阅读说明：本技术 一种基于多视觉识别实现包裹自动分拣的系统及方法 (System and method for realizing automatic package sorting based on multi-vision recognition ) 是由 王秀琳 蒋根才 贾成银 于 2020-08-13 设计创作，主要内容包括：本发明公开了一种基于多视觉识别实现包裹自动分拣的系统及方法,该系统包括包裹输送带、三维摄像机、分拣机器人、自动分拣线、自动分拣线上件口、底面摄像头和终端控制装置,所述三维摄像机设置于所述包裹输送带的一侧上方,所述分拣机器人设置于所述包裹输送带的另一侧,所述自动分拣线与所述自动分拣线上件口的末端相连接,所述自动分拣线上件口的开端设置于所述分拣机器人的一侧,所述底面摄像头设置于所述分拣机器人和所述自动分拣线上件口的开端之间,位置水平靠下,所述终端控制装置控制所述系统的各个部分。本发明的包裹自动分拣系统有效减少人工成本,提高自动化强度,提高分拣效率。(The invention discloses a system and a method for realizing automatic package sorting based on multi-vision recognition, wherein the system comprises a package conveying belt, a three-dimensional camera, a sorting robot, an automatic sorting line workpiece inlet, a bottom surface camera and a terminal control device, the three-dimensional camera is arranged above one side of the package conveying belt, the sorting robot is arranged on the other side of the package conveying belt, the automatic sorting line is connected with the tail end of the automatic sorting line workpiece inlet, the start end of the automatic sorting line workpiece inlet is arranged on one side of the sorting robot, the bottom surface camera is arranged between the sorting robot and the start end of the automatic sorting line workpiece inlet, the position is horizontally close to the lower end, and the terminal control device controls each part of the system. The automatic parcel sorting system effectively reduces labor cost, improves automation strength and improves sorting efficiency.)

1. A system for realizing automatic package sorting based on multi-vision recognition is characterized by comprising a package conveying belt, a three-dimensional camera, a sorting robot, an automatic sorting line upper part opening, a bottom surface camera and a terminal control device, wherein the three-dimensional camera is arranged above one side of the package conveying belt, the sorting robot is arranged at the other side of the package conveying belt, the automatic sorting line is connected with the tail end of the automatic sorting line upper part opening, the start end of the automatic sorting line upper part opening is arranged at one side of the sorting robot, the bottom surface camera is arranged between the sorting robot and the start end of the automatic sorting line upper part opening, the position level is lower, the terminal control device controls each part of the system, wherein the three-dimensional camera, the sorting robot, the automatic sorting line upper part opening and the bottom surface camera are the same in number, more than one.

2. The system for realizing automatic package sorting based on multi-vision recognition is characterized in that the sorting robot is provided with a mechanical arm, and the mechanical arm adopts a sucker; the bottom surface camera is arranged below the moving track of the manipulator.

3. The system for realizing automatic package sorting based on multi-vision recognition is characterized by further comprising a camera frame, wherein the camera frame is arranged above the automatic sorting line and is positioned behind a workpiece feeding opening of the automatic sorting line, and cameras are arranged at 4 positions, namely front, back, left and right positions, on the camera frame.

4. The method for automatically sorting parcels in the system for automatically sorting parcels based on multi-vision recognition according to claim 3, characterized by comprising the following steps:

step 1) starting up a system to work, shooting image information of a package on a package conveying belt by a three-dimensional camera, processing the three-dimensional image information by a terminal control device to obtain a three-dimensional coordinate and a three-dimensional size of the package on the conveying belt, and converting the three-dimensional image coordinate into a base coordinate of a manipulator of a sorting robot through hand-eye calibration;

step 2) a manipulator of the sorting robot grabs the package in a set posture according to the coordinate information, runs according to a planned track, passes through a bottom surface camera and shoots two-dimensional code information of the bottom surface of the package; a manipulator of the sorting robot places the packages at a set angle and enters a workpiece port on an automatic sorting line; if the bottom camera shoots the information of the two-dimensional code, the information is arranged in a memory of the terminal control device in sequence;

step 3), the sorting robot repeats the actions of the steps 1) and 2); the packages enter the automatic sorting line from the workpiece inlet of the automatic sorting line, 4 cameras on a camera frame above the automatic sorting line synchronously scan two-dimensional code information on the front, the rear, the left and the right of the packages in the area, the two-dimensional code information of the packages is obtained, and the terminal control device automatically sorts the packages according to the two-dimensional code information of the packages; if the front camera, the rear camera, the left camera and the right camera do not detect the wrapping two-dimensional code information, the wrapping two-dimensional code information is shown at the bottom, and the terminal control device calls out the information of the bottom camera to be listed; and sorting according to the bottom two-dimension code information.

Technical Field

The invention belongs to the field of logistics, and particularly relates to a system and a method for realizing automatic package sorting based on multi-vision recognition.

Background

At present, the logistics industry relates to a multi-variety parcel sorting process, and particularly, when the express delivery industry carries out automatic sorting on parcels, the parcels still need to be manually placed at the inlet positions of an automatic sorting line, namely, a parcel supply port, the surface sheets (labels containing bar codes or two-dimensional code information) adhered to the parcels are turned upwards, and the automatic sorting line is convenient to scan, sort and sort the parcels. The workman intensity of labour is big, and logistics company's recruitment is with high costs, and along with the commodity circulation is bigger and bigger, the robot replaces the manual work to snatch, realizes that the full-automatic sorting line of parcel letter sorting is sorted and has been inevitable.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a system and a method for realizing automatic package sorting based on multi-vision recognition, which effectively reduce the labor cost, improve the automation strength and improve the sorting efficiency.

The invention is realized by the following technical scheme:

a system for realizing automatic package sorting based on multi-vision recognition comprises a package conveying belt, a three-dimensional camera, a sorting robot, an automatic sorting line loading port, a bottom surface camera and a terminal control device, wherein the three-dimensional camera is arranged above one side of the package conveying belt, the sorting robot is arranged on the other side of the package conveying belt, the automatic sorting line is connected with the tail end of the automatic sorting line loading port, the starting end of the automatic sorting line loading port is arranged on one side of the sorting robot, the bottom surface camera is arranged between the sorting robot and the starting end of the automatic sorting line loading port, the position level is leaned on the lower part, the terminal control device controls each part of the system, wherein the three-dimensional camera, the sorting robot, the automatic sorting line loading port and the bottom surface camera are the same in quantity, more than one.

Preferably, the sorting robot is provided with a mechanical arm, and the mechanical arm adopts a sucker; the bottom surface camera is arranged below the moving track of the manipulator.

Preferably, still include the camera frame, the camera frame erect and arrange in the top of automatic sorting line, its position is in after the automatic sorting line is gone up a mouthful, 4 positions all are equipped with the camera all around on the camera frame.

A parcel automatic sorting method of a system for realizing parcel automatic sorting based on multi-vision recognition comprises the following steps:

step 1) starting up a system to work, shooting image information of a package on a package conveying belt by a three-dimensional camera, processing the three-dimensional image information by a terminal control device to obtain a three-dimensional coordinate and a three-dimensional size of the package on the conveying belt, and converting the three-dimensional image coordinate into a base coordinate of a manipulator of a sorting robot through hand-eye calibration;

step 2) a manipulator of the sorting robot grabs the package in a set posture according to the coordinate information, runs according to a planned track, passes through a bottom surface camera and shoots two-dimensional code information of the bottom surface of the package; a manipulator of the sorting robot places the packages at a set angle and enters a workpiece port on an automatic sorting line; if the bottom camera shoots the information of the two-dimensional code, the information is arranged in a memory of the terminal control device in sequence;

step 3), the sorting robot repeats the actions of the steps 1) and 2); the packages enter the automatic sorting line from the workpiece inlet of the automatic sorting line, 4 cameras on a camera frame above the automatic sorting line synchronously scan two-dimensional code information on the front, the rear, the left and the right of the packages in the area, the two-dimensional code information of the packages is obtained, and the terminal control device automatically sorts the packages according to the two-dimensional code information of the packages; if the front camera, the rear camera, the left camera and the right camera do not detect the wrapping two-dimensional code information, the wrapping two-dimensional code information is shown at the bottom, and the terminal control device calls out the information of the bottom camera to be listed; and sorting according to the bottom two-dimension code information.

The invention has the following beneficial effects:

1. based on three-dimensional vision robot snatchs the technique, three-dimensional camera installs in parcel conveyer belt top, and the parcel is snatched to the letter sorting robot in three-dimensional camera's visual range, and the manipulator of letter sorting robot generally adopts the sucking disc, and the manipulator snatchs with the angle of setting for, and the orbit operation of planning to set for the angle and place the parcel in automatic sorting line workpiece inlet, guarantee that the parcel puts in automatic sorting line supplies a mouth with setting for the gesture.

2. The bottom surface camera is installed below the moving track of the manipulator, the two-dimension code information of the bottom surface of the parcel is shot in the process that the parcel is grabbed, transferred and conveyed, the parcel does not need to be identified after the parcel is turned over, and the problem that the two-dimension code of the parcel cannot be identified on the bottom surface is solved.

3. The camera frame above the tail end of the automatic sorting line is provided with a front camera, a rear camera, a left camera and a right camera at a certain height, and two-dimensional code information of the upper side, the left side, the right side, the front side and the rear side of the package is shot synchronously; if the package two-dimension code information is read, sorting according to the two-dimension code information; if the two-dimension code information is not read, the two-dimension code information is on the bottom surface of the package, the two-dimension code sequence of the bottom surface camera is adjusted to be listed, the two-dimension code information is obtained, and sorting is carried out; the full-automatic sorting of parcel overall process without artifical participation is realized, letter sorting line intelligence level is improved.

Drawings

FIG. 1 is a schematic diagram of an automated package sorting system;

FIG. 2 is a schematic view of a partial structure of an automated sorting line;

in the figure: 1. wrapping the conveyor belt; 2. wrapping; 3. a three-dimensional camera; 4. a sorting robot; 5. an automatic sorting line; 6. an automatic sorting line workpiece feeding port; 7. a bottom camera; 8. a camera frame; 9. a front camera; 10. a left camera; 11. a rear camera; 12. and a right camera.

Detailed Description

The invention is described in further detail below with reference to specific embodiments and with reference to the following drawings.