CN112060065A - 一种基于3d视觉的机器人全自动无序上料*** - Google Patents
一种基于3d视觉的机器人全自动无序上料*** Download PDFInfo
- Publication number
- CN112060065A CN112060065A CN202011256951.7A CN202011256951A CN112060065A CN 112060065 A CN112060065 A CN 112060065A CN 202011256951 A CN202011256951 A CN 202011256951A CN 112060065 A CN112060065 A CN 112060065A
- Authority
- CN
- China
- Prior art keywords
- conveyor belt
- information
- preset
- matrix
- materials
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000463 material Substances 0.000 claims abstract description 376
- 238000007599 discharging Methods 0.000 claims abstract description 42
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 101
- 239000010421 standard material Substances 0.000 claims description 49
- 238000012545 processing Methods 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 13
- 230000007547 defect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 239000000284 extract Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011256951.7A CN112060065B (zh) | 2020-11-12 | 2020-11-12 | 一种基于3d视觉的机器人全自动无序上料*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011256951.7A CN112060065B (zh) | 2020-11-12 | 2020-11-12 | 一种基于3d视觉的机器人全自动无序上料*** |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112060065A true CN112060065A (zh) | 2020-12-11 |
CN112060065B CN112060065B (zh) | 2021-03-30 |
Family
ID=73655984
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011256951.7A Active CN112060065B (zh) | 2020-11-12 | 2020-11-12 | 一种基于3d视觉的机器人全自动无序上料*** |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112060065B (zh) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112657860A (zh) * | 2021-01-15 | 2021-04-16 | 佛山科学技术学院 | 一种自动排队***和排队方法 |
CN113200346A (zh) * | 2021-05-10 | 2021-08-03 | 南京深农智能装备有限公司 | 一种自动识别纠正抓取上料设备 |
CN113233195A (zh) * | 2021-04-25 | 2021-08-10 | 江南大学附属医院 | 一种病理玻片自动整理定位机及方法 |
CN113533360A (zh) * | 2021-06-30 | 2021-10-22 | 广东全芯半导体有限公司 | 一种存储设备检测*** |
CN114193440A (zh) * | 2022-01-04 | 2022-03-18 | 中船重工鹏力(南京)智能装备***有限公司 | 基于3d视觉的机器人自动抓取***及方法 |
CN114559438A (zh) * | 2022-03-25 | 2022-05-31 | 卡奥斯工业智能研究院(青岛)有限公司 | 一种识别摆放装置及识别摆放方法 |
US20220189805A1 (en) * | 2020-12-15 | 2022-06-16 | Rokko Systems Pte Ltd | Method and apparatus for ic unit singulation and sorting |
CN115535616A (zh) * | 2022-11-28 | 2022-12-30 | 张家港嘉园钢铁制品有限公司 | 一种无缝钢管落料*** |
US20230415201A1 (en) * | 2022-06-24 | 2023-12-28 | Integrated Recycling Technologies | Automated sorting method for circuit board recycling |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203170601U (zh) * | 2013-03-14 | 2013-09-04 | 上海科致电气自动化有限公司 | 多规格产品的自动分拣*** |
WO2016102822A1 (fr) * | 2014-12-24 | 2016-06-30 | Solystic | Machine de tri postal avec une entrée d'alimentation comprenant un bras robotisé et un convoyeur à plat incliné |
CN105817422A (zh) * | 2016-04-21 | 2016-08-03 | 石河子大学 | 基于机器人的自动采集随机摆放快递包裹信息***及其方法 |
CN111515960A (zh) * | 2020-06-01 | 2020-08-11 | 苏州健雄职业技术学院 | 一种智能识别、分拣、排列的机械手臂及工作方法 |
CN111687057A (zh) * | 2019-03-15 | 2020-09-22 | 深圳蓝胖子机器人有限公司 | 一种物品分拣方法、分拣***、分拣设备及可读存储介质 |
-
2020
- 2020-11-12 CN CN202011256951.7A patent/CN112060065B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203170601U (zh) * | 2013-03-14 | 2013-09-04 | 上海科致电气自动化有限公司 | 多规格产品的自动分拣*** |
WO2016102822A1 (fr) * | 2014-12-24 | 2016-06-30 | Solystic | Machine de tri postal avec une entrée d'alimentation comprenant un bras robotisé et un convoyeur à plat incliné |
CN105817422A (zh) * | 2016-04-21 | 2016-08-03 | 石河子大学 | 基于机器人的自动采集随机摆放快递包裹信息***及其方法 |
CN111687057A (zh) * | 2019-03-15 | 2020-09-22 | 深圳蓝胖子机器人有限公司 | 一种物品分拣方法、分拣***、分拣设备及可读存储介质 |
CN111515960A (zh) * | 2020-06-01 | 2020-08-11 | 苏州健雄职业技术学院 | 一种智能识别、分拣、排列的机械手臂及工作方法 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220189805A1 (en) * | 2020-12-15 | 2022-06-16 | Rokko Systems Pte Ltd | Method and apparatus for ic unit singulation and sorting |
US11791183B2 (en) * | 2020-12-15 | 2023-10-17 | Rokko Systems Pte Ltd | Method and apparatus for IC unit singulation and sorting |
CN112657860A (zh) * | 2021-01-15 | 2021-04-16 | 佛山科学技术学院 | 一种自动排队***和排队方法 |
CN113233195A (zh) * | 2021-04-25 | 2021-08-10 | 江南大学附属医院 | 一种病理玻片自动整理定位机及方法 |
CN113200346A (zh) * | 2021-05-10 | 2021-08-03 | 南京深农智能装备有限公司 | 一种自动识别纠正抓取上料设备 |
CN113533360A (zh) * | 2021-06-30 | 2021-10-22 | 广东全芯半导体有限公司 | 一种存储设备检测*** |
CN113533360B (zh) * | 2021-06-30 | 2022-04-15 | 广东全芯半导体有限公司 | 一种存储设备检测*** |
CN114193440A (zh) * | 2022-01-04 | 2022-03-18 | 中船重工鹏力(南京)智能装备***有限公司 | 基于3d视觉的机器人自动抓取***及方法 |
CN114193440B (zh) * | 2022-01-04 | 2023-09-12 | 中船重工鹏力(南京)智能装备***有限公司 | 基于3d视觉的机器人自动抓取***及方法 |
CN114559438A (zh) * | 2022-03-25 | 2022-05-31 | 卡奥斯工业智能研究院(青岛)有限公司 | 一种识别摆放装置及识别摆放方法 |
US20230415201A1 (en) * | 2022-06-24 | 2023-12-28 | Integrated Recycling Technologies | Automated sorting method for circuit board recycling |
CN115535616A (zh) * | 2022-11-28 | 2022-12-30 | 张家港嘉园钢铁制品有限公司 | 一种无缝钢管落料*** |
Also Published As
Publication number | Publication date |
---|---|
CN112060065B (zh) | 2021-03-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112060065B (zh) | 一种基于3d视觉的机器人全自动无序上料*** | |
CN112079078B (zh) | 一种基于双目视觉的机器人全自动无序上料*** | |
US10654169B2 (en) | Supply device configured to circulate workpieces and transport device equipped with supply device | |
JP3296643B2 (ja) | 部品供給方法およびその装置 | |
CN114275425B (zh) | 自动入格的机器人播种分拣***、方法、设备及介质 | |
CN110893999A (zh) | 图像采集***和图像采集方法 | |
CN114751153B (zh) | 一种全角度的多模板码垛*** | |
CN212550534U (zh) | 货物拣选*** | |
JP6643921B2 (ja) | 仕分装置および物品取出方法 | |
CN113428547A (zh) | 一种货到人全息影拣选工作站及操作方法 | |
WO2019061303A1 (zh) | 分类传输货物的方法、***及存储装置 | |
CN212238247U (zh) | 一种带柔性供料机构的机器人分拣*** | |
CN114148752B (zh) | 片状工件全自动生产线 | |
CN109732386A (zh) | 移管活塞自动化加工设备 | |
CN114871117A (zh) | 零件分拣打磨自动化生产线及自动分拣打磨方法 | |
CN112058682A (zh) | 机械式胶囊剔废装置 | |
CN115610988B (zh) | 自动分拣码垛输送***和自动控制方法 | |
CN114082669A (zh) | 带柔性供料机构的机器人分拣***、方法、终端及介质 | |
CN115139304B (zh) | 一种搬运机械手控制方法及*** | |
CN118219279B (zh) | 一种应用于水果产业机械臂的智能视觉方法及*** | |
CN114871831B (zh) | 机械设备智能产线 | |
CN113213053B (zh) | 空箱入库方法、***、设备、电子设备及可读存储介质 | |
CN217167641U (zh) | 一种用于零件机械加工的生产*** | |
CN211708783U (zh) | 一种基于3d视觉的机器人上下料工作站 | |
CN113351503B (zh) | 一种脚手架检测分拣***及方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Yang Xiaoying Inventor after: Liu Zhenting Inventor after: Ji Yongqiang Inventor before: Liu Zhenting Inventor before: Ji Yongqiang |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A robot automatic disordered feeding system based on 3D vision Effective date of registration: 20220428 Granted publication date: 20210330 Pledgee: Weifang Bank Co.,Ltd. Xincheng sub branch Pledgor: Shandong Haide Intelligent Technology Co.,Ltd. Registration number: Y2022980004968 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220902 Granted publication date: 20210330 Pledgee: Weifang Bank Co.,Ltd. Xincheng sub branch Pledgor: Shandong Haide Intelligent Technology Co.,Ltd. Registration number: Y2022980004968 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A fully automatic and disorderly feeding system for robots based on 3D vision Effective date of registration: 20230516 Granted publication date: 20210330 Pledgee: Weifang rural commercial bank Limited by Share Ltd. hi tech sub branch Pledgor: Shandong Haide Intelligent Technology Co.,Ltd. Registration number: Y2023980040669 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20210330 Pledgee: Weifang rural commercial bank Limited by Share Ltd. hi tech sub branch Pledgor: Shandong Haide Intelligent Technology Co.,Ltd. Registration number: Y2023980040669 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A fully automatic and disorderly feeding system for robots based on 3D vision Granted publication date: 20210330 Pledgee: Weifang rural commercial bank Limited by Share Ltd. hi tech sub branch Pledgor: Shandong Haide Intelligent Technology Co.,Ltd. Registration number: Y2024980018409 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |