CN113562225B - Automatic coil bundling system and method - Google Patents
Automatic coil bundling system and method Download PDFInfo
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- CN113562225B CN113562225B CN202110859149.5A CN202110859149A CN113562225B CN 113562225 B CN113562225 B CN 113562225B CN 202110859149 A CN202110859149 A CN 202110859149A CN 113562225 B CN113562225 B CN 113562225B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B13/00—Bundling articles
- B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The invention provides an automatic coil bundling system and method, wherein the automatic coil bundling system comprises: the automatic bundling system for the coiled material comprises a frame and a bundling executing mechanism, wherein a first positioning mechanism used for collecting position information of the bundling executing mechanism, a second positioning mechanism used for collecting position information required for bundling the coiled material and a moving mechanism used for changing the relative position relation between the bundling executing mechanism and the position required for bundling the coiled material are arranged on the frame, the automatic bundling system for the coiled material further comprises a control module, the control module is used for judging the relative position information between the bundling executing mechanism and the position required for bundling the coiled material according to the first positioning mechanism and the second positioning mechanism, and then the moving mechanism is controlled to drive the bundling executing mechanism to move to the position required for bundling the coiled material to perform bundling operation. Whole bundle process of beating realizes unmanned in this scheme, is favorable to improving the degree of automation of indulging the trimming, improves the output efficiency of indulging the shearing machine, reduces operation personnel's intensity of labour. The method is simple and easy to implement, and has high practicability and applicability.
Description
Technical Field
The invention belongs to the field of coiled material bundling, and particularly relates to an automatic coiled material bundling system and method.
Background
At present, with the great increase of domestic labor cost and the gradual highlighting of the difficult problem of job recruitment in the steel processing industry, how to improve the automation level of steel processing is a problem to be solved urgently faced by each steel processing enterprise. The quality of the steel bundling package directly influences the maintenance of the outer surface quality of the steel and the safety of the transportation process. The steel product processing line is generally divided into a longitudinal shearing line, a transverse shearing line and a flying shearing line according to the difference of the cutting and processing directions of the steel products. The finished steel products on the longitudinal shearing line are combined and formed in a coiling mode, and due to certain toughness of the steel products, if the steel products are moved out without constraint force, the products are scattered, so that the steel products need to be immediately bundled on the longitudinal shearing line after being processed or can be moved out after certain constraint force is applied by other equipment. Bundling operation process is loaded down with trivial details, has the product of different specifications in a batch of finished products usually, and the product specification is different to lead to the bundling position of this product also different, so need be accomplished by the operation personnel and beat actions such as bundle position judgement, bundling belt packing fixed, whole flow is consuming time longer, has seriously restricted the output efficiency of indulging the production line of cutting.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide an automatic coil bundling system and method to achieve automatic bundling of coils.
To achieve the above and other related objects, the present invention provides an automatic coil bundling system, comprising: the automatic bundling system for the coiled material comprises a frame and a bundling executing mechanism, wherein a first positioning mechanism used for collecting position information of the bundling executing mechanism, a second positioning mechanism used for collecting position information required for bundling the coiled material and a moving mechanism used for changing the relative position relation between the bundling executing mechanism and the position required for bundling the coiled material are arranged on the frame, the automatic bundling system for the coiled material further comprises a control module, the control module is used for judging the relative position information between the bundling executing mechanism and the position required for bundling the coiled material according to the first positioning mechanism and the second positioning mechanism, and then the moving mechanism is controlled to drive the bundling executing mechanism to move to the position required for bundling the coiled material to perform bundling operation.
Furthermore, the second positioning mechanism comprises a camera, the camera is used for collecting images of coiled materials to be bundled, the control module acquires bundling reference points corresponding to the bundling positions of the coiled materials according to the images collected by the camera, and then the control moving mechanism drives the bundling executing mechanism to move to the bundling position reference points to bundle the coiled materials.
Furthermore, the control module comprises a coordinate establishing unit and a converting unit, wherein the coordinate establishing unit is used for establishing a world coordinate system for the bundling executing mechanism and establishing a camera coordinate system corresponding to the camera shooting range; the conversion unit is used for converting the coordinates in the camera coordinate system and the coordinates in the world coordinate system mutually.
Furthermore, the control module further comprises a bundling position reference point acquisition unit, wherein the bundling position reference point acquisition unit is used for acquiring images of the coiled materials to be bundled, which are acquired by the camera, cutting the images of the coiled materials, keeping only the images of the coiled materials to be bundled in the residual cutting images, calibrating the middle position of the coiled materials in the cut images, and taking the middle position point as the bundling reference point.
Furthermore, the control module further comprises a bundling control unit, after the conversion unit converts the coordinates of the bundling reference point in the camera coordinate system into the coordinates in the world coordinate system, the bundling control unit detects and acquires the coordinates of the bundling execution mechanism in the world coordinate system according to the first positioning mechanism, and then controls the movement mechanism to move so that the coordinates of the bundling execution mechanism coincide with the coordinates of the bundling reference point in the world coordinate system, and controls the bundling execution mechanism to bundle the coiled material.
The moving mechanism further comprises a transverse moving assembly and a longitudinal moving assembly, the transverse moving assembly comprises a first driving part installed on the rack, a transverse moving transmission rod driven by the first driving part and a longitudinal moving transmission rod driven by the transverse moving transmission rod, the first driving part drives the transverse moving transmission rod to rotate, the longitudinal moving transmission rod rotates along with the transverse moving transmission rod and moves linearly along the transverse moving transmission rod, and the longitudinal moving transmission rod is in sliding fit with the rack.
Furthermore, the longitudinal movement assembly is arranged on the longitudinal movement transmission rod and comprises a second driving part for driving the bundling executing mechanism to move, and the bundling executing mechanism is arranged on the longitudinal movement transmission rod and can move up and down along the longitudinal movement transmission rod.
Further, the first positioning mechanism comprises a first detection element and a second detection element, the first detection element is used for detecting the horizontal moving distance of the bundling executing mechanism, the second detection element is used for detecting the vertical moving distance of the bundling executing mechanism, and the position information collected by the first detection element and the second detection element is sent to the control module.
To achieve the above and other related objects, the present invention provides an automatic coil bundling method, comprising the steps of:
s1, establishing a world coordinate system corresponding to the bundling executing mechanism, and establishing a camera coordinate system corresponding to the shooting range of the camera;
s2, calibrating a posture transformation matrix of the camera coordinate system and the world coordinate system;
s3, acquiring an image of a coiled material to be bundled by a camera, and acquiring a bundling reference point of the coiled material;
s4, converting the coordinates of the bundling reference points in the camera coordinate system into coordinates in the world coordinate system through the attitude transformation matrix;
and S5, controlling the bundling executing mechanism to the corresponding position to perform bundling operation according to the coordinates of the bundling reference point in the world coordinate system.
Further, in step S3, before the bundling reference point is obtained, the image captured by the camera is cut out, the image of the coil to be bundled is retained, and then the middle position of the coil is calibrated as the bundling reference point.
As described above, the automatic coil bundling system and method of the present invention have the following advantages:
due to the arrangement of the first positioning mechanism and the second positioning mechanism, the bundling executing mechanism and the required bundling position of the coiled material can be conveniently positioned.
Due to the arrangement of the moving module, the bundling actuating mechanism is controlled to act so as to adjust the relative position between the bundling actuating mechanism and the coiled material to be bundled.
Due to the arrangement of the control module, the position information collected by the first positioning mechanism and the second positioning mechanism is obtained, and then the movement of the moving module is controlled, so that the automatic bundling of the coiled materials by the bundling executing mechanism is realized. The whole bundling process is unmanned, the automation degree of the slitting line is improved, the output efficiency of the slitting machine is improved, and the labor intensity of operating personnel is reduced. The method is simple and easy to implement, and has high practicability and applicability.
Drawings
Fig. 1 is a schematic structural view of an automatic coil bundling system according to an embodiment of the present invention.
FIG. 2 is a flow chart of an automatic coil bundling method according to an embodiment of the present invention.
Detailed Description
Reference numerals in the drawings of the specification include: the device comprises a rack 1, a camera 2, a transverse moving transmission rod 3, a first driving part 4, a longitudinal moving transmission rod 5, a second driving part 6, a transmission base 7 and a bundling executing mechanism 8.
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Examples
As shown in fig. 1, the present embodiment provides an automatic coil bundling system, which includes a first positioning mechanism, a second positioning mechanism and a moving mechanism, which are installed on a frame 1, wherein the frame 1 is in an inclined shape like a Chinese character 'ao', the first positioning mechanism is used for positioning a bundling executing mechanism 8, and the second positioning mechanism is used for positioning a bundling position of a coil. The moving mechanism comprises a transverse moving assembly and a longitudinal moving assembly, the transverse moving assembly comprises a first driving part 4, a transverse moving transmission rod 3 and a longitudinal moving transmission rod 5, the first driving part 4 is a rotating output part, a rotating output shaft of the first driving part 4 is fixedly connected with the transverse moving transmission rod 3, and the transverse moving transmission rod 3 is driven to rotate by the first driving part 4; the left end of the transverse moving transmission rod 3 is connected with the first driving part 4, the right end of the transverse moving transmission rod 3 is rotatably connected with the rack 1, and the top end of the longitudinal moving transmission rod 5 is in sliding fit with the rack 1.
The transverse moving transmission rod 3 is arranged in the horizontal direction, and the longitudinal moving transmission rod 5 is driven to move left and right through the transverse moving transmission rod 3. In specific implementation, the translation transmission rod 3 can be provided with a conversion mechanism such as a worm wheel and a worm, the translation transmission rod 5 is fixed on the worm to realize the translation of the translation transmission rod 5, the translation transmission rod 3 can also be provided as a lead screw, and the translation transmission rod 3 is rotated through a ball screw to drive the translation transmission rod 5 to move left and right.
The vertical moving transmission rod 5 is provided with a bundling actuating mechanism 8 which can move up and down along the vertical moving transmission rod 5, and the vertical moving component arranged on the vertical moving transmission rod 5 drives the bundling actuating mechanism 8 to move up and down along the vertical moving transmission rod 5. The longitudinal movement assembly comprises a second driving part 6, the second driving part 6 can be a linear motor, the linear motor is fixed on the longitudinal movement transmission rod 5, and the output end of the linear motor is fixed with the bundling executing mechanism 8 so as to drive the bundling executing mechanism 8 to move up and down along the longitudinal movement transmission rod 5. The longitudinal moving assembly can also be composed of a second driving part 6, a worm wheel, a worm and the like, the second driving part 6 is a servo motor, a transmission base 7 for mounting the servo motor is fixed on the longitudinal moving transmission rod 5, the worm wheel is sleeved and fixed on an output shaft of the servo motor, the bundling actuating mechanism 8 is fixed on the worm, and the up-and-down movement of the bundling actuating mechanism 8 is realized through the worm wheel and the worm.
The first positioning mechanism comprises a first detection element for detecting the left-right movement distance of the longitudinal movement transmission rod 5 and a second detection element for detecting the up-down movement distance of the bundling execution mechanism 8. The first detection element and the second detection element can be laser distance measuring sensors, encoders and the like, in the embodiment, the first driving part 4 and the second driving part 6 adopt servo motors, the first detection element and the second detection element can adopt encoders, and the encoders detect the rotation circle output of the servo motors to calculate the moving distance of the longitudinal movement transmission rod 5 and the bundling executing mechanism 8. The bundling actuator 8 in this embodiment is a conventional coil bundler.
The second positioning mechanism comprises a camera 2 arranged on the top of the frame 1, and images of the coiled materials are shot through the camera 2 so as to calibrate the binding datum points of the coiled materials. The first detection element, the second detection element and the camera 2 are all connected with the control module, and the control module controls the bundling execution mechanism 8, the first driving part 4 and the second driving part 6 to act according to the position information fed back by the first detection element and the second detection element.
The control module includes:
and the coordinate establishing unit is used for establishing a world coordinate system corresponding to the bundling executing mechanism 8 and establishing a camera coordinate system corresponding to the shooting range of the camera 2.
And the conversion unit is used for calibrating the posture transformation matrixes of the camera coordinate system and the world coordinate system so as to carry out mutual conversion on the coordinates in the camera coordinate system and the coordinates in the world coordinate system.
And the bundling position reference point acquisition unit is used for acquiring the images of the to-be-bundled coiled materials acquired by the camera 2 before the coiled materials are bundled, cutting the images of the coiled materials to ensure that the cut residual images only remain the images of the coiled materials to be bundled, then calibrating the middle position of the coiled materials for the cut images, and taking the middle position points as bundling reference points.
And the converting unit converts the coordinates of the bundling reference point in the camera coordinate system into the coordinates in the world coordinate system through the attitude transformation matrix, the bundling control unit acquires coordinate information of the bundling executing mechanism 8 in the world coordinate system according to the detection of the first detecting element and the second detecting element, then controls the first driving part 4 and the second driving part 6 to drive the bundling executing mechanism 8 to move, so that the coordinates of the bundling executing mechanism 8 and the coordinates of the bundling reference point coincide in the world coordinate system, and then controls the bundling executing mechanism 8 to bundle the coiled material.
In specific implementation, first, the coordinate establishing unit establishes a world coordinate system with reference to the rack 1 or a fixed position in the rack 1, and establishes a camera coordinate system with reference to a point in the shooting area of the camera 2. Then, the attitude transformation matrix of the camera coordinate system and the world coordinate system is calibrated by the conversion unit. And then, the bundling position reference point acquisition unit cuts according to the image of the coil to be bundled, which is acquired by the camera 2, so that only the coil to be bundled is reserved in the image, and the middle position of the coil is calibrated to be used as a bundling reference point. And finally, the bundling control unit acquires coordinate information of the bundling executing mechanism 8 in a world coordinate system according to detection of the first detection element and the second detection element, and controls the first driving part 4 and the second driving part 6 to drive the bundling executing mechanism 8 to move so that the coordinates of the bundling executing mechanism 8 coincide with the coordinates of the bundling reference point in the world coordinate system, thereby controlling the bundling executing mechanism 8 to bundle the coiled material.
According to the scheme, the position information of the bundling executing mechanism 8 is acquired through the first detecting element and the second detecting element, the camera 2 is used for acquiring an image of a coiled material to be bundled, the control module acquires a bundling reference point of the coiled material according to the image acquired by the camera 2, then the bundling reference point of the coiled material is superposed with the position of the bundling executing mechanism 8, and the bundling executing mechanism 8 is controlled to act so as to realize automatic bundling of the coiled material.
As shown in fig. 2, for the automatic coil bundling system, the embodiment further provides an automatic coil bundling method, which performs the following steps:
s1, a world coordinate system is established corresponding to the bundling executing mechanism 8, and a camera coordinate system is established corresponding to the shooting range of the camera 2.
And S2, calibrating a posture transformation matrix of the camera coordinate system and the world coordinate system. When the posture transformation matrix is calibrated, the calibration is carried out by a calibration method of 'eyes are outside the hands', so that the coordinate position in the camera coordinate system is converted into a world coordinate system.
And S3, when the coiled material is bundled, the camera 2 acquires the current image and acquires the bundling reference point of the coiled material. When the bundling reference point of the coiled material is confirmed, the image transmitted by the camera 2 is cut by the control module, only the image of the coiled material needing bundling is reserved, then the middle position of the coiled material needing bundling is calibrated according to the image after cutting processing, and the middle position point is used as the bundling reference point.
And S4, acquiring coordinate information of the bundling reference point in a camera coordinate system, and converting the coordinate information in the camera coordinate system into coordinate information in a world coordinate system through a posture transformation matrix of the camera coordinate system and the world coordinate system. In the embodiment, the camera can adopt a 3D laser camera or a binocular camera to acquire coordinate information of the bundling reference point in a camera coordinate system.
And S5, controlling the bundling actuating mechanism 8 to perform bundling operation. Coordinate information of the bundling actuating mechanism 8 in a world coordinate system is acquired according to detection of the first detection element and the second detection element, then the first driving part 4 and the second driving part 6 are controlled to drive the bundling actuating mechanism 8 to move, so that the coordinates of the bundling actuating mechanism 8 and the coordinates of the bundling reference point coincide in the world coordinate system, and then the bundling actuating mechanism 8 is controlled to perform bundling operation on the coiled materials.
In particular, since the sizes of the coils to be bundled are not consistent each time, the camera 2 is required to capture a current image (the coil to be bundled currently is located in the camera 2 capture area) each time the coil is bundled, so as to confirm the bundling reference point of the coil.
The whole automatic completion of bundling process in this scheme is favorable to improving the degree of automation of indulging the trimming, improves the output efficiency of indulging the shearing machine, reduces operation personnel's intensity of labour. And the automatic bundling method of the coiled materials is simple and easy to implement, and has greater practicability and applicability.
In this embodiment, the control process of the control module may be controlled by a processor or the like. The processor may be a Micro Controller Unit (MCU), a general purpose processor such as a Central Processing Unit (CPU), a Network Processor (NP), etc., a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Those skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. An automatic coil bundling system, comprising: the automatic coil bundling system comprises a rack and a bundling executing mechanism, wherein a first positioning mechanism for acquiring position information of the bundling executing mechanism, a second positioning mechanism for acquiring bundling position information required by a coil and a moving mechanism for changing the relative position relation between the bundling executing mechanism and the position required by the coil are arranged on the rack;
the second positioning mechanism comprises a camera, the camera is used for collecting images of coiled materials to be bundled, and the control module acquires bundling datum points corresponding to the bundling positions of the coiled materials according to the images collected by the camera;
the control module comprises a coordinate establishing unit and a converting unit, wherein the coordinate establishing unit is used for establishing a world coordinate system corresponding to the bundling executing mechanism and establishing a camera coordinate system corresponding to the camera shooting range; the conversion unit is used for converting the coordinates in the camera coordinate system and the coordinates in the world coordinate system;
the control module further comprises a bundling control unit, the conversion unit converts the coordinates of the bundling reference point under the camera coordinate system into the coordinates under the world coordinate system, the bundling control unit detects and acquires the coordinates of the bundling execution mechanism under the world coordinate system according to the first positioning mechanism, then the moving mechanism is controlled to move, the bundling execution mechanism is made to move, the coordinates of the bundling execution mechanism coincide with the coordinates of the bundling reference point under the world coordinate system, and the bundling execution mechanism is controlled to perform bundling operation on the coiled materials.
2. The automatic coil bundling system of claim 1 wherein the control module is further configured to control the moving mechanism to move the bundling actuator to the bundling position reference point for bundling the coil.
3. The automatic coil bundling system according to claim 1, wherein the control module further comprises a bundling position reference point obtaining unit, the bundling position reference point obtaining unit is used for obtaining images of coils to be bundled, which are acquired by the camera, and cutting the images of the coils, so that only the images of the coils to be bundled are reserved in the cut residual images, and then calibrating the middle positions of the coils in the cut images, and taking the middle position points as the bundling reference points.
4. The automatic coil bundling system of claim 1 wherein the moving mechanism comprises a traversing assembly and a traversing assembly, the traversing assembly comprising a first drive member mounted to the frame, a traversing drive rod driven by the first drive member, and a traversing drive rod driven by the traversing drive rod, the first drive member driving the traversing drive rod to rotate, the traversing drive rod moving linearly along the traversing drive rod as the traversing drive rod rotates, the traversing drive rod being in sliding engagement with the frame.
5. The automatic coil bundling system according to claim 4, wherein the longitudinal moving assembly is arranged on a longitudinal moving transmission rod, the longitudinal moving assembly comprises a second driving part for driving a bundling actuator to move, and the bundling actuator is mounted on the longitudinal moving transmission rod and can move up and down along the longitudinal moving transmission rod.
6. The automatic coil bundling system according to claim 1, wherein the first positioning mechanism comprises a first detecting element for detecting a horizontal moving distance of the bundling actuator and a second detecting element for detecting an up-down moving distance of the bundling actuator, and position information collected by the first detecting element and the second detecting element is sent to the control module.
7. An automatic coil bundling method applied to an automatic coil bundling system according to any one of claims 1 to 6, the method performing the steps of:
s1, establishing a world coordinate system corresponding to the bundling executing mechanism, and establishing a camera coordinate system corresponding to the shooting range of the camera;
s2, calibrating a posture transformation matrix of the camera coordinate system and the world coordinate system;
s3, acquiring an image of a coiled material to be bundled by a camera, and acquiring a bundling reference point of the coiled material;
s4, converting the coordinates of the bundling reference points in the camera coordinate system into coordinates in the world coordinate system through the attitude transformation matrix;
and S5, controlling the bundling executing mechanism to the corresponding position to perform bundling operation according to the coordinates of the bundling reference point in the world coordinate system.
8. The automatic coil bundling method according to claim 7, wherein in step S3, before the bundling reference point is obtained, the image captured by the camera is cut out, the image of the coil to be bundled is retained, and then the middle position of the coil is calibrated as the bundling reference point.
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| CN104097798A (en) * | 2014-07-09 | 2014-10-15 | 北京佰能电气技术有限公司 | Bundling control system and method |
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