CN109939951A - Product classification system and method - Google Patents
Product classification system and method Download PDFInfo
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- CN109939951A CN109939951A CN201910369572.XA CN201910369572A CN109939951A CN 109939951 A CN109939951 A CN 109939951A CN 201910369572 A CN201910369572 A CN 201910369572A CN 109939951 A CN109939951 A CN 109939951A
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Abstract
This application involves a kind of product classification system and methods.The product classification system includes characteristic-acquisition device, controller and Palletizer, and characteristic-acquisition device and Palletizer are connect with controller respectively.Characteristic-acquisition device is used to obtain the characteristic information of target product, and the specification information of target product is obtained according to characteristic information, and specification information is sent to controller.Controller determines that the corresponding object code stack position of target product is set according to specification information for receiving specification information, will be sent to Palletizer including the action directive that object code stack position is set.Target product, according to action directive, is delivered to object code stack position and set by Palletizer for receiving action directive, to complete the classification to target product.Product classification is carried out using the product classification system and method, can be improved the degree of automation, also can be improved classification effectiveness and classification accuracy.
Description
Technical field
This application involves product classification technical fields, in particular to a kind of product classification system and method.
Background technique
Product classification refers to according to certain administrative purposes, the production, circulation, consumption to meet product it is movable whole or
Portion requirements, the product set in range of management is overall, using selected portioned product feature as group indication, gradually return
Receive that more tend to consistent subset for several speciality fit, thus make the intracorporal all products of the subclass become clear differentiation or
The process of architecture.Traditional product classification method mainly passes through manual identified, although there is certain application, there are all
More problems.For example, the degree of automation is not high, artificial accordance with tolerance is stronger, low so as to cause classification effectiveness and classification accuracy.
Summary of the invention
The embodiment of the present application is designed to provide a kind of product classification system and method, with solve product classification efficiency and
The low problem of classification accuracy.
In a first aspect, the embodiment of the present application provides a kind of product classification system, including characteristic-acquisition device, controller and
Palletizer, the characteristic-acquisition device and the Palletizer are connect with the controller respectively；
The characteristic-acquisition device is used to obtain the characteristic information of target product, and according to characteristic information acquisition
The specification information is sent to the controller by the specification information of target product；
The controller determines that the target product is corresponding for receiving the specification information, and according to the specification information
Object code stack position set, will include that the action directive set of the object code stack position is sent to the Palletizer；
The Palletizer is used to receive the action directive, and according to the action directive, by the mesh
Mark product is delivered to the object code stack position and sets, to complete the classification to the target product.
Product classification system provided by the embodiments of the present application includes characteristic-acquisition device, controller and Palletizer, feature
It obtains equipment and Palletizer is connect with controller respectively.During application product classification system progress product classification,
For each target product for including in product set totality, characteristic-acquisition device obtains the characteristic information of target product, and root
The specification information that target product is obtained according to characteristic information, is sent to controller for specification information.Controller receives specification information, and
It determines that the corresponding object code stack position of target product is set according to specification information, the action directive set including object code stack position is sent out
It send to Palletizer.Palletizer receives action directive, and according to action directive, target product is delivered to target
Stacking position, to complete the classification to target product.In this way, the whole process of product classification just can pass through the product classification system
Characteristic-acquisition device, controller and the Palletizer for including in system are directly realized by, and therefore, are produced using the product classification system
For the method for carrying out product classification in product classification compared with the existing technology by manual identified, the degree of automation can be improved,
Also classification effectiveness and classification accuracy be can be improved.
With reference to first aspect, the embodiment of the present application provides the first optional embodiment of first aspect, the spy
Reference breath includes image information, and the characteristic-acquisition device includes the first photographic device, first photographic device and the control
Device connection processed；
First photographic device is used to obtain the image information of target product, and according to described image information acquisition
The specification information is sent to the controller by the specification information of target product.
Further, by the first optional embodiment of first aspect, the specification information of target product can
It is directly obtained according to the image information of target product, realizes that process is simple and quick, therefore, produced using the product classification system
For the method for carrying out product classification in product classification compared with the existing technology by manual identified, classification effectiveness can be improved.
With reference to first aspect, the embodiment of the present application provides second of optional embodiment of first aspect, the spy
Reference breath includes weight information, and the characteristic-acquisition device includes weighing device, and the weighing device is connect with the controller；
The weighing device is used to obtain the weight information of target product, using the weight information as the target product
Specification information, and be sent to the controller.
Further, by second of optional embodiment of first aspect, directly weighing device can be got
Specification information of the weight information as target product, realize that process is simple and quick, therefore, carried out using the product classification system
Product classification compared with the existing technology in by manual identified carry out product classification method for, can be improved classification effectiveness.
With reference to first aspect, the embodiment of the present application provides the third optional embodiment of first aspect, the spy
Reference breath includes image information and weight information, and the characteristic-acquisition device includes the first photographic device, weighing device and processing
Device, first photographic device and the weighing device are connected to the processor respectively, the processor also with the control
Device connection；
First photographic device obtains the image information of target product, and is sent to the processor；
The weighing device is used to obtain the weight information of the target product, and is sent to the processor；
The processor is for receiving described image information and the weight information, and according to described image information and described
Weight information obtains the specification information of the target product, and the specification information is sent to the controller.
Further, by the third optional embodiment of first aspect, the specification information of target product just may be used also
To be obtained according to the image information of target product and weight information, to guarantee the diversification of specification information, so that it is quasi- to improve classification
Exactness.
With reference to first aspect, the embodiment of the present application provides the 4th kind of optional embodiment of first aspect, the production
Product categorizing system further includes marking arrangement, and the marking arrangement is connect with the controller；
The controller is also used to the specification information being sent to the marking arrangement；
The marking arrangement is used to receive the specification information, and the specification information is marked on the target product, and
It generates label and completes instruction, the label is completed into instruction and is sent to the controller；
The controller is used for after receiving the label and completing instruction, determines the mesh according to the specification information
The corresponding object code stack position of mark product is set, and the action directive set comprising the object code stack position is sent to the stacking and is set
It is standby.
Further, by the 4th kind of optional embodiment of first aspect, on the basis of realizing product classification, also
Specification information can be marked on target product by marking arrangement, in order to subsequent identification, prevent misuse, use with, and believe
The whole process of breath label just can be directly realized by by marking arrangement, can be improved the degree of automation.
The 4th kind of optional embodiment with reference to first aspect, the embodiment of the present application provide the 5th kind of first aspect
Optional embodiment, the marking arrangement include labelling apparatus and welder, the labelling apparatus and the welder
It is connect respectively with the controller；
The controller is used to the specification information being sent to the labelling apparatus；
The specification information is printed on the first sign board, to obtain for receiving the specification information by the labelling apparatus
The second sign board is obtained, and generates printing and completes instruction, printing completion is instructed and is sent to the welder；
The welder is used for after receiving the printing and completing instruction, and second sign board is welded in institute
Target product is stated, and generates label and completes instruction, the label is completed into instruction and is sent to the controller.
Further, since in the 5th kind of optional embodiment of first aspect, the second sign board is independently of target
Product, thus, it is possible to improve the clarity of specification information.
The 5th kind of optional embodiment with reference to first aspect, the embodiment of the present application provide the 6th kind of first aspect
Optional embodiment, the welder include manipulator, load-bearing part, positioning device and bonding machine, the load-bearing part setting
In the end of the manipulator, the positioning device and the bonding machine are set on institute's load-bearing part, the positioning device difference
It is connect with the manipulator and the labelling apparatus, the bonding machine is connect with the manipulator and the controller respectively；
The positioning device completes instruction for receiving the printing, and after receiving the printing and completing instruction,
The current location information for obtaining the target product generates adjustment instruction according to the current location information, and the adjustment is referred to
Order is sent to the manipulator；
The manipulator adjusts position for receiving the adjustment instruction, according to the adjustment instruction, so that the welding
Machine is moved to the marked region of the target product there are at associated position, and is generated adjustment and completed instruction, and institute is sent to
State bonding machine；
The bonding machine is used for after receiving the adjustment and completing instruction, is moved to corresponding with the marked region
At position, second sign board is welded in the marked region, and generates label and completes instruction, label completion is referred to
Order is sent to the controller.
Further, by the 6th kind of optional embodiment of first aspect, it just can guarantee that the second sign board welds
In the position on target product be preset marked region, with improve completed in product set totality classification each target
The uniformity of product in appearance.
The 6th kind of optional embodiment with reference to first aspect, the embodiment of the present application provide the 7th kind of first aspect
Optional embodiment, the load-bearing part structure in a strip shape, including first end and the second end, the first end are set to
The end of the manipulator, the positioning device include first laser transmitter, second laser transmitter and the second photographic device,
The first laser transmitter close to the load-bearing part first end, second photographic device close to the load-bearing part
Two ends, the second laser transmitter is between the first laser transmitter and second photographic device, and described
Two photographic devices are connect with the manipulator and the labelling apparatus respectively；
The first laser transmitter is used for laser projection in reference operation face, described to form the first reference point
Reference operation face is coplanar with the focal plane of second photographic device；
The second laser transmitter is used for laser projection in reference operation face, to form the second reference point；
Second photographic device completes instruction for receiving the printing, and completes instruction receiving the printing
Afterwards, the current location information of the target product is obtained, first reference point is formed after imaging in second photographic device
The first imaging point and second reference point image in the second imaging point formed after second photographic device, and root
Adjustment instruction is generated according to the current location information, first imaging point and second imaging point, by the adjustment instruction
It is sent to the manipulator.
Further, by the 7th kind of optional embodiment of first aspect, the second photographic device being capable of direct basis
Current location information, the first reference point and the second reference point generate adjustment instruction, realize that process is simple and quick.
With reference to first aspect, the embodiment of the present application provides the 8th kind of optional embodiment of first aspect, the production
Product categorizing system further includes storage equipment, and the storage equipment is connect with the controller；
The Palletizer is also used to the target product being delivered to target corresponding with the action directive
After stacking position, generates stacking and complete instruction, and be sent to the controller；
The controller is also used to after receiving the stacking and completing instruction, generates data more new command, and by institute
It states data more new command and is sent to the storage equipment；
The storage equipment is used to receive the data more new command, and according to the data more new command to being stored in
The product inventory data stated in storage equipment are updated.
Further, by the 8th kind of optional embodiment of first aspect, when the product classification system is applied to produce
When product stock control, product inventory data just can be realized automation and update, compared with the existing technology in by manual entry
For method, the accuracy of inventory data can be improved.
Second aspect, the embodiment of the present application provide a kind of product classification method, are applied to above-mentioned in a first aspect, or first
The product classification system provided in any optional embodiment of aspect, the product classification method, comprising:
The characteristic-acquisition device obtains the characteristic information of target product, and obtains the target according to the characteristic information
The specification information is sent to the controller by the specification information of product；
The controller receives the specification information, and determines the corresponding mesh of the target product according to the specification information
Coding stack position is set, and will be sent to the Palletizer including the action directive that the object code stack position is set；
The Palletizer receives the action directive, and according to the action directive, the target is produced
Product are delivered to the object code stack position and set, to complete the classification to the target product.
During carrying out product classification by product classification method provided by the embodiments of the present application, for product set
The each target product for including in totality, characteristic-acquisition device obtain the characteristic information of target product, and are obtained according to characteristic information
The specification information for obtaining target product, is sent to controller for specification information.Controller receives specification information, and according to specification information
It determines that the corresponding object code stack position of target product is set, is set stacking is sent to including the action directive that object code stack position is set
It is standby.Palletizer receives action directive, and according to action directive, target product is delivered to object code stack position and is set,
To complete the classification to target product.In this way, the whole process of product classification just can be by including in product classification system
Characteristic-acquisition device, controller and Palletizer are directly realized by, and therefore, it is opposite to carry out product classification by the product classification method
For the method for carrying out product classification by manual identified in the prior art, it can be improved the degree of automation, also can be improved
Classification effectiveness and classification accuracy.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application
Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen
Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of schematic block diagram of product classification system provided by the embodiments of the present application.
Fig. 2 is another schematic block diagram of product classification system provided by the embodiments of the present application.
Fig. 3 is another schematic block diagram of product classification system provided by the embodiments of the present application.
Fig. 4 is a kind of structural schematic diagram of welder provided by the embodiments of the present application.
Fig. 5 is the aid illustration figure that a kind of manipulator provided by the embodiments of the present application adjusts position process.
Fig. 6 is the aid illustration figure that another manipulator provided by the embodiments of the present application adjusts position process
Fig. 7 is another schematic block diagram of product classification system provided by the embodiments of the present application.
Fig. 8 is a kind of flow diagram of product classification method provided by the embodiments of the present application.
Drawing reference numeral: 10- product classification system；100- characteristic-acquisition device；The first photographic device of 110-；120- weighing dress
It sets；130- processor；200- controller；300- Palletizer；400- marking arrangement；410- labelling apparatus；420- welder；
421- manipulator；422- load-bearing part；423- bonding machine；424- positioning device；4241- first laser transmitter；4242- second swashs
Optical transmitting set；The second photographic device of 4243-；500- stores equipment.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is described.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Referring to Fig. 1, the embodiment of the present application provides a kind of product classification system 10, which includes spy
Sign obtains equipment 100, controller 200 and Palletizer 300, characteristic-acquisition device 100 and Palletizer 300 respectively with controller
200 connections.
Characteristic-acquisition device 100 is used to obtain the characteristic information of target product, and obtains target product according to characteristic information
Specification information, specification information is sent to controller 200.
In the embodiment of the present application, target product is the product being classified in product set totality.Characteristic information is energy
The information for enough characterizing target product speciality, for example, at least one of image information, weight information.
Referring to Fig. 2, characteristic information includes image information as the first optional embodiment, it is based on this, feature obtains
Taking equipment 100 includes the first photographic device 110, and the first photographic device 110 is connect with controller 200.First photographic device 110 is used
In the image information for obtaining target product, and according to the specification information of image information acquisition target product, specification information is sent
To controller 200.Wherein, the camera of the first photographic device 110 can be wide-angle camera, to guarantee target product in size
When larger, can also it be completely in the coverage of the first photographic device 110.
Illustratively, in the actual application of the product classification system 10, can be arranged on default sorting yard
First photographic device 110 is set to the top of the first station, and shot facing towards the first station by the first station, meanwhile, product
The overall storage library of set is connected to the first station by second conveyer (for example, conveyer belt).In the product classification system
When 10 starting operation, target product can be selected in product set totality, and be placed in first according to preset interval time
On transmitting device, target product is delivered on the first station by second conveyer, so that the first photographic device 110 is being supervised
It measures on the first station there are when target product, obtains the image information of target product.It should be noted that aforementioned " in product
Set totality in select target product, and be placed on the first transmitting device " movement can be held by industrial carrying machine people
Row, to improve the degree of automation of the product classification system 10.
First photographic device 110, can be based on the image of edge detection after getting the image information of target product
The edge detection operators such as dividing method or Roberts, Prewitt, Sobel, determine the side of target product from image information
Edge profile, and the edge contour is compared with the reference substance profile prestored, the dimension information of the edge contour is obtained, as
The dimension information of target product, is further used as the specification information of target product, and is sent to controller 200, that is, target produces
The specification information of product includes dimension information.
As second of optional embodiment, characteristic information includes weight information, is based on this, characteristic-acquisition device 100
Including weighing device 120, weighing device 120 is connect with controller 200.Weighing device 120 is used to obtain the weight of target product
Information using weight information as the specification information of target product, and is sent to controller 200.
Illustratively, in the actual application of the product classification system 10, can be arranged on default sorting yard
Weighing device 120 is set on the first station by the first station, meanwhile, the storage library of product set totality passes through the first transmission
Device (for example, conveyer belt) is connected to the first station.It, can be according to preset interval when the product classification system 10 starts and runs
Time selects target product in product set totality, and is placed on the first transmitting device, and target product is passed through first
Transmission device is delivered on weighing device 120 so that weighing device 120 sense there is target product thereon when, obtain mesh
Mark the weight information of product.Equally, it should be noted that aforementioned " to select target product in product set totality, and place
In on the first transmitting device " movement can be executed by industrial carrying machine people, to improve the automatic of the product classification system 10
Change degree.
Weighing device 120, can be directly using weight information as target after getting the weight information of target product
The specification information of product, and it is sent to controller 200, that is, the specification information of target product includes weight information.
As the third optional embodiment, characteristic information includes image information and weight information, is based on this, feature obtains
Equipment 100 is taken to include the first photographic device 110, weighing device 120 and processor 130, the first photographic device 110 and weighing device
120 connect with processor 130 respectively, and processor 130 is also connect with controller 200.First photographic device 110 is for obtaining target
The image information of product, and it is sent to processor 130.Weighing device 120 is used to obtain the weight information of target product, and sends
To processor 130.Processor 130 is obtained for receiving image information and weight information, and according to image information and weight information
Specification information is sent to controller 200 by the specification information of target product.Equally, the camera of the first photographic device 110 can be with
It is wide-angle camera, to guarantee that target product when size is larger, can also be completely in the shooting model of the first photographic device 110
In enclosing.
Illustratively, in the actual application of the product classification system 10, can be arranged on default sorting yard
First photographic device 110 is set to the top of the first station, and shot facing towards the first station by the first station, meanwhile, it will claim
Refitting is set 120 and is set on the first station, and the storage library of product set totality then passes through second conveyer (for example, conveyer belt)
It is connected to the first station.It, can be total in product set according to preset interval time when the product classification system 10 starts and runs
Target product is selected in body, and is placed on the first transmitting device, and target product is delivered to title by second conveyer
Refitting is set on 120, so that the first photographic device 110 is produced there are when target product, obtaining target on monitoring weighing device 120
The image information of product, meanwhile, weighing device 120 sense there is target product thereon when, obtain target product weight letter
Breath.Equally, it should be noted that aforementioned " to select target product in product set totality, and be placed in the first transmitting device
On " movement can be executed by industrial carrying machine people, to improve the degree of automation of the product classification system 10.
Image information is sent to processor after getting the image information of target product by the first photographic device 110
130.Processor 130 can the edge detections such as image partition method based on edge detection or Roberts, Prewitt, Sobel
Operator, determines the edge contour of target product from image information, and by the edge contour and the reference substance profile that prestores into
Row compares, and obtains the dimension information of the edge contour, the dimension information as target product.Weighing device 120 is obtaining target
After the weight information of product, weight information is sent to processor 130.Processor 130 can be in the ruler for obtaining target product
Very little information, and after receiving the weight information of target product, by the dimension information and weight information collectively as target product
Specification information, and controller 200 is sent to, that is, the specification information of target product includes dimension information and weight information.
Controller 200 determines the corresponding object code stack position of target product according to specification information for receiving specification information
It sets, Palletizer 300 will be sent to including the action directive that object code stack position is set.
In the embodiment of the present application, controller 200 prestores the corresponding relationship of specification information Yu stacking position, is based on this, control
Device 200 processed can be found out corresponding with the specification information after the specification information for receiving the transmission of characteristic-acquisition device 100
Stacking position, set as object code stack position, and plan using the current location of target product as starting point, object code stack position is set to end
The transport path of point is generated according to the transport path and is acted for controlling Palletizer 300, so that Palletizer 300 is according to this
Target product is delivered to the action directive that object code stack position is set by transport path.
As described in the first above-mentioned optional embodiment, when the specification information of target product includes dimension information,
Controller 200 prestores the corresponding relationship of dimension information Yu stacking position, is based on this, and controller 200 is receiving feature acquisition
After the dimension information that equipment 100 is sent, stacking corresponding with dimension information position can be found out, as target stacking
Position, and plan that object code stack position is set to the transport path of terminal using the first station as starting point, it is generated and is used according to the transport path
It is acted in control Palletizer 300, so that Palletizer 300 is delivered to target stacking according to the transport path, by target product
The action directive of position.
Illustratively, the corresponding relationship stored in controller 200 includes the corresponding 1 number stack position dimension information 10cm*100cm
It sets, the corresponding 2 number stack positions dimension information 20cm*100cm are set and the corresponding 3 number stack positions dimension information 30cm*100cm are set.If
The dimension information that controller 200 receives the transmission of characteristic-acquisition device 100 is 10cm*100cm, then finds out and dimension information
10cm*100cm corresponding 1 number stack position is set, and is set as object code stack position, and is planned using the first station as starting point, 1 number stack position
It is set to the transport path of terminal, is generated according to the transport path and is acted for controlling Palletizer 300, so that Palletizer 300
According to the transport path, target product is delivered to the action directive that 1 number stack position is set.
As described in above-mentioned second optional embodiment, when the specification information of target product includes weight information,
Controller 200 prestores the corresponding relationship of weight information Yu stacking position, is based on this, and controller 200 is receiving feature acquisition
After the weight information that equipment 100 is sent, stacking corresponding with weight information position can be found out, as target stacking
Position, and planning with weighing device 120 is starting point, object code stack position is set to the transport path of terminal, raw according to the transport path
It is acted at for controlling Palletizer 300, so that Palletizer 300 is delivered to target according to the transport path, by target product
The action directive of stacking position.
Illustratively, the corresponding relationship stored in controller 200 includes that the corresponding 1 number stack position weight information 10kg is set, again
Amount information 20kg is set corresponding 2 number stack positions and the corresponding 3 number stack positions weight information 30kg are set.If controller 200 is receiving
The weight information that characteristic-acquisition device 100 is sent is 10kg, then finds out 1 number stack position corresponding with weight information 10kg and set,
It is set as object code stack position, and plans that 1 number stack position is set to the transport path of terminal, defeated according to this using the first station as starting point
Coordinates measurement is sent to act for controlling Palletizer 300, so that Palletizer 300 is according to the transport path, target product is defeated
Send the action directive set to 1 number stack position.
As described in the third above-mentioned optional embodiment, when the specification information of target product includes dimension information and again
When measuring information, controller 200 then prestores the combination of dimension information and weight information and the corresponding relationship of stacking position, is based on
This, controller 200, can after receiving the combination of dimension information and weight information of the transmission of characteristic-acquisition device 100
Stacking corresponding with combination position is found out, is set as object code stack position, and plans the target stacking using the first station as starting point
Position is the transport path of terminal, is generated according to the transport path and is acted for controlling Palletizer 300, so that Palletizer
300 are delivered to the action directive that object code stack position is set according to the transport path, by target product.
Illustratively, the corresponding relationship stored in controller 200 includes dimension information 10cm*100cm and weight information
10kg is set corresponding 1 number stack position, the corresponding 2 number stack positions dimension information 10cm*100cm and weight information 20kg are set and size
Information 20cm*100cm and weight information 20kg is set corresponding 3 number stack positions.If controller 200 receives characteristic-acquisition device 100
The dimension information of transmission is 10cm*100cm, weight information 10kg, then finds out and dimension information 10cm*100cm and weight
Information 10kg corresponding 1 number stack position is set, and is set as object code stack position, and plans that 1 number stack position is set using the first station as starting point
For the transport path of terminal, is generated according to the transport path and acted for controlling Palletizer 300, so that Palletizer 300 is pressed
According to the transport path, target product is delivered to the action directive that 1 number stack position is set.Obviously, when the specification of target product
When information includes dimension information and weight information, enable to classification results that there is preferably classification accuracy.
Target product, according to action directive, is delivered to mesh for receiving action directive by Palletizer 300
Coding stack position is set, and to complete the classification to target product, whole process the degree of automation is higher, simultaneously, it may have higher point
Class efficiency and classification accuracy.
In the embodiment of the present application, Palletizer 300 can be overhead traveling crane and hang.
Referring to Fig. 3, specification information can also be marked on target on the basis of realizing target product mechanized classification
On product, in order to subsequent identification, prevents misuse, uses with, be based on this, in the embodiment of the present application, product classification system 10 may be used also
To include marking arrangement 400, marking arrangement 400 is connect with controller 200.
Specification information is marked on the purpose on target product for realization is above-mentioned, controller 200 is also used to specification information
It is sent to marking arrangement 400.Marking arrangement 400 is marked on target product then for receiving specification information, by specification information, and raw
Instruction is completed at label, label is completed into instruction and is sent to controller 200.
It should be noted that controller 200 can also prestore specification information and product additional information in the embodiment of the present application
Corresponding relationship, wherein product additional information may include the date of production, component information, operation instruction of target product etc..Base
In this, the specification information that controller 200 is sent to marking arrangement 400 can also carry corresponding product additional information, to guarantee
Specification information it is comprehensive.In addition, specification information can be with the identifiable digital information of human eye or the formal notation of text information
It, can also be with the formal notation of the machine sensible informations such as two dimensional code or bar code in target product in target product.Further, specification
Information can be directly marked on target product, to reduce the complexity of 10 structure of product classification system, can also pass through
Tripartite's carrier indicium is on target product, to improve the clarity of specification information, to enhance the readability of specification information.Work as rule
For lattice information through third party's carrier indicium when on target product, marking arrangement 400 may include labelling apparatus 410 and welding dress
420 are set, labelling apparatus 410 and welder 420 are connect with controller 200 respectively.
It is understood that controller 200 is used when marking arrangement 400 includes labelling apparatus 410 and welder 420
In specification information is sent to labelling apparatus 410.Labelling apparatus 410 prints on for receiving specification information, by specification information
One sign board (that is, third party's carrier) to obtain the second sign board, and generates printing and completes instruction, instruction is completed in printing
It is sent to welder 420.Welder 420 is then for after receiving printing and completing instruction, the second sign board to be welded
It in target product, and generates label and completes instruction, label is completed into instruction and is sent to controller 200, so that controller 200 is connecing
It receives label to complete after instructing, determines that the corresponding object code stack position of target product is set according to specification information, will include object code
The action directive that stack position is set is sent to Palletizer 300.
Illustratively, in the actual application of the product classification system 10, can be arranged on default sorting yard
Labelling apparatus 410 is set to second station by second station and 3rd station, and welder 420 is set to 3rd station, and
Two stations are connected (for example, conveyer belt) with 3rd station by second conveyer, meanwhile, 3rd station is transmitted by third and is filled
(for example, conveyer belt) is set to connect with aforementioned first station.When specification information is printed in second station by labelling apparatus 410
One sign board to obtain the second sign board, and generates printing and completes instruction, instruction is completed in printing and is sent to welder 420
Later, the second sign board is delivered in 3rd station by second conveyer, meanwhile, target product passes through third transmission device
It is delivered in 3rd station, welder 420 is after receiving printing and completing instruction, by the second sign board in 3rd station
It is welded in target product.
Due in product set totality each target product be delivered to by third transmission device it is specific in 3rd station
There is personalized difference in position, be preset to guarantee that the second sign board is welded in the position on target product therefore
Marked region, so that complete sorted each target product has a good uniformity in appearance, in the embodiment of the present application,
The automatic tune of 423 position of bonding machine in welder 420 can also be realized before the second sign board is welded in target product
It is whole.
It should be noted that in the embodiment of the present application, when the relative position of bonding machine 423 and the marked region of target product
When relationship meets preset requirement, it is believed that the position of bonding machine 423 exists with the marked region of target product to be associated with.It is exemplary
, it is set with the standard area coincideing with target product size in aforementioned 3rd station, is used for drop target product, works as bonding machine
423 are in initial position, when target product is located at standard area, the opposite position of the marked region of bonding machine 423 and target product
It sets relationship and then meets preset requirement, at this point, bonding machine 423 is instructed according to deliberate action, it can be directly by initial position
It adjusts to position corresponding with marked region.
In view of above description, in the embodiment of the present application, except manipulator 421, load-bearing part 422 and welding in welder 420
It can also include positioning device 424 outside machine 423.Referring to Fig. 4, manipulator 421 can be six shaft machine hand, load-bearing part 422 is set
It is placed in the end of manipulator 421, that is, being set to the 6th the tip of the axis of manipulator 421, positioning device 424 and bonding machine 423 are set
Be placed on institute's load-bearing part 422, positioning device 424 is connect with manipulator 421 and labelling apparatus 410 respectively, bonding machine 423 respectively with
Manipulator 421 and controller 200 connect.
Wherein, instruction is completed in the printing that positioning device 424 can be used for receiving the transmission of labelling apparatus 410, and is being received
After instruction is completed in printing, the current location information of target product is obtained, adjustment instruction is generated according to current location information, will be adjusted
Whole instruction is sent to manipulator 421.Manipulator 421 can be used for receiving adjustment instruction, adjust position according to adjustment instruction, so that
Bonding machine 423 is moved to the marked region of target product there are at associated position, and is generated adjustment and completed instruction, is sent to
Bonding machine 423.Bonding machine 423 is then for being moved to and marking according to deliberate action instruction after receiving adjustment and completing instruction
Remember at the corresponding position in region, the second sign board is welded in marked region, and generate label and complete instruction, label is completed to refer to
Order is sent to controller 200.
In the embodiment of the present application, load-bearing part 422 can be with structure in a strip shape, including first end and the second end, first end
Portion is set to the end of manipulator 421, that is, being set to the 6th the tip of the axis of manipulator 421, positioning device 424 includes first
Laser emitter 4241, second laser transmitter 4242 and the second photographic device 4243, first laser transmitter 4241 is close to be held
The first end of holder 422, the second end of second photographic device 4243 close to load-bearing part 422, second laser transmitter 4242
Between first laser transmitter 4241 and the second photographic device 4243, the second photographic device 4243 respectively with manipulator 421
It is connected with labelling apparatus 410.
Wherein, first laser transmitter 4241 is used for laser projection in reference operation face, to form the first reference point,
Reference operation face is coplanar with the focal plane of the second photographic device 4243.Second laser transmitter 4242 is used for laser projection in ginseng
It examines on operating surface, to form the second reference point.It is understood that the first reference point is that first laser transmitter 4241 emits
The focus of laser out, the second reference point are the focus for the laser that second laser transmitter 4242 is launched.Second camera shooting dress
Set 4243 for receive print complete instruction, and receive printing complete instruct after, obtain the current location of target product
Information, the first reference point image in the first imaging point formed after the second photographic device 4243 and the second reference point images in
The second imaging point formed after second photographic device 4243, and according to current location information, the first imaging point and the second imaging point
Adjustment instruction is generated, adjustment instruction is sent to manipulator 421.
When the axis of target product is parallel with 3rd station, the adjustment instruction includes that the first adjustment instruction and second are adjusted
Whole instruction.
Second photographic device 4243 can obtain the axis of target product in the according to the current location information of target product
Projection on three stations as product axis projections, and obtains the connecting line of the first imaging point and the second imaging point in third
Hereafter projection on station, obtains the angle value between axis projections and projection, according to the angle as projection
Value generates the first adjustment instruction, the first adjustment instruction is sent to manipulator 421, so that manipulator 421 refers to according to the first adjustment
Order rotates in the plane parallel with 3rd station, to keep axis projections conllinear with projection.By taking Fig. 5 and Fig. 6 as an example, when
Axis projections are located at positive southern and northern, and projection is located at just between east and west, and the angle value between axis projections and projection is 90 °
When (as shown in Figure 5), manipulator 421 can instruct according to the first adjustment, toward north-east in the plane parallel with 3rd station
To being rotated by 90 °, to keep axis projections and projection conllinear (as shown in Figure 6).
After completing the aforementioned steps, first laser device 4241 and is formed by laser projection on the axis of target product
Third reference point, the second photographic device 4243 are then imaged in after the second photographic device 4243 for obtaining third reference point and are formed
Third imaging point, and according to the positional relationship of third imaging point and the first imaging point, second adjustment instruction is generated, by second adjustment
Instruction is sent to manipulator 421, so that manipulator 421 is according to second adjustment instruction along the direction for being parallel to target product axis
(direction as shown by the arrows in Figure 6) is mobile, and constantly detects the positional relationship of third imaging point and the first imaging point, until third
Imaging point is overlapped with the first imaging point.
When there are non-zero included angles between the axis and 3rd station of target product, that is, the axis when target product is opposite
In 3rd station there are when the elevation angle, the adjustment instruction includes the first adjustment instruction, third adjustment instruction and the 4th adjustment instruction.
Manipulator 421 is instructed according to the first adjustment to be rotated in the plane parallel with 3rd station, so that axis projections and imaging be made to throw
After shadow is conllinear, laser projection on the axis of target product, and is formed the 4th reference point by first laser transmitter 4241, the
Two photographic devices 4243 then image in the 4th imaging point formed after the second photographic device 4243 for obtaining the 4th reference point, and
According to the positional relationship of the 4th imaging point and the first imaging point, third adjustment instruction is generated, third adjustment instruction is sent to machine
Tool hand 421, so that manipulator 421 adjusts its height relative to 3rd station according to third adjustment instruction, to make the four one-tenth
Picture point is overlapped with the first imaging point.
After completing the aforementioned steps, first laser transmitter 4241 by laser projection on the axis of target product, and
Form the 5th reference point, laser projection on the axis of target product, and is formed the 6th reference by second laser transmitter 4242
Point, the second photographic device 4243 then image in the formed after the second photographic device 4243 the 5th imaging for obtaining the 6th reference point
Point, and the 4th adjustment instruction is generated, the 4th adjustment instruction is sent to manipulator 421, so that manipulator 421 is with the 4th reference point
It for the center of circle, is rotated in preset plane, so that the 5th imaging point be made to be overlapped with the second imaging point, wherein preset plane is target
Plane where the axis of product and the first imaging point and the second imaging point.
Referring to Fig. 7, when the product classification system 10 is applied to product inventory management, to realize product inventory data
It automatically updates, to improve the accuracy of inventory data, in the embodiment of the present application, product classification system 10 can also include that storage be set
Standby 500, storage equipment 500 is connect with controller 200.
Palletizer 300 is also used to set it target product is delivered to object code corresponding with action directive stack position
Afterwards, it generates stacking and completes instruction, and be sent to controller 200.Controller 200 is also used to receiving stacking completion instruction
Afterwards, data more new command is generated, and data more new command is sent to storage equipment 500.And equipment 500 is stored then for receiving
Data more new command, and the product inventory data being stored in storage equipment 500 are updated according to data more new command.
Referring to Fig. 8, being based on inventive concept same as the said goods categorizing system, the embodiment of the present application also provides one kind
Product classification method is applied to the said goods categorizing system.Below in conjunction with Fig. 6 to the detailed process and step of product classification method
It is described in detail.
Step S100, characteristic-acquisition device obtains the characteristic information of target product, and obtains target according to characteristic information and produce
Specification information is sent to controller by the specification information of product.
As the first optional embodiment, characteristic information includes image information, and characteristic-acquisition device is taken the photograph including first
As device, when the first photographic device is connect with controller, step S100 may include sub-step S110, and the first photographic device obtains
The image information of target product, and according to the specification information of image information acquisition target product, specification information is sent to control
Device.
As second of optional embodiment, characteristic information includes weight information, and characteristic-acquisition device includes weighing dress
It sets, when weighing device is connect with controller, step S100 may include sub-step S120, and weighing device obtains the weight of target product
Information is measured, using weight information as the specification information of target product, and is sent to controller.
As the third optional embodiment, characteristic information includes image information and weight information, characteristic-acquisition device
Including the first photographic device, weighing device and processor, the first photographic device and weighing device are connect with processor respectively, processing
When device is also connect with controller, step S100 may include step S130, step S140 and tri- sub-steps of step S150.
Step S130, the first photographic device obtain the image information of target product, and are sent to processor.
Step S140, weighing device obtain the weight information of target product, and are sent to processor.
Step S150, processor receives image information and weight information, and obtains mesh according to image information and weight information
The specification information for marking product, is sent to controller for specification information.
Step S200, controller receives specification information, and determines the corresponding target stacking of target product according to specification information
Position will be sent to Palletizer including the action directive that object code stack position is set.
Step S300, Palletizer receive action directive, and according to action directive, target product is delivered to
Object code stack position is set, to complete the classification to target product.
It is provided by the embodiments of the present application when marking arrangement is connect with controller when product classification system includes marking arrangement
Product classification method can also include step S400.
Step S400, marking arrangement receive the specification information that controller is sent, specification information are marked on target product, and
It generates label to complete to instruct, label is completed into instruction and is sent to controller, so that controller is receiving label completion instruction
Afterwards, it determines that the corresponding object code stack position of target product is set according to specification information, the action control set comprising object code stack position is referred to
Order is sent to Palletizer.
In the embodiment of the present application, when marking arrangement includes labelling apparatus and welder, labelling apparatus and welder divide
When not connecting with controller, step S400 may include two sub-steps of step S410 and step S420.
Step S410, labelling apparatus receive the specification information that controller is sent, specification information are printed on the first sign board,
It to obtain the second sign board, and generates printing and completes instruction, instruction is completed into printing and is sent to welder.
Second sign board is welded in target product after receiving printing and completing instruction by step S420, welder,
And generate label and complete to instruct, label is completed into instruction and is sent to controller, so that controller is receiving label completion instruction
Later, determine that the corresponding object code stack position of target product is set according to specification information, the action control that will be set comprising object code stack position
Instruction is sent to Palletizer.
In the embodiment of the present application, when welder includes manipulator, load-bearing part, positioning device and bonding machine, load-bearing part is set
Be placed in the end of manipulator, positioning device and bonding machine are set on institute's load-bearing part, positioning device respectively with manipulator and label
Device connection, when bonding machine is connect with manipulator and controller respectively, step S420 may include step S421, step S422 and
Three sub-steps of step 433.
Step S421, positioning device receive printing and complete instruction, and after receiving printing and completing instruction, obtain target
The current location information of product generates adjustment instruction according to current location information, adjustment instruction is sent to manipulator.
In the embodiment of the present application, when load-bearing part structure in a strip shape, including first end and the second end, first end setting
In the end of manipulator, positioning device includes first laser transmitter, second laser transmitter and the second photographic device, and second swashs
First end of the optical transmitting set close to load-bearing part, the second end of second photographic device close to load-bearing part, first laser transmitter
Between second laser transmitter and the second photographic device, the second photographic device is connect with manipulator and labelling apparatus respectively
When, step S421 may include step S4211, step S4212 and tri- sub-steps of step S4213.
Step S4211, first laser transmitter on reference operation face, to form the first reference point, join laser projection
It is coplanar with the focal plane of the second photographic device to examine operating surface.
Step S4212, second laser transmitter by laser projection on reference operation face, to form the second reference point.
Step S4213, the second photographic device receive printing and complete instruction, and after receiving printing and completing instruction, obtain
The current location information for obtaining target product generates adjustment instruction according to current location information, the first reference point and the second reference point,
Adjustment instruction is sent to manipulator.
Step S422, manipulator receive adjustment instruction, position are adjusted according to adjustment instruction, so that bonding machine is moved to and mesh
It at the corresponding position of marked region for marking product, and generates adjustment and completes instruction, be sent to bonding machine.
Second sign board is welded in marked region after receiving adjustment and completing instruction by step S423, bonding machine, and
It generates label and completes instruction, label is completed into instruction and is sent to controller.
In the embodiment of the present application, when product classification system includes storage equipment, and storage equipment is connect with controller, product
Classification method can also include step S500, step S600 and S700.
Step S500, Palletizer set it target product is delivered to object code corresponding with action directive stack position
Afterwards, it generates stacking and completes instruction, and be sent to controller.
Step S600, controller generate data more new command, and data are updated after receiving stacking and completing instruction
Instruction is sent to storage equipment.
Step S700, storage equipment receive data more new command, and according to data more new command to being stored in storage equipment
In product inventory data be updated.
In conclusion product classification system provided by the embodiments of the present application includes characteristic-acquisition device, controller and stacking
Equipment, characteristic-acquisition device and Palletizer are connect with controller respectively.It is produced using the product classification system and method
During product are classified, for each target product for including in product set totality, characteristic-acquisition device obtains target product
Characteristic information, and according to characteristic information obtain target product specification information, specification information is sent to controller.Controller
Specification information is received, and determines that the corresponding object code stack position of target product is set according to specification information, will include that object code stack position is set
Action directive be sent to Palletizer.Palletizer receives action directive, and according to action directive, by mesh
Mark product is delivered to object code stack position and sets, to complete the classification to target product.In this way, the whole process of product classification just can
It is directly realized by by the characteristic-acquisition device, controller and the Palletizer that include in the product classification system, therefore, using the production
Product categorizing system and method carry out product classification compared with the existing technology in product classification is carried out by manual identified method
Speech, can be improved the degree of automation, also can be improved classification effectiveness and classification accuracy.
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term " connection " should be done
It broadly understood, for example, it may be being fixedly connected, be detachably connected or being integrally connected mechanically, can be electricity electrically
Connection, communication connection, wherein communication connection can be wire communication connection or wireless communication connection again, furthermore, it is possible to be direct
It is connected, can also can also be the connection inside two elements, for those skilled in the art indirectly connected through an intermediary
For member, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
In the description of the present application, it is also necessary to explanation, the orientation or position of the instructions such as term " one end ", " other end "
Relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when the orientation or position usually put
Relationship is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
The foregoing is merely the section Examples of the application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of product classification system, which is characterized in that including characteristic-acquisition device, controller and Palletizer, the feature
It obtains equipment and the Palletizer is connect with the controller respectively；
The characteristic-acquisition device is used to obtain the characteristic information of target product, and obtains the target according to the characteristic information
The specification information is sent to the controller by the specification information of product；
The controller determines the corresponding mesh of the target product according to the specification information for receiving the specification information
Coding stack position is set, and will be sent to the Palletizer including the action directive that the object code stack position is set；
The Palletizer, according to the action directive, the target is produced for receiving the action directive
Product are delivered to the object code stack position and set, to complete the classification to the target product.
2. product classification system according to claim 1, which is characterized in that the characteristic information includes image information, institute
Stating characteristic-acquisition device includes the first photographic device, and first photographic device is connect with the controller；
First photographic device is used to obtain the image information of target product, and the target according to described image information acquisition
The specification information is sent to the controller by the specification information of product.
3. product classification system according to claim 1, which is characterized in that the characteristic information includes weight information, institute
Stating characteristic-acquisition device includes weighing device, and the weighing device is connect with the controller；
The weighing device is used to obtain the weight information of target product, using the weight information as the rule of the target product
Lattice information, and it is sent to the controller.
4. product classification system according to claim 1, which is characterized in that the characteristic information includes image information and again
Information is measured, the characteristic-acquisition device includes the first photographic device, weighing device and processor, first photographic device and institute
It states weighing device to be connected to the processor respectively, the processor is also connect with the controller；
First photographic device obtains the image information of target product, and is sent to the processor；
The weighing device is used to obtain the weight information of the target product, and is sent to the processor；
The processor is used to receive described image information and the weight information, and according to described image information and the weight
The specification information is sent to the controller by the specification information of target product described in information acquisition.
5. product classification system according to claim 1, which is characterized in that the product classification system further includes that label is set
Standby, the marking arrangement is connect with the controller；
The controller is also used to the specification information being sent to the marking arrangement；
The specification information is marked on the target product, and generate for receiving the specification information by the marking arrangement
Label completes instruction, and the label is completed instruction and is sent to the controller；
The controller is used for after receiving the label and completing instruction, determines that the target produces according to the specification information
The corresponding object code stack position of product is set, and the action directive set comprising the object code stack position is sent to the Palletizer.
6. product classification system according to claim 5, which is characterized in that the marking arrangement includes labelling apparatus and weldering
Connection device, the labelling apparatus and the welder are connect with the controller respectively；
The controller is used to the specification information being sent to the labelling apparatus；
The specification information is printed on the first sign board for receiving the specification information by the labelling apparatus, to obtain the
Two sign boards, and generate printing and complete instruction, instruction is completed into the printing and is sent to the welder；
The welder is used for after receiving the printing and completing instruction, and second sign board is welded in the mesh
Product is marked, and generates label and completes instruction, the label is completed into instruction and is sent to the controller.
7. product classification system according to claim 6, which is characterized in that the welder includes manipulator, carrying
Part, positioning device and bonding machine, the load-bearing part are set to the end of the manipulator, the positioning device and the bonding machine
It is set on institute's load-bearing part, the positioning device is connect with the manipulator and the labelling apparatus respectively, the bonding machine point
It is not connect with the manipulator and the controller；
The positioning device completes instruction for receiving the printing, and after receiving the printing and completing instruction, obtains
The current location information of the target product generates adjustment instruction according to the current location information, the adjustment instruction is sent out
It send to the manipulator；
The manipulator adjusts position for receiving the adjustment instruction, according to the adjustment instruction, so that the bonding machine moves
It moves to the marked region with the target product there are at associated position, and generates adjustment and complete instruction, be sent to the weldering
It picks；
The bonding machine is used for after receiving the adjustment and completing instruction, is moved to position corresponding with the marked region
Place, is welded in the marked region for second sign board, and generates label and complete instruction, and the label is completed instruction hair
It send to the controller.
8. product classification system according to claim 7, which is characterized in that the load-bearing part structure in a strip shape, including the
One end and the second end, the first end are set to the end of the manipulator, and the positioning device includes first laser
Transmitter, second laser transmitter and the second photographic device, first end of the first laser transmitter close to the load-bearing part
Portion, for second photographic device close to the second end of the load-bearing part, it is sharp that the second laser transmitter is located at described first
Between optical transmitting set and second photographic device, second photographic device respectively with the manipulator and the labelling apparatus
Connection；
The first laser transmitter is used for laser projection in reference operation face, to form the first reference point, the reference
Operating surface is coplanar with the focal plane of second photographic device；
The second laser transmitter is used for laser projection in reference operation face, to form the second reference point；
Second photographic device completes instruction for receiving the printing, and after receiving the printing and completing instruction,
Obtain the current location information of the target product, first reference point images in after second photographic device formed
One imaging point and second reference point image in the second imaging point formed after second photographic device, and according to institute
It states current location information, first imaging point and second imaging point and generates adjustment instruction, the adjustment instruction is sent
To the manipulator.
9. product classification system according to claim 1, which is characterized in that the product classification system further includes that storage is set
Standby, the storage equipment is connect with the controller；
The Palletizer is also used to the target product being delivered to target stacking corresponding with the action directive
After position, generates stacking and complete instruction, and be sent to the controller；
The controller is also used to after receiving the stacking and completing instruction, generates data more new command, and by the number
The storage equipment is sent to according to more new command；
The storage equipment is for receiving the data more new command, and according to the data more new command to being stored in described deposit
Product inventory data in storage equipment are updated.
10. a kind of product classification method, which is characterized in that be applied to product classification system according to any one of claims 1 to 9
System, the product classification method, comprising:
The characteristic-acquisition device obtains the characteristic information of target product, and obtains the target product according to the characteristic information
Specification information, the specification information is sent to the controller；
The controller receives the specification information, and determines the corresponding object code of the target product according to the specification information
Stack position is set, and will be sent to the Palletizer including the action directive that the object code stack position is set；
The Palletizer receives the action directive, and according to the action directive, and the target product is defeated
It send to the object code stack position and sets, to complete the classification to the target product.
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| CN109939951B (en) | 2021-02-19 |
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