阅读说明：本技术 一种分拣装置、系统及方法、电子设备 (Sorting device, system and method and electronic equipment ) 是由 谢易 卢忠岩 郑保创 殷军普 于 2019-11-15 设计创作，主要内容包括：本发明公开了一种分拣装置,应用在传送装置上,包括工业机器人、控制系统、视觉系统、工业相机和编码器,其中：控制系统集成包括有编码器,所述编码器用于对传送装置位移进行计数并由控制系统实时采集编码器数值；工业相机由控制系统触发进行拍摄,拍摄得到的图像由视觉系统获取；视觉系统对拍摄得到的图像中的目标物体位置和类别进行识别并发送至控制系统；工业机器人根据控制系统的指令对目标物体进行分拣。本发明使用传送带每次移动固定距离进行硬件触发工业相机拍照,同时取消了同步开关的使用,并且根据目标物体的实时位置计算出每次分拣的合适跟踪起点,加快了工业机器人的分拣效率。(The invention discloses a sorting device, which is applied to a conveying device and comprises an industrial robot, a control system, a vision system, an industrial camera and an encoder, wherein: the control system integration comprises an encoder, wherein the encoder is used for counting the displacement of the conveying device and acquiring the numerical value of the encoder in real time by the control system; the industrial camera is triggered by the control system to shoot, and the shot image is acquired by the vision system; the vision system identifies the position and the type of a target object in the shot image and sends the position and the type to the control system; and the industrial robot sorts the target object according to the instruction of the control system. The invention uses the conveyor belt to move a fixed distance each time to carry out hardware triggering industrial camera photographing, simultaneously cancels the use of a synchronous switch, and calculates the proper tracking starting point for each sorting according to the real-time position of the target object, thereby quickening the sorting efficiency of the industrial robot.)

1. A sorting device for use on a conveyor, comprising an industrial robot, a control system, a vision system, an industrial camera and an encoder, wherein:

the control system integration comprises an encoder, wherein the encoder is used for counting the displacement of the conveying device and acquiring the numerical value of the encoder in real time by the control system;

the industrial camera is triggered by the control system to shoot, and the shot image is acquired by the vision system;

the vision system identifies the position and the type of a target object in the shot image and sends the position and the type to the control system;

and the industrial robot sorts the target object according to the instruction of the control system.

2. A sorting system comprising the sorting device of claim 1, a conveyor, and a plurality of sorting collectors, wherein the sorting device is configured to sort the objects on the conveyor and sort the objects into the corresponding sorting collectors.

3. A method of sorting, comprising the steps of:

(1) the control system continuously triggers the camera to shoot the target object on the transmission device and sends the encoder value at the triggering moment to the vision system;

(2) the visual system identifies the image obtained by shooting, binds the target object information obtained by identification and the received encoder value and sends the information to the control system;

(3) and the control system positions the target object in real time according to the encoder numerical value and the recognition result sent by the vision system and controls the industrial robot to sort.

4. The sorting method according to claim 3, wherein the step (1) comprises:

calculating the fixed variation of the encoder value: firstly, the size of the visible distance of the industrial camera in the moving direction of the conveyor belt is measured, and then the fixed variable quantity of the encoder value corresponding to the visible distance is calculated according to the relation between the moving distance of the conveying transpose and the change of the encoder value.

5. The sorting method according to claim 3, wherein the step (2) comprises:

receiving an encoder value corresponding to the shooting time of the camera;

acquiring a target object image shot by a camera;

and binding the encoder value and the target object identification result and sending the binding result to a control system.

6. The sorting method according to claim 3, wherein the control system accurately calculates the real-time position of the target object in step (3) by the formula:

y (t) ═ y (0) + [ (e (t) + Er) - (e (0) + Ep) ] + k + b + L (random)

Wherein:

e (0): the encoder has a value of;

y (0): the visual system identifies the shot image to obtain the position of a target object at the shooting moment;

e (t): calculating the encoder value at the moment in real time;

y (t): the control system calculates the real-time position of the target object;

ep: triggering the photographing delay of the industrial camera for photographing, and measuring by the absolute value of the change of the numerical value of the encoder;

er: the control system sends a real-time position to an instruction time delay executed by the industrial robot, and the instruction time delay is measured by an absolute value of the change of the numerical value of the encoder;

k: a slope;

b, intercept;

l (random): l (random) — the average value of the encoder per 100ms with a fixed speed of the conveyor belt, the coefficient of variation u, between-1 and 1, adjusted to an appropriate value according to the actual scene.

7. The sorting method according to claim 3, wherein the step (3) of performing the sorting process includes:

if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;

if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;

if the current position of the target object is in the sortable area, the current position of the target object is sent to the industrial robot to start tracking execution and is sorted into the corresponding sorting collector.

8. The sorting method according to claim 3, wherein the step (3) of performing the sorting process includes:

if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;

if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;

if a plurality of target objects are simultaneously present in the sortable area, the target objects entering the sortable area are sorted directly.

9. An electronic device comprising a storage medium, wherein a computer program is stored in the storage medium, which, when run on a computer, causes the computer to implement the sorting function of any of claims 1 to 8.

Technical Field

The invention relates to the field of automation, in particular to a sorting device, a sorting system, a sorting method and electronic equipment.

Background

Intelligent manufacturing is the core of the national 2025 strategy and is also a necessary trend and requirement for industry upgrade. One of the key cores in smart manufacturing is the automation and intelligence of industrial production.

Currently, industrial robots are widely used in automatic production lines, mainly for performing various operations on objects on a conveyor belt, such as handling, processing, and inspection.

The sorting belongs to one of the carrying scenes, the existing sorting mode mostly uses fixed frequency sorting, the current sorting mode starts to track by taking the same position as a starting point by means of a synchronous switch, and the target objects are sorted at fixed frequency.

At present, the sorting technology cannot effectively solve the problems of various sorts of sorted species and complex scenes with the characteristics that the position of the sorted species entering a conveyor belt cannot be predicted and the like. And because the restriction of prior art, the conveyer belt operation is comparatively slow, and the position between the target object is sparse relatively, and industrial robot always waits for the object to arrive and sorts again, and this greatly reduced letter sorting efficiency, productivity effect is than low.

Therefore, how to identify multiple targets and other complex scenes and efficiently sort articles is a problem which is the first solution at present.

Disclosure of Invention

The invention discloses a sorting device, which is applied to a conveying device and comprises an industrial robot, a control system, a vision system, an industrial camera and an encoder, wherein:

the control system integration comprises an encoder, wherein the encoder is used for counting the displacement of the conveying device and acquiring the numerical value of the encoder in real time by the control system;

the industrial camera is triggered by the control system to shoot, and the shot image is acquired by the vision system;

the vision system identifies the position and the type of a target object in the shot image and sends the position and the type to the control system;

and the industrial robot sorts the target object according to the instruction of the control system.

The invention also discloses a sorting system, which comprises the sorting device, the conveying device and a plurality of sorting collectors, wherein the sorting device is used for sorting the objects on the conveying device and placing the objects into the corresponding sorting collectors in a classified manner.

The invention also discloses a sorting method, which comprises the following steps:

(1) the control system continuously triggers the camera to shoot the target object on the transmission device and sends the encoder value at the triggering moment to the vision system;

(2) the visual system identifies the image obtained by shooting, binds the target object information obtained by identification and the received encoder value and sends the information to the control system;

(3) and the control system positions the target object in real time according to the encoder numerical value and the recognition result sent by the vision system and controls the industrial robot to sort.

Further, the step (1) comprises:

calculating the fixed variation of the encoder value: firstly, the size of the visible distance of the industrial camera in the moving direction of the conveyor belt is measured, and then the fixed variable quantity of the encoder value corresponding to the visible distance is calculated according to the relation between the moving distance of the conveying transpose and the change of the encoder value.

Further, the step (2) comprises the following steps:

receiving an encoder value corresponding to the shooting time of the camera;

acquiring a target object image shot by a camera;

and binding the encoder value and the target object identification result and sending the binding result to a control system.

Further, the control system in step (3) accurately calculates the real-time position of the target object, and the formula is as follows:

y (t) ═ y (0) + [ (e (t) + Er) - (e (0) + Ep) ] + k + b + L (random)

Wherein:

e (0): the encoder has a value of;

y (0): the visual system identifies the shot image to obtain the position of a target object at the shooting moment;

e (t): calculating the encoder value at the moment in real time;

y (t): the control system calculates the real-time position of the target object;

ep: triggering the photographing delay of the industrial camera for photographing, and measuring by the absolute value of the change of the numerical value of the encoder;

er: the control system sends a real-time position to an instruction time delay executed by the industrial robot, and the instruction time delay is measured by an absolute value of the change of the numerical value of the encoder;

k: a slope;

b, intercept;

l (random): l (random) — the average value of the encoder per 100ms with a fixed speed of the conveyor belt, the coefficient of variation u, between-1 and 1, adjusted to an appropriate value according to the actual scene.

Further, the step (3) of performing a sorting process includes:

if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;

if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;

if the current position of the target object is in the sortable area, the current position of the target object is sent to the industrial robot to start tracking execution and is sorted into the corresponding sorting collector.

Further, the step (3) of performing a sorting process includes:

if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;

if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;

if a plurality of target objects are simultaneously present in the sortable area, the target objects entering the sortable area are sorted directly.

The invention also discloses an electronic device comprising a storage medium in which a computer program is stored which, when run on a computer, causes the computer to carry out the sorting function of any one of claims 1 to 8.

The embodiment of the invention has the following beneficial effects:

compared with the traditional sorting mode according to a fixed beat, the sorting device system and the method provided by the embodiment of the invention have the advantages that the conveying belt is moved for a fixed distance every time to trigger the industrial camera to take a picture, meanwhile, the use of a (photoelectric) synchronous switch is eliminated, in addition, the proper tracking starting point of each sorting is calculated according to the real-time position of the target object, and the sorting efficiency of the industrial robot is accelerated.

In order to ensure the sorting precision and stability, the invention uses a synchronous tracking mode to sort, and performs dynamic position compensation on slight speed change caused by the fluctuation of the rotation frequency of a motor driving the conveyor belt to operate in the running process of the conveyor belt.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a sorting device disclosed in an embodiment of the present application;

FIG. 2 is a schematic view of a sorting process disclosed in an embodiment of the present application;

fig. 3 is a schematic diagram of a sorting process implementation disclosed in the embodiment of the present application.

1-camera, 2-vision system, 3-control system, 4-industrial robot 30-encoder

5-fraction collector 6-conveying device, 7-camera visual area 8-sortable area

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.