CN114377969B - Automatic feeding sorting control method - Google Patents
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- CN114377969B CN114377969B CN202111625188.5A CN202111625188A CN114377969B CN 114377969 B CN114377969 B CN 114377969B CN 202111625188 A CN202111625188 A CN 202111625188A CN 114377969 B CN114377969 B CN 114377969B
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- 239000000463 material Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000012840 feeding operation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C1/00—Measures preceding sorting according to destination
- B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
- B07C1/04—Forming a stream from a bulk; Controlling the stream, e.g. spacing the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
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Abstract
The invention provides an automatic feeding sorting control method, which provides a mixed part grabbing and feeding sorting solution based on visual flow and parcel segmentation and identification so as to cancel manual intervention and a part-by-part feeding mode, effectively coordinate and solve flow pressure of conveying line information scanning and feeding operation, and improve identification and feeding speed and accuracy. The method comprises the following steps: 1), unpacking cargoes, 2), controlling flow, 3), dividing and identifying, 4), feeding, 5), removing special-shaped pieces and non-grippable pieces, and 6), sorting, wherein the packages enter a sorting loop through a sorting machine leading-in unit until sorting tasks are completed; the bar code of parcel is located the bottom, carries out information scanning code through the bottom surface scanning unit of the leading-in unit front end of sorting machine and inputs.
Description
Technical Field
The invention relates to an automatic feeding sorting control method, and belongs to the field of logistics sorting.
Background
With the rapid development of e-commerce logistics and production automation technology, the scale of a cargo sorting and conveying system is larger and larger, and higher requirements are placed on site operation efficiency. The existing logistics transfer field still needs to adopt a manual or auxiliary loading operation mode at the front end so as to manually disperse and load a large number of piled packages after unpacking before the packages are sent into a conveying line for sorting, thereby facilitating subsequent scanning and information input.
All or part of the front-end manual feeding mode is adopted, so that a plurality of site operators are required to be configured. Sorting equipment is usually operated at a relatively high speed and cannot be shut down, and accordingly requires relatively high skill and quality on the part-feeding operators, resulting in relatively high field labor intensity. If the processing speed of the loading part is reduced during sorting, queuing phenomenon that a large amount of goods wait for entering information scanning occurs in the subsequent flow, and a large amount of goods backlog caused by queuing causes larger pressure to the scanning and sorting links. If a certain number of goods which cannot be identified and special-shaped pieces are wrongly fed into the loading and scanning procedures, the processing efficiency of the whole sorting operation flow is directly reduced, and the running time of equipment is prolonged.
In view of this, the present patent application is specifically filed.
Disclosure of Invention
The invention provides an automatic feeding sorting control method, which aims to solve the problems in the prior art and provides a mixed feeding grabbing and sorting solution based on visual flow and parcel segmentation and identification so as to cancel manual intervention and a feeding mode piece by piece, effectively coordinate and solve the flow pressure of conveying line information scanning and feeding operation, and improve the identification and feeding speed and accuracy, thereby effectively reducing the number of operators and the operation load and improving the overall operation and sorting efficiency of a conveying line.
In order to achieve the above design objective, the automatic feeding sorting control method of the present application comprises the following steps:
1) The goods are unpacked and the package is opened,
Unpacking the cargoes on a first conveying line, and sending the unpacked cargoes downwards into a first flow conveyor through an unpacking chute;
2) The flow rate is controlled,
The packages enter a first flow control conveyor in batches, flow detection is carried out through a first binocular 3D camera until the number of packages reaches the maximum value set by the first flow conveyor;
the batches of packages are downwards sent to a traversing belt conveyor through a chute;
3) The identification of the segmentation is carried out,
Detecting and controlling the flow rate on the second flow rate conveyor through a second binocular 3D camera until the number of packages reaches the maximum value set by the second flow rate conveyor;
The package is conveyed to a special-shaped piece removing conveyor by a second flow conveyor;
on a special-shaped piece removing conveyor, individually identifying the outline dimension data of each piece of package, the included angle between the position and the conveyor line, and the top area and the inclination angle of the uppermost layer of package by a third binocular 3D camera;
Uploading the identification data and the calculation result to a control system PLC;
4) The upper part of the device is provided with a plurality of grooves,
The manipulator grabbing unit combines and identifies the position coordinates of the standard part package, the included angle between the standard part package and the conveying line and the area size of the top part of the uppermost package according to the instruction of the control system PLC, adjusts the initial positioning height of the sucker and plans the travelling path, and executes grabbing action to send the package from the special-shaped part removing conveyor to the sorter leading-in unit;
5) Removing the special-shaped piece and the non-grippable piece,
For non-standard piece packages, the manipulator grabbing unit does not execute grabbing action, and the special-shaped piece removing conveyor conveys the special-shaped piece removing conveyor forwards and conveys the special-shaped piece removing conveyor downwards into the non-standard piece conveyor;
6) The materials are sorted and the materials are processed,
The package enters a sorting loop through a sorting machine leading-in unit until a sorting task is completed;
the bar code of parcel is located the bottom, carries out information scanning code through the bottom surface scanning unit of the leading-in unit front end of sorting machine and inputs.
Further, in the step 3), the drawing of the two-dimensional interface is performed by the third binocular 3D camera to perform segmentation recognition, and the overlapping portion is decomposed to generate the outline size, the position coordinate information and the top area size data of each package.
Further, in step 2) and step 3), the flow rate is detected by the first binocular 3D camera and the second binocular 3D camera to determine whether the conveying area is blank or not and the conveying area is not wrapped.
Further, in step 4), the sequential conditions for the manipulator gripping unit to grip the package include: under the same conditions, high priority is given; the top area is higher than the top area at the same height; the same height, the same area and the close distance are preferential.
Further, in step 4), based on the segmentation recognition result of the third binocular 3D camera and the distribution of the traversing belt conveyor coordinate system, the standard component package space position information is known, and a traveling path for executing grabbing is planned according to the known standard component package space position information; and the manipulator grabbing unit determines a running track and the grabbing down-pressing height according to the package coordinates and the height information identified by the third binocular 3D camera.
In summary, the automatic feeding sorting control method has the advantages and beneficial effects that:
1. Realize a manual-free feeding operation, full-flow automatic identification and sorting solution, and can meet the requirement of high-speed logistics sorting operation
2. The manual loading link in the prior art is omitted, so that the manual investment is greatly reduced, the labor cost and the labor load are reduced, and meanwhile, the requirement on the professional skills of personnel is also reduced.
3. According to the application, a single piece separation processing device and process are not adopted any more, so that a large number of mixed pieces wrapped in a pile can be grasped and flow control is realized, and the integral sorting efficiency, accuracy and feeding processing capability of the equipment are improved.
4. The application adopts the parcel segmentation recognition technology, which is beneficial to improving the automation and the intelligent level of sorting equipment.
5. According to the application, the static 3D binocular camera is adopted to collect the point cloud data of the package position in real time, so that the accuracy and the response speed of the follow-up manipulator for capturing the package are effectively improved.
6. The application can realize automatic obstacle avoidance and mixed piece grabbing aiming at various stacked packages when the manipulator grabs based on the segmentation identification data, and the grabbing process is rapid and accurate.
7. According to the application, the mechanical arm is adopted to press down the suction type to grasp the package, the pressure can be flexibly selected according to the package identification data, and meanwhile, protective measures are adopted to the package, so that the articles in the package are not damaged.
Drawings
The present application will now be further described with reference to the following drawings;
FIG. 1 is a schematic diagram of an automatic feeding sorting control method according to the present application;
FIG. 2 is a schematic side cross-sectional view of the automated load sort control system;
FIG. 3 is a schematic diagram of the automated sort-by-feed control system;
FIG. 4 is a partial schematic view of the structure shown in FIG. 3;
FIG. 5 is a diagram illustrating the result of camera photographing and package identification;
FIG. 6 is a schematic of flow control on a first flow conveyor;
FIG. 7 is a schematic diagram of flow and segment identification on a traversing belt conveyor;
FIG. 8 is a schematic diagram of a capture area coordinate system;
FIG. 9 is a schematic diagram of a grasping range and path plan;
In the above figures, a first conveyor line 1, an unpacking chute 2, a first traffic conveyor 3, a chute 4, a traversing belt conveyor 5, a non-standard conveyor 6, a robot gripping unit 7, a bottom surface scanning unit 8, a sorter introduction unit 9, a manual station 10, a sorting loop 11, a second traffic conveyor 12, a profile reject conveyor 13, a first binocular 3D camera 14, a second binocular 3D camera 15, a third binocular 3D camera 16, a traffic control indicator 17, and a scanner 18.
Detailed Description
Embodiment 1 as shown in fig. 1 to 9, an automatic feeding sorting control system includes a first conveyor 1 for unpacking and throwing packages, a unpacking chute 2 connected to the first conveyor 1 and feeding the unpacked packages downward into a first flow conveyor 3;
The first flow conveyor 3 is a planar belt conveyor device which can store and convey goods; a first binocular 3D camera 14 is arranged vertically above the first flow conveyor 3 for detecting whether the number of packages on the first flow conveyor 3 reaches a set value;
a flow control indicator lamp 17 is arranged at the end part of the first flow conveyor 3, when the number of packages reaches the upper limit, the first binocular 3D camera feeds back detection signals to a control system PLC, the flow control indicator lamp 17 is electrified and lightened, and a manual/automatic unpacking station of the first conveyor 1 above is prompted to stop throwing the packages through the unpacking chute 2;
the first flow conveyor 3 is downwards communicated with the traversing belt conveyor 5 through a chute 4, and the traversing belt conveyor 5 is communicated with the sorter leading-in unit 9; a manipulator grabbing unit 7 and a bottom surface scanning unit 8 are arranged between the transverse moving belt conveyor 5 and the sorter guiding-in unit 9;
A non-standard part conveying line 6 is arranged below the traversing belt conveyor 5, and a personnel station 10 and a non-standard part sliding groove are arranged at the tail end of the non-standard part conveying line 6 so as to scan and identify non-standard part packages manually.
Further, the traversing belt conveyor 5 is composed of a second flow conveyor 12 and a special-shaped piece removing conveyor 13 which are sequentially communicated, a second binocular 3D camera 15 is arranged above the second flow conveyor 12 in the vertical direction, and a third binocular 3D camera 16 is arranged above the special-shaped piece removing conveyor 13 in the vertical direction.
The package enters the traversing belt conveyor 5 through the chute 4, and the dividing identification and the mechanical arm grabbing loading of the package are realized on the traversing belt conveyor 5.
Wherein, on the second flow conveyor 12, a second binocular 3D camera 15 is adopted for flow detection and control; on the special-shaped part removing conveyor 13, a third binocular 3D camera 16 is adopted to identify and judge whether the package belongs to a non-standard part, if the package belongs to the non-standard part, the mechanical arm grabbing unit 7 does not execute grabbing action, when the special-shaped part removing conveyor 13 conveys forwards, the non-standard part package flows downwards into the non-standard part conveyor 6, the non-standard part conveyor 6 is a continuous conveying device, a climbing section is arranged at the middle part of the non-standard part conveying device, a sliding groove is arranged at the tail end of the climbing section, and the non-standard part which is not grabbed is manually fed at the manual position 10; if the package belongs to the standard part and the identification of the shape data is completed, the manipulator grabbing unit 7 grabs the package and sends the package to the sorter introduction unit 9.
When the second binocular 3D camera 15 and the third binocular 3D camera 16 perform flow detection and package appearance identification, package barcode scanning is performed accordingly. If the scanning is not successful, the bar code of the package is located at the bottom of the package, and the mechanical arm grabbing unit 7 grabs the package and sends the package into the guide-in unit 9 of the sorting machine, and the bar code scanning is performed through the bottom scanning unit 8. After the package is scanned, identified and information is input, the package is sent into the sorter guiding unit 9 by the manipulator grabbing unit 7 and is transferred to the sorting loop 11, so that the whole package guiding and feeding process is completed.
The third binocular 3D camera 16 performs segmentation recognition on the packages, and can realize individual recognition of each package and obtain position coordinate information and outline dimension data of each package no matter the packages are in a single-piece separation, stacking or piling state. And the control system PLC calculates the information and the data and then transmits the information and the data to the manipulator grabbing unit 7, the manipulator grabbing unit 7 performs selective grabbing on the standard part package, and the advancing path and the downward pressure height are planned in advance in combination with the overall dimension of the goods, so that the effective obstacle avoidance operation is implemented.
The manipulator grabbing unit 7 is provided with a sucker at the terminal to suck the top of the package to perform grabbing action, and the pressure parameter of the sucker pressing down can be adjusted according to the area of the top of the goods to improve grabbing force. The initial station of the manipulator gripping unit 7 is located outside the profile reject conveyor 13, and the initial positioning height of the suction cups is adjusted to be significantly higher than the height of all standard part packages, including the measured height of the uppermost package stacked or piled.
Based on the application of the automatic feeding sorting control system, the application provides an automatic feeding sorting control method comprising the following steps:
1) The goods are unpacked and the package is opened,
Unpacking the cargoes on a first conveying line 1, and sending the unpacked cargoes into a first flow conveyor 3 downwards through an unpacking chute 2;
2) The flow rate is controlled,
The packages enter the first flow control conveyor 3 in batches, flow detection is carried out through the first binocular 3D camera 14 until the number of packages reaches the maximum value set by the first flow conveyor 3;
the batches of packages are sent downwards to a traversing belt conveyor 5 through a chute 4;
3) The identification of the segmentation is carried out,
On the second flow conveyor 12, flow detection and control is performed by means of a second binocular 3D camera 15 until the number of packages reaches the maximum value set by the second flow conveyor 12;
The packages are conveyed to a special-shaped piece removing conveyor 13 by a second flow conveyor 12;
on the special-shaped piece removing conveyor 13, the outline dimension data of each piece of package, the included angle between the position and the conveyor line, and the top area and the dip angle of the uppermost layer of package are individually identified through a third binocular 3D camera 16;
Uploading the identification data and the calculation result to a control system PLC;
4) The upper part of the device is provided with a plurality of grooves,
The manipulator grabbing unit 7 combines and identifies the position coordinates of the packages of the standard parts, the included angles between the standard parts and the conveying line and the area size of the top of the uppermost package according to the instruction of the control system PLC, adjusts the initial positioning height of the sucker and plans the travelling path, and executes grabbing action to send the packages from the special-shaped part removing conveyor 13 to the sorter leading-in unit 9;
5) Removing the special-shaped piece and the non-grippable piece,
For non-standard part packages, the manipulator grabbing unit 7 does not execute grabbing action, and the special-shaped part removing conveyor 13 conveys the special-shaped part removing conveyor forwards and sends the special-shaped part removing conveyor downwards into the non-standard part conveyor 6;
6) The materials are sorted and the materials are processed,
The package enters a sorting loop 11 through a sorting machine leading-in unit 9 until sorting tasks are completed;
the bar code of parcel is located the bottom, carries out information scanning code through the bottom surface scanning unit 8 of sorting machine leading-in unit 9 front end and inputs.
Further, in the above step 3), the present application is different from the prior art in that the entire goods are processed into a single package tiling state of the queue form without separating the whole goods individually.
For single tiling, multi-piece regular or irregular stacking, the drawing of the two-dimensional interface is performed by the third binocular 3D camera 16 to segment and identify, and the overlapping portion is decomposed to generate the outline dimensions (including length, width and height) of each piece of package, as well as the position coordinate information and top area size data, for performing subsequent blend grabbing actions.
The third binocular 3D camera 16 is provided with a diffuse reflection sensor which effectively recognizes the distance between each package to calculate the height of each package, and finally divides the package data in a stacked or single state and transmits the package data to the control system PLC to transmit an instruction for a gripping action.
In the process of dividing and identifying each package by the third binocular 3D camera 16, the second flow conveyor 12 and the special-shaped piece removing conveyor 13 stop conveying until the manipulator grabbing unit 7 completely executes the grabbing actions of the standard piece packages;
As shown in fig. 5, the upper left drawing shows that the state of batch wrapping entering the special-shaped piece removing conveyor 13 is in a mixed piece form, and the phenomenon of single piece tiling and stacking exists;
the lower left image is a photographing result of a camera, boundary information of each package and coordinate data of each endpoint on the boundary are identified, and meanwhile information of stacking phenomenon among packages is identified;
The right graph is a segmentation recognition result of the third binocular 3D camera 16, and the time when the diffuse reflection sensor signal reaches each endpoint on the parcel boundary is calculated aiming at the phenomenon that the parcel is stacked or inclined so as to recognize the coordinate data of each endpoint of the parcel length and width; the method comprises the steps of detecting the distance between each end point of the top of each package and a camera, and accordingly calculating the actual height of each package. Meanwhile, the third binocular 3D camera 16 performs photographing angle adjustment to obtain the calculation result of the height of the inclined plane of the inclined package, i.e. obtain the inclination angle of the top of the package.
Specifically, the 3D camera has a volume measurement function, namely, laser is emitted in a visual field range, the laser is reflected back to the 3D camera after encountering an object, the transmission speed of the laser is fixed, the time of each emitted light reflected back to the camera through the object can be used for calculating the distance between a reflection point and the camera, namely, the real-time length, the width and the height of a package relative to a plane of a conveying line are obtained, the space coordinates of each endpoint on each surface boundary of the package are finally generated, meanwhile, the segmentation data between stacked packages are also generated, basic data of the overall dimension and the height information are generated for each package, and direct reference is provided for the subsequent grabbing path and sucker depression height. The highest interference point is found on the advancing path of the manipulator grabbing unit 7, so that the manipulator can avoid the obstacle during grabbing.
Further, the length-width shape and height of each package and the included angle data of the conveying line are obtained, so that final three-dimensional data of the package are calculated. The above effective data information is fed back to the control system PLC to further control the gripping action of the manipulator gripping unit 7.
In step 2) and step 3), the flow rate is detected by the first binocular 3D camera 14 and the second binocular 3D camera 15 as to whether the transport area is blank or unwrapped for a certain time.
As shown in fig. 6, the area of the parcel storage area of the first flow conveyor 3 is l×w, and the first binocular 3D camera 14 photographs and identifies the number and distribution of parcels thereon. The packages should be in a continuous state as they are transported in the advancing direction. When detecting that the L1 x W area is in a blank state at a certain time, indicating that there is a shortage of packages, the first binocular 3D camera 14 feeds back the identification result to the control system PLC, so as to send an instruction to the first conveyor line 1 to continue to solve the package area to supplement packages for conveying, and L1 is a value of the detected package supplement area.
As shown in fig. 7, the area of the wrapping storage area of the traversing belt conveyor 5 is L2×w2, where the area of the storage area of the second flow conveyor 12 is L3×w2, and the area of the recognition buffer and the robot gripping area of the profile reject conveyor 13 is L4×w2.
The package fed by the first flow conveyor 3 arrives at the L3W 2 area, and the second binocular 3D camera 15 above the L3W 2 area collects the flow information of the package therein in real time, and the detection method is the same as that of the first binocular 3D camera 14. That is, the package should be in a continuous state when being conveyed along the advancing direction, when detecting that the L5W 2 area is in a blank state at a certain time, the package is indicated to be in shortage, and the detection result is further fed back to the control system PLC to instruct the first flow conveyor 3 to continue conveying the package to the L5W 2 area;
l2 is the total length of the line body of the transverse moving belt conveyor 5, L3 is the total length of the second flow conveyor 12, L4 is the total length of the special-shaped piece removing conveyor 13, L5 is a set supplementary area value, and W2 is the effective width of the conveying area.
As shown in fig. 8 and 9, in step 4), the sequential conditions for gripping the package by the robot gripping unit 7 include:
At the same time, a plurality of packages are segmented and identified in the visual field range, and meanwhile, position information is correspondingly obtained, the grabbing sequences of different packages are found out according to a grabbing and screening algorithm, and particularly all packages are ordered according to the space positions, and the judging conditions are as follows:
under the same condition, the higher one is found by comparing all package information, and the highest one is grasped preferentially, so that the interference possibility of collision is minimum when the package is grasped;
The top area is higher at the same height, namely the possibility that the package with the large top area is at the uppermost surface is highest, so that the condition of grabbing multiple pieces at one time can be avoided;
The same height, the same area and the close distance are prioritized to achieve maximum efficiency and avoid the interference of the grabbing paths.
In step 4), based on the division recognition result of the third binocular 3D camera 16 and the coordinate system distribution of the traversing belt conveyor 5, the standard part package space position information is known, and the traveling path for performing gripping is planned accordingly.
Specifically, coordinates and detection boundaries are set on the form reject conveyor 13 based on the positioning position of the third binocular 3D camera 16. Zero coordinates are selected, positive directions of an X axis and a Y axis are selected, and then data of the coordinate origin O of the special-shaped piece eliminating conveyor 13, which is far from the edges X1, X2, Y1 and Y2 of the conveyor line, are measured.
When the third binocular 3D camera 16 measures the actual length, width and height data of the package, the physical boundaries of the package are correspondingly generated and the external shape, size and coordinate information of the package are obtained.
As shown in fig. 9, O1 is a center point of a fixed position of the manipulator grabbing unit 7, O2 is a zero point position of the suction cup for performing the grabbing action, assuming that the O1 coordinates are (xo 1, yo 1), the O2 coordinates are (xo 2, yo2, zo 2), and the distances a1 and b1 of the O1 point from the third binocular 3D camera 16 in the positive directions of the X axis and the Y axis are measured, and the coordinates of the corresponding O point are (a 1, b 1); similarly, the distance (a 2, b 2) between the coordinate O2 and O1 along the positive directions of the X axis and the Y axis when the zero position of the manipulator sucker is measured, and the height z2 of the O2 point from the plane of the conveying line is measured, so that the actual coordinate of the O2 point can be determined to be (a1+a2, b1+b2, z 2), and the coordinate position of the O2 point is the initial position where the manipulator sucker grabs the package.
Then, the manipulator gripping unit 7 determines the trajectory of the movement and the height of the gripping depression based on the package coordinates and the height information recognized by the third binocular 3D camera 16.
In summary, the embodiments presented in connection with the figures are only preferred solutions for achieving the object of the invention. It will be apparent to those skilled in the art from this disclosure that other alternative constructions consistent with the design concept of the invention may be directly derived. Other structural features thus obtained shall also fall within the scope of the solution according to the invention.
Claims (3)
1. An automatic feeding sorting control method is characterized in that: comprises the steps of,
1) The goods are unpacked and the package is opened,
Unpacking the cargoes on a first conveying line, and sending the unpacked cargoes downwards into a first flow conveyor through an unpacking chute after unpacking;
2) The flow rate is controlled,
The packages enter a first flow conveyor in batches, flow detection is carried out through a first binocular 3D camera until the number of the packages reaches the maximum value set by the first flow conveyor;
the batches of packages are downwards sent to a traversing belt conveyor through a chute;
3) The identification of the segmentation is carried out,
Detecting and controlling the flow rate on the second flow rate conveyor through a second binocular 3D camera until the number of packages reaches the maximum value set by the second flow rate conveyor;
The package is conveyed to a special-shaped piece removing conveyor by a second flow conveyor;
on a special-shaped piece removing conveyor, individually identifying the outline dimension data of each piece of package, the included angle between the position and the conveyor line, and the top area and the inclination angle of the uppermost layer of package by a third binocular 3D camera;
Uploading the identification data and the calculation result to a control system PLC;
4) The upper part of the device is provided with a plurality of grooves,
The manipulator grabbing unit combines and identifies the position coordinates of the standard part package, the included angle between the standard part package and the conveying line and the area size of the top part of the uppermost package according to the instruction of the control system PLC, adjusts the initial positioning height of the sucker and plans the travelling path, and executes grabbing action to send the package from the special-shaped part removing conveyor to the sorter leading-in unit;
The sequential conditions of grabbing the package by the manipulator grabbing unit comprise high priority under the same conditions; the top area is higher than the top area at the same height; the priorities of the same height, the same area and the close distance are the same;
5) Removing the special-shaped piece and the non-grippable piece,
For non-standard piece packages, the manipulator grabbing unit does not execute grabbing action, and the special-shaped piece removing conveyor conveys the special-shaped piece removing conveyor forwards and conveys the special-shaped piece removing conveyor downwards into the non-standard piece conveyor;
6) The materials are sorted and the materials are processed,
The package enters a sorting loop through a sorting machine leading-in unit until a sorting task is completed;
the bar code of the package is positioned at the bottom, and information is scanned and recorded by a bottom scanning unit at the front end of the leading-in unit of the sorting machine;
in the step 2) and the step 3), the flow detection is to detect and judge whether a certain time conveying area is blank or not and a package-free state through a first binocular 3D camera and a second binocular 3D camera;
when the package is conveyed along the advancing direction and the area L1 is detected to be in a blank state at a certain time, the shortage of the package is indicated, L1 is a set detected value of the package supplementing area, and W is an effective width value of the conveying areas of the first flow conveyor and the second flow conveyor; and feeding back the detection result to the control system PLC, and continuing to supplement packages to the L1W area.
2. The automatic feeding sorting control method according to claim 1, wherein: in the step 3), the two-dimensional interface is drawn by a third binocular 3D camera to perform segmentation recognition, and the overlapping part is decomposed to generate the outline size, the position coordinate information and the top area size data of each package.
3. The automatic feeding sorting control method according to claim 1, wherein: in step 4), based on the segmentation recognition result of the third binocular 3D camera and the distribution of the coordinate system of the transverse moving belt conveyor, the spatial position information of the standard component package is known, and a travelling path for executing grabbing is planned according to the known spatial position information;
and the manipulator grabbing unit determines a running track and the grabbing down-pressing height according to the package coordinates and the height information identified by the third binocular 3D camera.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335611A (en) * | 2018-10-16 | 2019-02-15 | 无锡弘宜智能科技有限公司 | Mixing package automatic arranging device |
| CN111282827A (en) * | 2020-02-28 | 2020-06-16 | 科捷智能装备有限公司 | Automatic workpiece feeding and quick sorting control method |
| CN112791967A (en) * | 2020-12-18 | 2021-05-14 | 科捷智能科技股份有限公司 | Abnormal part detection and flow regulation sorting method |
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| WO2021202149A1 (en) * | 2020-04-03 | 2021-10-07 | Material Handling Systems, Inc. | System and method for transferring parcels from a first conveyor to a second conveyor |
| CN112642734B (en) * | 2020-12-18 | 2022-04-19 | 科捷智能科技股份有限公司 | Full-automatic package guiding and loading control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335611A (en) * | 2018-10-16 | 2019-02-15 | 无锡弘宜智能科技有限公司 | Mixing package automatic arranging device |
| CN111282827A (en) * | 2020-02-28 | 2020-06-16 | 科捷智能装备有限公司 | Automatic workpiece feeding and quick sorting control method |
| CN112791967A (en) * | 2020-12-18 | 2021-05-14 | 科捷智能科技股份有限公司 | Abnormal part detection and flow regulation sorting method |
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