision in an embodiment of the present invention;

2 is a schematic diagram of a sorting tank mechanism in an embodiment of the present invention;

3 is a schematic diagram of a three-dimensional vision mechanism in an embodiment of the present invention;

FIG. 4 is a schematic diagram of a sorting actuator in an embodiment of the present invention;

5 is a schematic diagram of a material packaging mechanism in an embodiment of the present invention;

FIG. 6 is a schematic diagram of position information and attitude information of a target material in an embodiment of the present invention.

Among them, 10, sorting controller; 20, sorting pool mechanism; 21, sorting pool; 211, sorting column; 212, sorting ring; 30, three-dimensional vision mechanism; 31, three-dimensional camera; 32, vision processing unit ;33, visual light source; 40, sorting actuator; 41, sorting robot; 42, material receiving port; 50, manufacturing execution system; 60, material warehouse control mechanism; 70, material packaging mechanism; 71, material collection unit; 711, material collection channel; 72, plastic packaging machine; 721, first sensor; 73, inkjet printer; 74, material conveying unit.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear" , "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings , is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a connectable connection. Detachable connection, or integral connection; may be mechanical connection or electrical connection; may be direct connection, or indirect connection through an intermediate medium, or internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In one embodiment, as shown in FIG. 1 , a three-dimensional vision-based product sorting and processing system is provided. The three-dimensional vision-based system includes a sorting controller 10, a sorting pool mechanism 20 for placing materials, a three-dimensional vision mechanism 30 for performing three-dimensional visual recognition, and a sorting executing mechanism 40 for performing material sorting. The controller 10 controls the three-dimensional vision mechanism 30 and the sorting execution mechanism 40 to work, and can realize the sorting of the materials placed on the sorting tank 21 without being restricted by the shape of the materials, whether there is mutual occlusion and stacking, so as to ensure The material sorting work is carried out normally.

The sorting controller 10 is a mechanism for realizing material sorting control. Specifically, it can execute a specific computer program to realize the control of the sorting pool mechanism 20, the three-dimensional vision mechanism 30 and the sorting execution mechanism 40, so that the sorting The picking pool mechanism 20, the three-dimensional vision mechanism 30 and the sorting execution mechanism 40 cooperate to complete the control unit of the material sorting work.

The sorting tank mechanism 20 includes a sorting tank 21 for placing materials. The sorting tank 21 is a preset platform for placing materials so that the three-dimensional vision mechanism 30 can take three-dimensional images of the materials. For example, the sorting pool 21 can be a circular table top, and all the materials to be sorted can be placed on the sorting pool 21, so that the three-dimensional vision mechanism 30 can take a three-dimensional image of the material and the sorting executive mechanism 40 can sort the materials. , the material placed on the sorting tank 21 is the object to be sorted.

The three-dimensional vision mechanism 30 is arranged above the sorting tank 21 and connected to the sorting controller 10, and is used to collect the three-dimensional image of the material corresponding to the material placed on the sorting tank 21 under the control of the sorting controller 10, based on the material The three-dimensional image identifies the identification and positioning information corresponding to the target material, and sends the identification and positioning information to the sorting controller 10 . The three-dimensional image of the material is a three-dimensional image of the material placed on the sorting tank 21 captured by the three-dimensional vision mechanism 30 . The identification and positioning information is the information related to the target material identified based on the three-dimensional image of the material, including but not limited to information such as the category, location information, and attitude information of the target material. It can be understood that, through the three-dimensional image of the material captured by the three-dimensional vision mechanism 30, the identification and positioning information such as the category, position information and attitude information corresponding to the target material can be identified, which can help to avoid the shape, mutual occlusion or mutual occlusion of the target material. The influence of stacking on the identification and positioning of materials to ensure the accuracy of the identification and positioning process. The three-dimensional vision mechanism 30 sends the identification and positioning information to the sorting controller 10, so that the sorting controller 10 controls the sorting execution mechanism 40 to perform material sorting based on the identification and positioning information such as the category, position information, and attitude information corresponding to the target material. , it can carry out sorting and picking operations in order and three-dimensional direction to ensure the accuracy and operability of the sorting process, and achieve the effect of flexible sorting of target materials of various types, indeterminate attitudes, occlusions and stacking. The target material refers to the material that needs to be sorted out for assembling the target product. In this embodiment, the three-dimensional vision mechanism 30 is disposed above the sorting tank 21 , which helps the three-dimensional vision mechanism 30 to capture a more accurate three-dimensional image of the material, and helps to improve the accuracy of material sorting.

The sorting executive mechanism 40 is arranged on the periphery of the sorting tank 21 and connected to the sorting controller 10 , and is used for sorting materials according to the identification and positioning information under the control of the sorting controller 10 . The sorting actuator 40 is a mechanism for performing material sorting. The sorting actuator 40 is arranged on the periphery of the sorting tank 21 and is connected to the sorting controller 10 . The three-dimensional vision obtained by the sorting controller 10 The identification and positioning information such as the category, position information, and attitude information of the target material identified by the mechanism 30 performs picking and sorting operations in an orderly and three-dimensional direction, so as to achieve flexible sorting of target materials of various types, uncertain attitudes, occlusions and stacking. picking effect.

Before the sorting starts, the sorting order information corresponding to the target product needs to be provided to the sorting controller 10 and the materials to be sorted are placed on the sorting pool 21 . The sorting order information includes at least one target material and the material quantity corresponding to each target material, and each target material corresponds to an original three-dimensional image, so as to perform material identification based on the original three-dimensional image. During the sorting process, the sorting controller 10 first controls the three-dimensional vision mechanism 30 to collect the three-dimensional image of the material corresponding to the material placed on the sorting tank 21, and based on the three-dimensional image of the material and the original three-dimensional image corresponding to the target material in the sorting order information The image is processed for material identification and positioning, so as to obtain identification and positioning information such as category, position information and attitude information corresponding to each target material in the three-dimensional image of the material, and send the identification and positioning information to the sorting controller 10 . After the sorting controller 10 receives the identification and positioning information, based on the identification and positioning information, it controls the sorting execution mechanism 40 to carry out an orderly and three-dimensional material picking and sorting operation, and sequentially picks up at least one target material corresponding to the sorting order information. until the number of each target material sorted out matches the number of materials, so as to achieve the effect of flexible sorting of target materials of various types, indeterminate attitudes, occlusions and stacking.

Understandably, after picking up all the target materials identified by the 3D image of a material, if the sorting of all the target materials in the sorting order information is not completed, there is at least one target material whose current quantity does not match the material quantity. When matching, the three-dimensional vision mechanism 30 can be controlled to shoot the three-dimensional image of the material again and identify and locate the material to re-acquire the identification and positioning information, and control the sorting execution mechanism 40 to perform the material sorting operation based on the re-acquired identification and positioning information until all the materials are sorted. The target material is picked up according to its material quantity. The current quantity of the target material refers to the quantity of the target material of a certain category that has been picked and sorted. That is, the sorting controller 10 can control the three-dimensional vision mechanism 30 to collect the three-dimensional image of the material layer by layer, and identify, segment and locate the material in the three-dimensional image of the material, so as to obtain the corresponding category, position information and attitude information of the target material. Identify the positioning information, so as to guide the sorting actuator 40 to carry out material picking and sorting operations in an orderly and three-dimensional direction based on the identification and positioning information, so as to achieve flexible selection of target materials of various categories, uncertain attitudes, blocked or stacked on each other The purpose of sorting, so as to effectively improve the efficiency and accuracy of material sorting. Among them, flexible sorting refers to the adaptive response to the uncertain environment and the sorting process, and the flexibility here refers to a kind of adaptability to cope with environmental changes or uncertainties caused by environmental changes.

In the three-dimensional vision-based product sorting and processing system provided in this embodiment, the three-dimensional image of the material corresponding to the material placed on the sorting tank 21 is collected by the three-dimensional vision mechanism 30, and the category and location corresponding to the target material are identified based on the three-dimensional image of the material The identification and positioning information such as information and attitude information can help to avoid the influence of the shape, mutual occlusion or stacking of the target material on the identification and positioning of the material, and can ensure the accuracy of the identification and positioning process; and then guide the sorting actuator 40 according to the target. Identification and positioning information such as material category, position information and attitude information, and picking and sorting operations on target materials in an orderly and three-dimensional direction to ensure the accuracy and practicability of the sorting process, and to achieve a variety of The effect of flexible sorting of target materials with posture, occlusion and stacking can avoid the failure of material sorting due to the shape, mutual blocking or mutual stacking of target materials, and improve the efficiency and accuracy of material sorting.

In one embodiment, the sorting tank mechanism 20 further includes a sorting motion unit (not shown in the figure) connected with the sorting tank 21 and the sorting controller 10 , for under the control of the sorting controller 10, Turn over the material placed on the sorting tank 21. Since the materials placed on the sorting tank 21 may be blocked or stacked with each other, in order to reduce the influence of the mutual blocking or mutual stacking on the identification and positioning of materials, the materials on the sorting tank 21 can be turned over. , to reduce the occurrence of mutual occlusion or mutual stacking of materials, so that the three-dimensional images of materials collected by the three-dimensional vision mechanism 30 can identify more target materials, thereby improving the efficiency and practicability of material sorting. In order to improve the automation degree of the product sorting and processing system and reduce the labor cost in the material sorting process, the sorting pool mechanism 20 may further include a sorting pool connected to the sorting pool 21 and the sorting controller 10 for overturning the materials. Motion unit, so that the sorting motion unit can control the movement of the sorting tank 21 under the control of the sorting controller 10, so as to realize the automatic overturning of the materials on the sorting tank 21, improve the material overturning efficiency, and reduce the mutual blocking of materials or The occurrence of stacking on each other helps to improve the efficiency of material sorting.

In one embodiment, as shown in FIG. 2 , the sorting tank 21 includes a sorting column 211 and at least one sorting ring 212 arranged on the periphery of the sorting column 211; the sorting motion unit is connected to the sorting column 211 for Control the reciprocating movement of the sorting column 211 along the axial direction of the sorting column 211 ; Among them, the sorting column 211 is a cylindrical piece in the central part of the sorting tank 21 , and the sorting ring 212 is a ring-shaped piece arranged on the periphery of the sorting column 211 , in order to avoid the material falling into the sorting column 211 and the sorting ring 212 Between or between two adjacent sorting rings 212, it is necessary to ensure that the sorting column 211 and the sorting ring 212 or between two adjacent sorting rings 212 are closely matched, so that the gap is small. It can be understood that the sorting motion unit is connected with the sorting column 211 and the sorting ring 212, so that the sorting motion unit can be used to control the reciprocating movement of the sorting column 211 along the axial direction of the sorting column 211 alone, and can also control the sorting column 211 independently. The sorting ring 212 reciprocates along the axial direction of the sorting ring 212, or synchronously controls the sorting column 211 to reciprocate along the axial direction of the sorting column 211 and controls the sorting ring 212 to reciprocate along the axial direction of the sorting ring 212, so that the sorting When the movement unit controls the sorting column 211 and/or the sorting ring 212 to reciprocate along the respective axial directions, the materials placed on the sorting column 211 and/or the sorting ring 212 move along with it, so as to achieve the purpose of turning the material, Avoid mutual blocking or stacking of materials, which will affect the normal operation of material sorting.

As an example, as shown in FIG. 2 , the sorting column 211 is a cylinder, and the end surface of the sorting column 211 for placing the material is a spherical surface. The sorting motion unit drives the material placed on the sorting column 211 along the When the sorting column 211 reciprocates in the axial direction, the materials are arranged in the direction of the sorting ring 212, so as to achieve the purpose of material turning. The sorting ring 212 is specifically a circular cylinder, that is, the cross section of the sorting ring 212 is circular, and the height of the inner ring of the circular cylinder is smaller than the height of the outer ring, so that the end face of the sorting ring 212 for placing materials is On the inclined plane, when the sorting motion unit drives the material placed on the sorting ring 212 to reciprocate along the axial direction of the sorting ring 212, the material is sorted in the direction of the sorting column 211 to achieve the purpose of material turning. It can be understood that the sorting controller 10 can control the sorting column 211 and the sorting ring 212 to form different height differences through the sorting motion unit, so as to realize the effective sorting of the materials in the sorting tank 21 and avoid the material Mutual occlusion and stacking affect the material sorting process.

In one embodiment, as shown in FIG. 3 , the three-dimensional vision mechanism 30 includes a three-dimensional camera 31 and a vision processing unit 32 . The three-dimensional image of the material corresponding to the material; the visual processing unit 32 is connected to the three-dimensional camera 31 for identifying the identification and positioning information corresponding to the target material based on the three-dimensional image of the material.

The three-dimensional camera 31 is a camera that can capture three-dimensional images, and the RGB-D three-dimensional camera 31 in this embodiment may be used but not limited to. In this embodiment, the three-dimensional camera 31 is arranged directly above the sorting tank 21, which can help to prevent the captured three-dimensional image of the material from affecting its identification and positioning effect due to the large angle deviation, thereby improving the accuracy of identification and positioning, ensuring The accuracy of material sorting.

Wherein, the visual processing unit 32 is a processing unit connected to the three-dimensional camera 31 for performing image recognition and positioning processing, and may specifically be a computer device that can execute a specific algorithm for image recognition and positioning, and the specific algorithm here may be feature correlation. Recognition and localization algorithms, or other existing algorithms that can implement image recognition and localization. It can be understood that the visual processing unit 32 can be set independently from the sorting controller 10 , or can be integrated in the sorting controller 10 and integrated with the sorting controller 10 to simplify the structure of the product sorting processing system.

As shown in FIG. 6 , the three-dimensional space coordinate system shared by the three-dimensional vision mechanism 30 and the sorting execution mechanism 40 is pre-built, and the feature correlation identification and positioning algorithm or other identification and positioning algorithms are used in the vision processing unit 32 to compare the three-dimensional image of the material with the predetermined The original three-dimensional image corresponding to the target material in the received sorting order information is matched, and the identification and positioning information including the corresponding category, position information (x, y, z) and attitude information (α, θ, φ) of the target material is obtained. The category here may be a target material for determining which category in the sorting order information a certain material in the material three-dimensional image is specifically. The position information (x, y, z) here refers to the coordinates of the center point Q of the target material in the three-dimensional space coordinate system. The attitude information (α, θ, φ) here refers to the angle between the preset material direction of the target material and a certain coordinate axis in the three-dimensional space coordinate system, such as the length direction of the cuboid of the target material and the three-dimensional space coordinate system. The included angle of the X-axis is α in the attitude information. It can be understood that, after receiving the identification and positioning information, the sorting execution mechanism 40 can perform an orderly picking and sorting operation of materials according to the categories in the identification and positioning information in the process of identifying the target materials, and according to the positions in the identification and positioning information. Information (x, y, z) and attitude information (α, θ, φ) adjust the picking position point and picking attitude to realize the three-dimensional material picking and sorting operation, and achieve the goal of multi-category, indeterminate attitude, occlusion and stacking The effect of flexible sorting of materials to ensure the accuracy of material sorting.

In one embodiment, as shown in FIG. 3 , the three-dimensional vision mechanism 30 further includes a visual light source 33 , and the visual light source 33 is disposed directly above the sorting tank 21 and located directly below the three-dimensional camera 31 . It can be understood that by setting the visual light source 33 directly above the sorting tank 21 and directly below the three-dimensional camera 31, it is used to provide a stable lighting environment for the three-dimensional camera 31 to capture the three-dimensional image of the material to ensure that the three-dimensional camera 31. 31 The clarity of the collected three-dimensional image of the material helps to improve the accuracy of subsequent identification and positioning.

Further, the visual light source 33 is arranged in a ring shape between the sorting tank 21 and the three-dimensional camera 31, so as to provide a more stable lighting environment for the three-dimensional camera 31, so as to avoid the materials at different positions on the sorting tank 21 from being illuminated by the visual light source 33. Different angles affect the effect of material identification and positioning.

In one embodiment, as shown in FIG. 4 , the sorting actuator 40 includes at least one material receiving port 42 , and the sorting controller 10 is connected to at least one sorting robot 41 disposed on the periphery of the sorting tank 21 , and is positioned according to the identification. The information sends a material sorting instruction to the sorting robot 41 and receives the target material through the material receiving port 42 . The material sorting instruction is an instruction triggered by the sorting controller 10 to control the sorting robot 41 to perform material picking and sorting operations. At least one sorting robot 41 for picking up materials is arranged on the periphery of the sorting pool 21 , and each sorting robot 41 can carry out materials according to the identification and positioning information recognized by the three-dimensional vision mechanism 30 under the control of the sorting controller 10 . Sorting to pick up the target material to the corresponding material receiving port 42 to achieve the purpose of material sorting.

As an example, after receiving the identification and positioning information including the category, location information and attitude information of the target material, the sorting controller 10 forms a material sorting instruction for a certain target material, so as to send the material sorting instruction To a sorting robot 41 , so that the sorting robot 41 executes the material sorting instruction to pick up the corresponding target material to the material receiving port 42 . For example, the sorting controller 10 can sequentially form a material sorting instruction according to the order of the categories of the target materials or the order of distance from the sorting robot 41, so as to realize the orderly picking and sorting operations based on the sequentially formed material sorting instructions ; Send a material sorting instruction to the sorting robot 41 closest to the position of the target material, so that the sorting robot 41 adjusts the picking angle based on the attitude information of the target material, so as to realize the material picking operation with a three-dimensional direction, So as to achieve the effect of flexible sorting of target materials of various types, indeterminate attitudes, occlusion and stacking, to ensure the accuracy of material sorting.

As an example, when both the sorting robot 41 and the material receiving port 42 are set to one, the realization of the purpose of material sorting can be ensured at the lowest cost. As another example, when there are at least two sorting robots 41 and two material receiving ports 42, each sorting robot 41 can place the picked-up target material on the material receiving port 42 closest to the sorting robot 41, To improve material sorting efficiency.

For example, when there are at least two sorting robots 41, the sorting area of each sorting robot 41 in the three-dimensional space coordinate system shared by the pre-built three-dimensional vision mechanism 30 and the sorting execution mechanism 40 can be pre-configured; 41 After obtaining the corresponding identification and positioning information, match the sorting area corresponding to each sorting robot 41 based on the position information (x, y, z) in the identification and positioning information to determine the sorting robot 41 corresponding to the target material. ; The sorting robot 41 can pick up the target material in the sorting area to the corresponding receiving port 42 according to the target material and material quantity in the sorting order information to complete the sorting operation of the target material, which is helpful for Improve material sorting efficiency.

Further, the three-dimensional vision-based product sorting processing system further includes a manufacturing execution system 50 connected to the sorting controller 10 for issuing sorting order information. The Manufacturing Execution System 50 (Manufacturing Execution System, MES for short) is a production information management system oriented to the workshop execution layer of the manufacturing enterprise. MES can provide enterprises with manufacturing data management, production planning management, production scheduling management, inventory management, quality management, human resource management, work center/equipment management, tooling management, procurement management, cost management, project Kanban management, production Management modules such as process control, bottom-level data integration analysis, and upper-level data integration and decomposition create a solid, reliable, comprehensive and feasible manufacturing collaborative management platform for enterprises. Understandably, the user can issue the sorting order information to the sorting controller 10 through the MES, so that the sorting controller 10 can control the sorting movement unit in the sorting pool mechanism 20 to turn over and place it in the sorting pool according to the sorting order information. Sort the materials on the pool 21; and control the three-dimensional vision mechanism 30 to use the three-dimensional image of the material and identify and position it to obtain identification and positioning information; and then control the sorting actuator 40 to sort materials according to the identification and positioning information to achieve material sorting. Purpose.

In one embodiment, the three-dimensional vision-based product sorting processing system further includes a material warehouse control mechanism 60 connected to the manufacturing execution system 50 and the sorting pool mechanism 20, and the material warehouse control mechanism 60 is used to send the sorting order information to the sorting order according to the sorting order information. The picking pool mechanism 20 conveys materials. Understandably, the material warehouse control mechanism 60 stores materials in advance, and can deliver materials to the sorting pool mechanism 20 according to the sorting order information issued by the MES, so that the sorting pool 21 places the materials to be sorted. mechanism. Specifically, the material warehouse control mechanism 60 is connected with the sorting tank mechanism 20 through a conveyor belt or other conveying mechanism to transfer materials to the sorting tank 21 to avoid the cost of manual material handling and improve the efficiency of material transfer.

In one embodiment, the three-dimensional vision-based product sorting and processing system further includes a material packaging mechanism 70 connected to the sorting controller 10 for packaging the sorted target materials. Understandably, after the material is sorted based on the sorting order information, the material packaging mechanism 70 can be used to package the sorted target materials, so as to realize the integrated processing of sorting and packaging, so as to improve the sorting and packaging of target products. efficiency, saving sorting and packaging costs.

In one embodiment, as shown in FIG. 5 , the material packaging mechanism 70 includes a material collecting unit 71 for collecting the target material, a plastic packaging machine 72 for packaging the target material, and a material conveying unit 74 connected in sequence. For the inkjet printer 73 for inkjet printing, the material collection unit 71 is connected with the sorting actuator 40 through the material collection channel 711 . Wherein, the material conveying unit 74 is a unit for realizing material transmission between different positions, and the material conveying unit 74 includes but is not limited to the conveyor belt unit mentioned in the embodiment. Wherein, the material collecting unit 71 is a unit for collecting the target materials on the material receiving port 42 of the sorting actuator 40, and can be understood as a container for collecting and accommodating all the target materials. The material collection channel 711 is a channel for connecting at least one material receiving port 42 and the material collection unit 71 , and the material collection channel 711 may be a transmission channel that can realize automatic transmission of the target material.

In this embodiment, after the sorting execution mechanism 40 sorts all the target materials in the sorting order information according to the material quantity, all the target materials in the receiving port 42 can be collected to the collecting unit 71 through the collecting channel 711 . , and then use the plastic packaging machine 72 to package all the target materials collected in the collection unit 71 to package all the target materials in the packaging bag, and then use the inkjet printer 73 to ink the packaging bag to complete the target. Integrated processing of product sorting, packaging and coding to improve processing efficiency.

Further, the material packaging mechanism 70 further includes a first sensor 721 disposed at the entrance of the plastic packaging machine 72, for triggering a packaging and packaging instruction to the plastic packaging machine 72 when the target material is sensed, so that the plastic packaging machine 72 can target the target material. Materials are packaged and packaged. The first sensor 721 is disposed at the entrance of the plastic packaging machine 72, and is used to trigger the packaging and packaging instruction to the plastic packaging machine 72 when sensing that the material collecting unit 71 conveys the target material to the entrance of the plastic packaging machine 72, so as to The plastic packaging machine 72 is used to package and package the target material, so as to improve the automation degree of the material packaging mechanism 70 and effectively improve the processing efficiency.

Correspondingly, the material packaging mechanism 70 also includes a second sensor (not shown in the figure) disposed at the entrance of the inkjet printer 73, for triggering the inkjet printer 73 when the target material is sensed, triggering the inkjet control command to the inkjet printer 73 , so that the inkjet printer 73 can ink the packaging bag of the target material according to the inkjet control instruction, so as to improve the automation degree of the material packaging mechanism 70 and effectively improve the processing efficiency.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection of the utility model.

Claims (10)

1. A three-dimensional vision based product sorting system, comprising:

a sorting controller;

the sorting pool mechanism comprises a sorting pool for placing materials;

the three-dimensional vision mechanism is arranged above the sorting pool, is connected with the sorting controller, and is used for collecting a three-dimensional material image corresponding to the material placed on the sorting pool under the control of the sorting controller, identifying and positioning information corresponding to a target material based on the three-dimensional material image, and sending the identifying and positioning information to the sorting controller;

and the sorting executing mechanism is arranged at the periphery of the sorting pool, is connected with the sorting controller and is used for sorting the materials under the control of the sorting controller according to the identification and positioning information.

2. The three-dimensional vision based product sorting system of claim 1, wherein the sorting cell mechanism further comprises a sorting motion unit coupled to the sorting cell and the sorting controller for flipping the material placed on the sorting cell under control of the sorting controller.

3. The three-dimensional vision based product sorting process system according to claim 2, wherein the sorting cell comprises a sorting column and at least one sorting ring disposed at the periphery of the sorting column; the sorting motion unit is connected with the sorting columns and used for controlling the sorting columns to reciprocate along the axial direction of the sorting columns; the sorting motion unit is connected with the sorting ring and used for controlling the sorting ring to reciprocate along the axial direction of the sorting ring.

4. The three-dimensional vision based product sorting and processing system according to claim 1, wherein the three-dimensional vision mechanism comprises a three-dimensional camera and a vision processing unit, the three-dimensional camera is arranged right above the sorting pond and is used for acquiring three-dimensional images of materials corresponding to the materials placed on the sorting pond; and the vision processing unit is connected with the three-dimensional camera and is used for identifying the identification and positioning information corresponding to the target material based on the three-dimensional material image.

5. The three-dimensional vision based product sorting processing system of claim 4, wherein the three-dimensional vision mechanism further comprises a vision light source disposed directly above the sorting pond and directly below the three-dimensional camera.

6. The three-dimensional vision based product sorting system according to claim 1, wherein the sorting actuator includes at least one receiving opening, and the sorting controller is connected to at least one sorting robot disposed at the periphery of the sorting tank, and transmits the material sorting command to the sorting robot according to the identification and location information, and receives the target material through the receiving opening.

7. The three-dimensional vision based product sorting system of claim 1, further comprising a manufacturing execution system coupled to the sorting controller for issuing sort order information.

8. The three-dimensional vision based product sorting system of claim 7, further comprising a material warehouse control mechanism coupled to the manufacturing execution system and the sort pool mechanism, the material warehouse control mechanism configured to deliver the material to the sort pool mechanism based on the sort order information.

9. The three-dimensional vision based product sorting system of claim 1, further comprising a material packaging mechanism coupled to the sorting controller for packaging the sorted target material.

10. The product sorting system based on three-dimensional vision as claimed in claim 9, wherein the material packaging mechanism comprises a material gathering unit for gathering the target material, a plastic packaging machine for packaging and packaging the target material and an ink-jet printing machine for printing ink-jet, which are connected in sequence through a material conveying unit, and the material gathering unit is connected with the sorting execution mechanism through a material gathering channel.

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