CN110936372A - Control system of cigarette carton stacking robot - Google Patents
Control system of cigarette carton stacking robot Download PDFInfo
- Publication number
- CN110936372A CN110936372A CN201811166140.0A CN201811166140A CN110936372A CN 110936372 A CN110936372 A CN 110936372A CN 201811166140 A CN201811166140 A CN 201811166140A CN 110936372 A CN110936372 A CN 110936372A
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- Prior art keywords
- robot
- cigarette
- scanning
- cigarette carton
- camera
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- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000033772 system development Effects 0.000 description 2
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control system of a cigarette carton stacking robot, which relates to the technical field of cigarette carton stacking auxiliary equipment and comprises a cigarette carton conveyor, a robot and a PC (personal computer), wherein cigarettes to be sorted and stacked are arranged on the cigarette carton conveyor, the robot comprises a scanning Camera and a rotary clamp, the scanning Camera scans the cigarette cartons and transmits scanning information to the PC, the PC is connected with the scanning Camera through a Camera link, the PC is connected with the rotary clamp of the robot through an LAN (local area network) interface, and the PC controls the rotary clamp to stack the cigarette cartons after processing the scanning information through an LABVIEW (laser area image processing) system; the method has the advantages of high-speed data acquisition, high-speed image data processing, graphical design of interfaces, configurable user application environments and the like.
Description
Technical Field
The invention relates to the technical field of auxiliary equipment for cigarette stacking, in particular to a control system of a cigarette stacking robot.
Background
The tobacco mass automatic production line realizes the manufacturing process of full-functional finished product cigarettes, however, the distribution of cigarettes, the unpacking, classification, quantitative recombination, the manual participation degree and the efficiency are low, and in partial mechanical classification equipment, the low flexibility and the high cost are not suitable for flexible and diversified customer demands.
Disclosure of Invention
The invention aims to provide a robot control system based on machine vision sorting.
The technical scheme of the invention is as follows: a control system of a cigarette carton stacking robot comprises a cigarette carton conveyor, a robot and a PC (personal computer); the cigarette carton conveyor is provided with cigarette cartons to be sorted and stacked; the robot comprises a scanning camera and a rotary clamp, the scanning camera is connected with the PC, and the scanning camera scans the cigarettes and transmits scanning information to the PC; the PC is connected with the scanning Camera through a Camera link, the PC is connected with the rotary fixture of the robot through an LAN interface, and the PC controls the rotary fixture to stack the cigarettes after processing the scanning information through the LABVIEW image processing system.
Preferably, the PC is internally provided with a monitor.
The invention has the beneficial effects that: the LABVIEW is selected as the system development, the system development is more efficient, the development period can be greatly shortened, the development time is reduced, particularly the development of an application program interface and a visual system, and the total development efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a control system of a cigarette carton palletizing robot.
Fig. 2 is a system composition diagram of a control system of a cigarette carton palletizing robot.
Fig. 3 is a robot work flow chart of a control system of a cigarette carton palletizing robot.
Reference numerals: 1-a cigarette conveyor; 2-a robot; 3-a PC machine; 21-a scanning camera; 22-a rotating jig; 31-Camera link; 32-LABVIEW image processing system; 33-LAN interface; 34-monitor.
Detailed Description
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
as shown in fig. 1 to 3, a control system of a cigarette carton palletizing robot comprises a cigarette carton conveyor 1, a robot 2 and a PC 3; the cigarette carton conveyor 1 is used for conveying cigarettes to be sorted and stacked; the robot 2 comprises a scanning camera 21 and a rotary clamp 22, the scanning camera 21 is connected with the PC 3, and the scanning camera 21 scans the cigarettes and transmits scanning information to the PC 3; the PC machine 3 comprises a Camera link31, an LABVIEW image processing system 32, a LAN interface 33 and a monitor 34, the PC machine 3 is connected with the scanning Camera 21 through the Camera link31, the PC machine 3 is connected with the rotary clamp 22 of the robot 2 through the LAN interface 33, the PC machine 3 controls the rotary clamp 22 to stack the cigarettes after the scanning information is processed through the LABVIEW image processing system 32, and the monitor 34 is used for monitoring the stacking work of the rotary clamp 22 in real time.
The working principle of the invention is as follows: the first use is to first make parameter settings for the LABVIEW image processing system 32: placing the recognition object in the visual field of the scanning camera 21, moving the recognition object to be close to the lower left position of the rectangular frame of the visual field, selecting the recognition area from the image of the target object, the selection principle of the recognition area being capable of reflecting the uniqueness of the target, such as specific figures, characters and colors, then operating the recognition execution program, at this time, displaying the recognition result information, such as angle, X coordinate and Y coordinate, on the monitoring image of the recognition object in a superimposed manner, writing the recognized result information into the basic parameter X, Y setting input frame, completing the basic coordinate setting item, moving the recognition object to be close to the lower right position of the rectangular frame of the visual field, measuring the linear displacement of the movement and writing the linear displacement into the distance X parameter setting item, writing the corresponding information of the recognized result into the maximum X setting input frame, completing the maximum X coordinate setting item, moving the recognition object to be close to the upper left position of the rectangular frame of the visual field, and measuring the linear displacement of the movement, writing the linear displacement into a distance Y parameter setting item, writing corresponding information of the identified result into a maximum Y setting input frame, completing a maximum Y coordinate setting item, if the grabbing position of the robot is the center of the identification area, the central offset is all zero, otherwise, writing the central offset into an offset parameter.
For the executable application program which is compiled, the program file name is 'YHSibie.exe', under the condition of source code form, the communication mode with the lower level is configured as IO port mode or TCP/IP communication mode, the PC 3 is opened, the YHSibie.exe application program is clicked to run, the power supply of the robot 2 is opened, the application program of the robot 2 is started, the automatic operation switch of the robot 2 is enabled, the full-automatic operation task is put into, if the identification of the target object is successful in the visual field of the scanning camera 21, the program, namely the identification result, sends the identification result to the robot 2 through the port mode or TCP/IP communication mode in the set data structure format, the robot 2 receives the identification result data, the space coordinate position of the rotary clamp 22 of the robot 2 is calculated under the opening state according to the determination switch of an operator, the positioning movement is executed, the direction of the rotary clamp 22 is kept consistent with the target object, the rotary clamp 22 is opened to perform actions of clamping the target object, analyzing class instruction data of the target object, calculating the position of the target stacking area and current space coordinates and direction data of the stacking area, a multi-layer multi-direction multi-area cigarette stacking program is opened, the robot 2 is circularly connected with an upper computer, image processing identification result data of the upper computer are read, the robot 2 processes and judges read data content, whether the target object has a result or not is analyzed, when the target object exists, the coordinate relative value of the target object is converted, and a grabbing, namely sorting and stacking action process is performed.
The above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (2)
1. The utility model provides a strip cigarette pile up neatly machine people control system, includes strip cigarette conveyer, robot, PC, its characterized in that: the cigarette carton conveyor is provided with cigarette cartons to be sorted and stacked; the robot comprises a scanning camera and a rotary clamp, the scanning camera is connected with the PC, and the scanning camera scans the cigarettes and transmits scanning information to the PC; the PC is connected with the scanning Camera through a Camera link, the PC is connected with the rotary fixture of the robot through an LAN interface, and the PC controls the rotary fixture to stack the cigarettes after processing the scanning information through the LABVIEW image processing system.
2. The control system of a cigarette palletizing robot as claimed in claim 1, wherein: the PC is internally provided with a monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811166140.0A CN110936372A (en) | 2018-09-21 | 2018-09-21 | Control system of cigarette carton stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811166140.0A CN110936372A (en) | 2018-09-21 | 2018-09-21 | Control system of cigarette carton stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110936372A true CN110936372A (en) | 2020-03-31 |
Family
ID=69904484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811166140.0A Pending CN110936372A (en) | 2018-09-21 | 2018-09-21 | Control system of cigarette carton stacking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110936372A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846977A (en) * | 2020-07-20 | 2020-10-30 | 重庆邮电大学 | Automatic stacking robot system based on machine vision and operation method thereof |
Citations (5)
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|---|---|---|---|---|
| JP2004172901A (en) * | 2002-11-19 | 2004-06-17 | Canon Electronics Inc | Network scanning system |
| CN103325106A (en) * | 2013-04-15 | 2013-09-25 | 浙江工业大学 | Moving workpiece sorting method based on LabVIEW |
| CN105930854A (en) * | 2016-04-19 | 2016-09-07 | 东华大学 | Manipulator visual system |
| CN106742281A (en) * | 2017-01-16 | 2017-05-31 | 颐中(青岛)烟草机械有限公司 | A kind of method of irregular bar cigarette automatic stacking packaging |
| CN108529180A (en) * | 2018-05-02 | 2018-09-14 | 重庆邮电大学 | A kind of irregular cigarette package conjunction palletizing system based on machine vision |
-
2018
- 2018-09-21 CN CN201811166140.0A patent/CN110936372A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004172901A (en) * | 2002-11-19 | 2004-06-17 | Canon Electronics Inc | Network scanning system |
| CN103325106A (en) * | 2013-04-15 | 2013-09-25 | 浙江工业大学 | Moving workpiece sorting method based on LabVIEW |
| CN105930854A (en) * | 2016-04-19 | 2016-09-07 | 东华大学 | Manipulator visual system |
| CN106742281A (en) * | 2017-01-16 | 2017-05-31 | 颐中(青岛)烟草机械有限公司 | A kind of method of irregular bar cigarette automatic stacking packaging |
| CN108529180A (en) * | 2018-05-02 | 2018-09-14 | 重庆邮电大学 | A kind of irregular cigarette package conjunction palletizing system based on machine vision |
Non-Patent Citations (1)
| Title |
|---|
| 田鑫: "移载码垛机器人控制***的改进设计", 《中国优秀博硕士学位论文全文数据库（硕士）》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846977A (en) * | 2020-07-20 | 2020-10-30 | 重庆邮电大学 | Automatic stacking robot system based on machine vision and operation method thereof |
| CN111846977B (en) * | 2020-07-20 | 2022-05-03 | 重庆邮电大学 | Automatic stacking robot system based on machine vision and operation method thereof |
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Addressee: Duan Jiqiang Document name: Notice of First Examination Opinion |
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Application publication date: 20200331 |