CN110065754A - A kind of bulk material stacking visual scanning system and its image processing method - Google Patents
A kind of bulk material stacking visual scanning system and its image processing method Download PDFInfo
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- CN110065754A CN110065754A CN201910358856.9A CN201910358856A CN110065754A CN 110065754 A CN110065754 A CN 110065754A CN 201910358856 A CN201910358856 A CN 201910358856A CN 110065754 A CN110065754 A CN 110065754A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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Abstract
The invention discloses a kind of bulk material stacking visual scanning system and its image processing methods, including stack, four part of vision system, industrial personal computer and user terminal.Industrial personal computer is automatically performed the scheduling and distribution that entrucking pile type piles up Liang Tai robot workflow during position planning, entrucking；Simultaneously recorded and carried out archives to information such as information of vehicles, the entrucking orders of vehicle, facilitate data store and logistics information can be traced.Vision system includes vehicle vision detection positioning device and pile type device for visual identification.Wherein, vehicle vision detection positioning device is scanned by laser scanner obtains vehicle body point cloud data, by vision processing algorithm, realizes intelligentized logistics vehicles positioning and vehicle judgement.Pile type device for visual identification is scanned analysis to the stacking situation of material by industrial camera and preset algorithm, prevents the accumulated error of stacking, it is ensured that material stacking is neat.
Description
Technical field
The present invention relates to a kind of vision systems, and in particular at a kind of bulk material stacking visual scanning system and its image
Reason method.
Background technique
Storage stack is the term in logistics, and under the premise of storage area is limited, can carry out stacking to material have
Effect slows down warehouse pressure.Storage stack provides necessary buffer stock, can effectively reduce raw material supply and customer demand
Limitation give production activity bring negative effect, to provide the efficiency of enterprise operation.Meanwhile before being transported to material
It is also required to carry out stacking storage on transport vehicle to utilize freight house as far as possible.It can be said that the stacking quality to material directly affects
Transportation safety.Stacking is carried out to material in storehouse and has been realized in automatic operation, is not necessarily to manual handling.
However, existing automation equipment can only carry out stacking storage to material, the path of stacking is default in a program, by
PLC is controlled.Above-mentioned palletizing method has limitation, can only be operated according to preset program.In addition, the stacking of material
Error is easy gradually to add up, when error it is cumulative to a certain extent after since the center of gravity of eminence is not in midpoint, when meeting in transit
It is easy to cause material to collapse to jolting, causes great security risk.
Summary of the invention
Goal of the invention: a kind of bulk material stacking visual scanning system and its image processing method are provided, efficiently solved
The above problem of the existing technology.
Technical solution: a kind of bulk material stacking visual scanning system, including stack, vision system, industrial personal computer, with
And four part of user terminal.
Wherein, stack, including Workbench base, the cunning for being fixed on the Workbench base two sides and being parallel to each other
Road is fixed on the transport way of the slideway two sides, and the lower digging basis in the middle part of the Workbench base, and sliding setting is arranged in
Robot palletizer on the slideway；
Vision system, the vehicle vision including being fixed on the robot palletizer end detects positioning device, and is fixed on institute
State the pile type device for visual identification of transport way starting point；
Industrial personal computer, programmable logic controller (PLC) and calculating including establishing communication connection with the stack and vision system
Machine；
User terminal, including the mobile communication equipment remotely being connect with the vision system, including but not limited to smart phone, hand
Mention computer, smartwatch.
In a further embodiment, the robot palletizer includes pedestal, fixed turning motor on the base,
The level-one revolute joint being rotatably connected on the turning motor, the second level being rotatablely connected with one end of the level-one revolute joint
Revolute joint, and the three-level revolute joint being connect with the two-stage rotary articulation.By the way that three revolute joints are arranged, make
The robot palletizer possess horizontally rotate direction, vertical rotation direction, move horizontally direction, vertical shift direction movement from
By spending, the robot palletizer is enabled neatly to grab material and be transported to specified location.
In a further embodiment, the turning motor includes runner assembly, brake assemblies, overflow valve and revolution
Damper assembly；The runner assembly includes motor cylinder body, is slidably arranged in the intracorporal plunger of the motor cylinder, is fixed on the column
The piston shoes of end are filled in, and are rotatably arranged on the intracorporal output shaft of the motor cylinder；The brake assemblies are described including being mounted on
The brake control valve of motor cylinder body side；The gyrodaming component includes the damping due to rotation that described output shaft one end is arranged in
The oil-in chamber inside the rotary damper, and several pipelines of connection aforementioned rotary damper and oil-in chamber are arranged in device.
Turning motor is the critical component of swing mechanism, and the oil pressure that it can provide main pump is changed into mechanical energy, and is input to reduction gearbox
Realize right-hand rotation and Zuo Huizhuan.Rotary damper is adjusted velocity of rotation by controlling the trend of hydraulic oil, maintains rotation
Stability.
In a further embodiment, the level-one revolute joint includes the transition branch being fixed on the turning motor
Frame, by the master connecting-rod of servo motor and transition bracket rotation connection, be hinged on the transition bracket side first connects
Bar, and it is fixed on the transition bracket and is located at the second connecting rod of the servo motor side；The two-stage rotary joint
Including with common the first hinged articulated arm of the first connecting rod and master connecting-rod, and be hinged on first articulated arm side,
And the hinged second joint bar with one end of the second connecting rod；The three-level revolute joint includes being hinged on first joint
" people " the font rotation section of bar end, and the third connecting rod of the common hinged rotation section and second joint bar.Above-mentioned first
Connecting rod, second connecting rod, third connecting rod are used to be driven last point of power, i.e. first connecting rod is used to affect the first articulated arm, the
Two connecting rods are for affecting second joint bar, and third connecting rod is for affecting rotation section.Above three connecting rod uses bionic design, mould
The motion mode in each joint on quasi- animal body, articulated arm simulate muscle body, and connecting rod simulates that muscle is intracorporal to affect nerve,
This driving method it is high-efficient, small to the load of servo motor.
In a further embodiment, the vehicle vision detection positioning device is mounted on the stacking including at least three
The laser scanner of robot end；The pile type device for visual identification includes being fixed on the transport way starting point " inverted L-shaped "
Support frame, and it is mounted on the industrial camera of support frame as described above one end；The industrial camera includes IMX264 sensor and thousand
Mbit ethernet interface, the gigabit ethernet interface are established both-way communication with the industrial personal computer by cable and are connect.Laser scanning
Device, which is mainly responsible for, carries out vision-based detection to logistics vehicles, and completes entrucking path planning according to testing result, calculates entrucking code
Position is sent to robot palletizer by pile discharge position, and is coordinated Liang Tai robot and completed entrucking work jointly.Pile type vision is known
Other device is mainly completed by industrial camera, and pallet pipeline initial position is set to, for detecting the material pile type that fork truck comes
Display case, in order to the direction of guidance machine people crawl for the first time.
A kind of image processing method of bulk material stacking visual scanning system, it is characterised in that the following steps are included:
S1, stack starting, are transported to pre-position for bulk material by transport way；
S2, the pile type device for visual identification work positioned at transport way starting point, the bulk material that industrial camera detection fork truck comes
The display case of pile type, establishes both-way communication by cable and industrial personal computer, instructs robot palletizer to carry out for the first time by industrial personal computer
Crawl；
S3, when bulk material by vehicle vision detection positioning device when, laser scanner starting, according to testing result complete dress
Vehicle path planning, calculates entrucking stacking discharge position, and position is sent to robot palletizer, and coordinates robot palletizer completion
Entrucking work；
After the completion of S4, entrucking, material transported by transport vehicle outbound；
S5, user are traced to the source by user terminal material and real-time tracking, and detectable substance flows into exhibition.
In a further embodiment, the robot palletizer further includes labelling machine, and the labelling machine is to bulk material
Work before crawl, the two dimensional code of tracing to the source with corresponding information is attached on material；It is described trace to the source two dimensional code include but is not limited to
Lower information: outbound date, name of material, material specification, quality of material；The laser scanner is before carrying out entrucking path planning
It is scanned and is read information to the two dimensional code of tracing to the source on material first, and the information after reading is fed back into computer, is calculated
Machine is compared after decoding the information of the two dimensional code of tracing to the source with raw information, compares errorless rear progress next step operation.
In a further embodiment, the pile type device for visual identification image procossing the following steps are included:
S201, computer selecting radius are the conduct template filter characteristic point of 2 pixels and the circle of peripheral 8 pixels, to work
The image that industry camera takes is split；
S202, computer compare whether neighbor pixel reaches threshold value, if the threshold value of not up to setting, determines not to be boundary,
If reaching the threshold value of setting, it is determined as material boundary.
In a further embodiment, the laser scanner image procossing the following steps are included:
S301, utilization " laplacian pyramid " algorithm carry out Laplce's operation to image, then carry out down-sampled, will sweep
The original image retouched is accumulated as pyramidal bottom, and successively；
64 pixels of S302, the adjacent scale of detection, the maximum value or minimum value that will abut against pixel are labeled as characteristic point；
S303, the process for repeating above-mentioned S302, are finally completed the feature point extraction of image.
The utility model has the advantages that passing through the present invention relates to a kind of bulk material stacking visual scanning system and its image processing method
Setting vision system detects logistics vehicle car region and positions car position, judges automatically the type of logistics vehicles；Specifically,
It is scanned by laser scanner and obtains vehicle body point cloud data, by vision processing algorithm, realize intelligentized logistics vehicles positioning
Judge with vehicle.Whole pile material is conveyed automatically to entrucking position by the way that stack is arranged, and robot is facilitated to carry out material crawl, section
About loading time；It is artificial that two machines during entrucking pile type piles up position planning, entrucking are automatically performed by setting industrial personal computer
Make the scheduling and distribution of process.Pile type device for visual identification can the stacking situation to material be scanned analysis, prevent stacking
Accumulated error, it is ensured that material stacking is neat, effectively prevent encountering the problem of causing material to collapse appearance of jolting in transit.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram of robot palletizer in the present invention.
Fig. 3 is the Section View of turning motor in Fig. 2.
Fig. 4 is that visual scanning of the present invention positions schematic diagram.
Fig. 5 is that Parma type device for visual identification of the present invention identifies display case schematic diagram.
Fig. 6 is laser scanner entrucking path planning schematic diagram in the present invention.
Fig. 7 is that algorithm samples schematic diagram in Fig. 6.
Fig. 8 is laser scanner scanning range schematic diagram in the present invention.
Fig. 9 is system architecture diagram of the invention.
Each appended drawing reference in figure are as follows: Workbench base 1, transport way 2, slideway 3, robot palletizer 4, pedestal 401, revolution electricity
Machine 402, motor cylinder body 402a, plunger 402b, piston shoes 402c, output shaft 402d, brake control valve 402e, rotary damper
402f, oil-in chamber 402g, transition bracket 403, master connecting-rod 404, first connecting rod 405, second connecting rod 406, second joint bar 407,
First articulated arm 408, third connecting rod 409, rotation section 410, servo motor 411, vehicle vision detection positioning device 5, laser are swept
Retouch device 501, pile type device for visual identification 6, lower digging basis 7.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
As shown in Figures 1 to 9, the invention discloses a kind of bulk material stacking visual scanning system and its image processing methods
Method, one of bulk material stacking visual scanning system include Workbench base 1, slideway 3, transport way 2, lower digging basic 7, code
Pile robot 4, vehicle vision detect positioning device 5, pile type device for visual identification 6, programmable logic controller (PLC), computer, shifting
Dynamic communication apparatus.The slideway 3 is fixed on the two sides of the Workbench base 1 and the installation that is parallel to each other；The transport way 2 is solid
It is scheduled on the two sides of the slideway 3 and the installation that is parallel to each other；The lower digging basis 7 is with predetermined depth on the Workbench base 1
Lower digging is carried out, for forming channel to transport vehicle；The robot palletizer 4 is slidably arranged on the slideway 3；The vehicle view
Feel that detection positioning device 5 is fixed on 4 end of robot palletizer；The pile type device for visual identification 6 is fixed on the transmission
The starting point in road 2；The programmable logic controller (PLC) and computer collectively form industrial personal computer, the industrial personal computer and the stacking group
Communication connection is established between part and vision system；The mobile communication equipment is remotely connect with the vision system, connection type
Including wireless network, the mobile communication equipment includes but is not limited to smart phone, laptop computer, smartwatch.Said base,
Slideway 3, transport way 2, lower digging basis 7, robot palletizer 4 collectively form stack；Vehicle vision detects positioning device 5, pile
Type device for visual identification 6 collectively forms vision system；Programmable logic controller (PLC), computer collectively form industrial personal computer.
Robot palletizer 4, vehicle vision detection positioning device 5 and pile type device for visual identification 6 are carried out separately below
It is described in detail.The robot palletizer 4 include pedestal 401, turning motor 402, level-one revolute joint, two-stage rotary joint, with
And three-level revolute joint；The pedestal 401 is fixed on the Workbench base 1, and the turning motor 402 is fixed on the bottom
On seat 401, the level-one revolute joint is rotatably connected on the turning motor 402, the two-stage rotary articulation connection
In one end of the level-one revolute joint, the three-level revolute joint is rotatably connected on the one end in the two-stage rotary joint.It is logical
Three revolute joints of setting are crossed, so that the robot palletizer 4, which possesses, horizontally rotates direction, vertical rotation direction, the side of moving horizontally
To the freedom of motion in, vertical shift direction, which is neatly grabbed material and is transported to specified
At position.More specifically, the turning motor 402 includes runner assembly, brake assemblies, overflow valve and gyrodaming group
Part；The runner assembly includes motor cylinder body 402a, plunger 402b, piston shoes 402c, output shaft 402d；The plunger 402b sliding
It is arranged in the motor cylinder body 402a, the piston shoes 402c is fixed on the end of the plunger 402b, the output shaft 402d
It is equipped in the motor cylinder body 402a by tapered roller bearing and bearing block, for the power output of the turning motor 402.
The brake assemblies include brake control valve 402e, rotary damper 402f, oil-in chamber 402g；The rotary damper 402f is set
It setting at the medium position of the output shaft 402d, the inside of the rotary damper 402f is arranged in the oil-in chamber 402g,
Several pipelines are communicated between the rotary damper 402f ontology and oil-in chamber 402g.Turning motor 402 is swing mechanism
Critical component, the oil pressure that it can provide main pump are changed into mechanical energy, and are input to reduction gearbox and realize right-hand rotation and Zuo Huizhuan.Rotation
Turn damper 402f and velocity of rotation is adjusted by controlling the trend of hydraulic oil, maintains rotational stability.The level-one is returned
Turning joint includes transition bracket 403, master connecting-rod 404, first connecting rod 405, second connecting rod 406；The master connecting-rod 404 passes through servo
Motor 411 and the transition bracket 403 are rotatablely connected, and the first connecting rod 405 is hinged on the side of the transition bracket 403,
The second connecting rod 406 is fixed on the side on the transition bracket 403 and being located at the servo motor 411.The second level is returned
Turning joint includes the first articulated arm 408, second joint bar 407；First articulated arm 408 and the first connecting rod 405 and master
Connecting rod 404 is common hinged, and the second joint bar 407 is fixed on the side of first articulated arm 408 and connects with described second
One end of bar 406 is hinged；The three-level revolute joint includes rotation section 410, third connecting rod 409；The rotation section 410 is in herringbone
Shape, the rotation section 410 are hinged on the end of first articulated arm 408, the third connecting rod 409 jointly with the rotation section
410 and second joint bar 407 it is hinged.Above-mentioned first connecting rod 405, second connecting rod 406, third connecting rod 409 are last for being driven
For affecting the first articulated arm 408, second connecting rod 406 is used to affect second joint bar 407 for the power divided, i.e. first connecting rod 405,
Third connecting rod 409 is for affecting rotation section 410.Above three connecting rod uses bionic design, simulates each joint on animal body
Motion mode, articulated arm simulates muscle body, and connecting rod simulates that muscle is intracorporal to affect nerve, the efficiency of this driving method
It is high, small to the load of servo motor 411.The vehicle vision detection positioning device 5 is mounted on the stacking including at least three
The laser scanner 501 of 4 end of robot；The pile type device for visual identification 6 includes being fixed on 2 starting point of transport way
" inverted L-shaped " support frame, and it is mounted on the industrial camera of support frame as described above one end；The industrial camera includes IMX264 sensor
And gigabit ethernet interface, the gigabit ethernet interface are established both-way communication with the industrial personal computer by cable and are connect.Swash
Optical scanner 501, which is mainly responsible for, carries out vision-based detection to logistics vehicles, and completes entrucking path planning according to testing result, calculates
Position is sent to robot palletizer 4 by entrucking stacking discharge position out, and is coordinated Liang Tai robot and completed entrucking work jointly.
Pile type device for visual identification 6 is mainly completed by industrial camera, is set to pallet pipeline initial position, is come for detecting fork truck
Material pile type display case, in order to the direction of guidance machine people crawl for the first time.
Through the above technical solutions, the specific course of work of the present invention is as follows: firstly, stack starts, passing through transmission
Bulk material is transported to pre-position by road 2.Then, it works positioned at the pile type device for visual identification 6 of 2 starting point of transport way,
The display case for the bulk material pile type that industrial camera detection fork truck comes, establishes both-way communication by cable and industrial personal computer, by
Industrial personal computer instructs robot palletizer 4 to carry out first time crawl.The robot palletizer 4 further includes labelling machine, and the labelling machine exists
Work before grabbing to bulk material, the two dimensional code of tracing to the source with corresponding information is attached on material；The two dimensional code of tracing to the source includes
But it is not limited to following information: outbound date, name of material, material specification, quality of material；The laser scanner 501 is carrying out
It is scanned and is read information to the two dimensional code of tracing to the source on material first before entrucking path planning, and the information after reading is fed back
To computer, computer is compared after decoding the information of the two dimensional code of tracing to the source with raw information, compares errorless rear progress
It operates in next step.When bulk material is by vehicle vision detection positioning device 5, laser scanner 501 starts, and is tied according to detection
Fruit completes entrucking path planning, calculates entrucking stacking discharge position, position is sent to robot palletizer 4, and coordinate stacking
Robot 4 completes entrucking work.After the completion of entrucking, material transported by transport vehicle outbound.User can pass through user terminal pair
Material is traced to the source and real-time tracking, and detectable substance flows into exhibition.
It is carried out specifically below for the image processing algorithm of the pile type device for visual identification 6 and laser scanner 501
It is bright:
The image processing algorithm of pile type device for visual identification 6:
Firstly, computer selecting radius is the conduct template filter characteristic point of 2 pixels and the circle of peripheral 8 pixels, to work
The image that industry camera takes is split, and algorithm is as follows:
Wherein,tFor threshold value, value 8,Indicate the pixel value of center pixel,Indicate the conduct of the circle of peripheral 8 pixels
Pixel value when template.In computer statistics border circular areasdOrbNumber, if not up to setting threshold value, determine not to be side
Boundary is determined as material boundary if reaching the threshold value of setting.
Meanwhile the algorithm meets following angle point respective function:
Utilize " laplacian pyramid " algorithm, to image carry out Laplce's operation, then carry out it is down-sampled, by what is scanned
Original image is accumulated as pyramidal bottom, and successively；64 pixels for detecting adjacent scale, will abut against pixel most
Big value or minimum value are labeled as characteristic point；It repeats the above process, is finally completed the feature point extraction of image." Laplce's gold word
Tower " algorithm can produce the core of multiscale space.The scale space of one imageL( ), it is defined as original imageI(x, y)
With the two-dimensional Gaussian function of a variable dimensionG( )Carry out convolution algorithm.Wherein, above-mentioned two-dimensional Gaussian function is as follows:
Wherein, scale space indicates are as follows:
L(
)=G(
) * I(x, y)
Gray proces then are carried out to acquired image, gray proces use following formula:
Wherein,It is the offset of window,It is the weight coefficient of window.
Developed below using Taylor expansion to expression formula:
To sum up, the stack in the present invention can convey whole pile material to entrucking position automatically, facilitate robot to carry out material and grab
It takes, saves loading time.Industrial personal computer is automatically performed entrucking pile type and piles up Liang Tai robot workflow during position planning, entrucking
The scheduling and distribution of journey；Archive is recorded and carried out to information such as information of vehicles, the entrucking orders of vehicle simultaneously, facilitates data
Storage and logistics information it is traceable.Vision system detection logistics vehicle car region simultaneously positions car position, judges automatically
The type of logistics vehicles；It is scanned by laser scanner 501 and obtains vehicle body point cloud data, by vision processing algorithm, realize intelligence
The logistics vehicles positioning and vehicle judgement of energyization.Pile type device for visual identification 6 is scanned analysis to the stacking situation of material, prevents
The only accumulated error of stacking, it is ensured that material stacking is neat.In addition, user trace to the source and reality by user terminal to material
When track, detectable substance flows into exhibition.The parameter value that vision system will test acquisition feeds back to control system, for control system according to
The parameter value that vision system detection obtains plans entrucking.(length and width and height in compartment are provided by vision system, and system is set in advance
The length of article to be palletized is set, and then calculates the number of plies of article stacking, the side of putting can be designed according to the difference of vehicle width
Such as two cross three of formula is perpendicular, and two erect two horizontal equal stackings modes.Robot need to only utilize the stacking position position of starting end, subsequent stacking
Offset can be fixed according to the length and width and height of article (such as packed salt packet).Laser scanner 501 is from compartment tail end forward end
Motion scan finds out compartment end and tail position, obtains the parameter value of compartment length and width and side plate height.
As described above, must not be explained although the present invention has been indicated and described referring to specific preferred embodiment
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
It makes a variety of changes in the form and details.
Claims (10)
1. a kind of bulk material stacking visual scanning system, it is characterized in that including:
Stack, including Workbench base, the slideway for being fixed on the Workbench base two sides and being parallel to each other, are fixed on
The transport way of the slideway two sides is arranged in the lower digging basis in the middle part of the Workbench base, and is slidably arranged in the cunning
Robot palletizer on road；
Vision system, the vehicle vision including being fixed on the robot palletizer end detects positioning device, and is fixed on institute
State the pile type device for visual identification of transport way starting point；
Industrial personal computer, programmable logic controller (PLC) and calculating including establishing communication connection with the stack and vision system
Machine；
User terminal, including the mobile communication equipment remotely being connect with the vision system, including but not limited to smart phone, hand
Mention computer, smartwatch.
2. a kind of bulk material stacking visual scanning system according to claim 1, it is characterised in that: the stacking machine
People includes pedestal, fixed turning motor on the base, the level-one revolute joint being rotatably connected on the turning motor,
The two-stage rotary joint being rotatablely connected with one end of the level-one revolute joint, and connect with the two-stage rotary articulation
Three-level revolute joint.
3. a kind of bulk material stacking visual scanning system according to claim 2, it is characterised in that: the turning motor
Including runner assembly, brake assemblies, overflow valve and gyrodaming component；The runner assembly includes motor cylinder body, and sliding is set
It sets in the intracorporal plunger of the motor cylinder, is fixed on the piston shoes of the plunger tip, and be rotatably arranged on the motor cylinder body
Interior output shaft；The brake assemblies include the brake control valve for being mounted on motor cylinder body side；The gyrodaming group
Part includes the rotary damper that described output shaft one end is arranged in, and the oil-in chamber inside the rotary damper is arranged in, and
Connect several pipelines of aforementioned rotary damper and oil-in chamber.
4. a kind of bulk material stacking visual scanning system according to claim 2, it is characterised in that: the level-one revolution
Joint includes the transition bracket being fixed on the turning motor, passes through the master of servo motor and transition bracket rotation connection
Connecting rod, is hinged on the first connecting rod of the transition bracket side, and is fixed on the transition bracket and is located at the servo
The second connecting rod of motor side；The two-stage rotary joint includes and common the first hinged pass of the first connecting rod and master connecting-rod
Pole, and it is hinged on first articulated arm side and the second joint bar hinged with one end of the second connecting rod；It is described
Three-level revolute joint includes " people " the font rotation section for being hinged on first articulated arm end, and the common hinged rotation
The third connecting rod in portion and second joint bar.
5. a kind of bulk material stacking visual scanning system according to claim 1, it is characterised in that: the vehicle vision
Detecting positioning device includes at least three laser scanners for being mounted on the robot palletizer end；The pile type visual identity
Device includes being fixed on transport way starting point " inverted L-shaped " support frame, and be mounted on the industrial phase of support frame as described above one end
Machine.
6. a kind of bulk material stacking visual scanning system according to claim 5, it is characterised in that: the industrial camera
Including IMX264 sensor and gigabit ethernet interface, the gigabit ethernet interface is established by cable and the industrial personal computer
Both-way communication connection.
7. a kind of image processing method of bulk material stacking visual scanning system, it is characterised in that the following steps are included:
S1, stack starting, are transported to pre-position for bulk material by transport way；
S2, the pile type device for visual identification work positioned at transport way starting point, the bulk material that industrial camera detection fork truck comes
The display case of pile type, establishes both-way communication by cable and industrial personal computer, instructs robot palletizer to carry out for the first time by industrial personal computer
Crawl；
S3, when bulk material by vehicle vision detection positioning device when, laser scanner starting, according to testing result complete dress
Vehicle path planning, calculates entrucking stacking discharge position, and position is sent to robot palletizer, and coordinates robot palletizer completion
Entrucking work；
After the completion of S4, entrucking, material transported by transport vehicle outbound；
S5, user are traced to the source by user terminal material and real-time tracking, and detectable substance flows into exhibition.
8. a kind of image processing method of bulk material stacking visual scanning system according to claim 7, feature exist
In: the robot palletizer further includes labelling machine, and labelling machine work before grabbing to bulk material will have corresponding information
Two dimensional code of tracing to the source be attached on material；The two dimensional code of tracing to the source includes but is not limited to following information: the outbound date, name of material,
Material specification, quality of material；The laser scanner is before carrying out entrucking path planning first to the two dimensional code of tracing to the source on material
It is scanned and reads information, and the information after reading is fed back into computer, computer is by the information of the two dimensional code of tracing to the source
It is compared after decoding with raw information, compares errorless rear progress next step operation.
9. a kind of image processing method of bulk material stacking visual scanning system according to claim 7, feature exist
In the pile type device for visual identification image procossing the following steps are included:
S201, computer selecting radius are the conduct template filter characteristic point of 2 pixels and the circle of peripheral 8 pixels, to work
The image that industry camera takes is split；
S202, computer compare whether neighbor pixel reaches threshold value, if the threshold value of not up to setting, determines not to be boundary,
If reaching the threshold value of setting, it is determined as material boundary.
10. a kind of image processing method of bulk material stacking visual scanning system according to claim 7, feature exist
In the laser scanner image procossing the following steps are included:
S301, utilization " laplacian pyramid " algorithm carry out Laplce's operation to image, then carry out down-sampled, will sweep
The original image retouched is accumulated as pyramidal bottom, and successively；
64 pixels of S302, the adjacent scale of detection, the maximum value or minimum value that will abut against pixel are labeled as characteristic point；
S303, the process for repeating above-mentioned S302, are finally completed the feature point extraction of image.
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