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A workpiece recognition and sorting device and method based on multiple image acquisition equipment

An image acquisition and sorting device technology, applied in sorting and other directions, can solve the problems of not being able to fully utilize the efficiency of cameras and the increase in the number of cameras, and achieve high-precision recognition and picking, improve utilization, and improve work efficiency.

Active Publication Date: 2020-06-23
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method also results in a multiplied number of cameras in multiple robot applications
Inability to use the camera to its full potential

Method used

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  • A workpiece recognition and sorting device and method based on multiple image acquisition equipment
  • A workpiece recognition and sorting device and method based on multiple image acquisition equipment
  • A workpiece recognition and sorting device and method based on multiple image acquisition equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0050] The workpiece transmission device is a conveyor belt, the pick-up device is a multi-joint robot, and the workpiece is a box. Both the first camera and the second camera are industrial cameras of common specifications with a resolution of 5 million pixels. The conveyor belt is driven by a rotating motor. A rotary encoder is installed on the motor to detect the rotation angle of the motor. The computer calculates the moving distance and speed of the conveyor belt by continuously reading the angle fed back by the encoder.

[0051] The first camera is fixedly installed directly above the workpiece entering direction of the conveyor belt, the lens points vertically downward to the sorting area, the second camera is one and is fixedly installed directly above the workpiece sorting area downstream of the conveyor belt, and the lens points vertically downward to the sorting area pick area,

[0052] A) The first camera collects images of multiple workpieces upstream of the conv...

Embodiment 2

[0061] The workpiece transmission device is a conveyor belt, the pick-up device is two multi-joint robots, and there are also two second cameras corresponding to the positions of the two robots. The workpiece is a box. Both the first camera and the second camera are industrial cameras with common specifications, and their pixel arrays are 1920*2560. The conveyor belt is driven by a rotating motor with a constant speed, and the computer calculates the moving distance and speed of the conveyor belt through the motor speed setting.

[0062] The first camera is fixedly installed directly above the upstream of the workpiece entering direction of the conveyor belt, the lens points vertically downward to the sorting area, the second camera is fixedly installed directly above the workpiece sorting area downstream of the conveyor belt, and the lens points vertically downward to the sorting area,

[0063] Two multi-joint robots and two second cameras are arranged at a certain distance ...

Embodiment 3

[0073] The workpiece transmission device is a conveyor belt, the picking device is two multi-joint robots, and the second camera is one. The workpiece is a box. Both the first camera and the second camera are industrial cameras with common specifications, and their pixel arrays are 1920*2560. The conveyor belt is driven by a rotating motor. A rotary encoder is installed on the motor to detect the rotation angle of the motor. The computer calculates the moving distance and speed of the conveyor belt by continuously reading the angle fed back by the encoder.

[0074] The first camera is fixedly installed directly above the upstream of the workpiece entering direction of the conveyor belt, the lens points vertically downward to the sorting area, the second camera is fixedly installed directly above the workpiece sorting area downstream of the conveyor belt, and the lens points vertically downward to the sorting area,

[0075] Two multi-joint robots are arranged at a certain dist...

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Abstract

The invention relates to a workpiece identification and sorting device based on a multi-image capturing device. The workpiece identification and sorting device comprises a first image capturing device, a second image capturing device, a workpiece conveyer, a pick-up device and a computer. The workpiece conveyer is used for conveying workpieces in one direction; the first image capturing device is located at the upstream part of the workpiece conveyer, and used for acquiring the images of all workpieces located at the upstream part of the workpiece conveyer; the pick-up device is used for picking up the workpieces located on the workpiece conveyer according to the control of the computer; the second image capturing device is located at the downstream part of the workpiece conveyer, and used for picking up the local image of single workpiece picked up by the pick-up device; and the computer is used for computing the pick-up time, pick-up position and release position of each workpiece. The invention also relates to a workpiece identification and sorting method based on the multi-image capturing device. According to the workpiece identification and sorting device and method based on the multi-image capturing device, the identification range and identification accuracy can be ensured while identifying the workpieces.

Description

technical field [0001] The invention relates to the technical field of workpiece identification and sorting, in particular to a workpiece identification and sorting device and method based on a multi-image acquisition device. Background technique [0002] Machine vision-based workpiece sorting, picking, and handling have been increasingly widely used in machinery, food, medicine, cosmetics and other production fields. In these production lines, multiple workpieces are mixed and sent to the sorting area, and the device responsible for sorting and handling is required to be able to identify the workpieces in the sorting area, and after picking them up, they will be transported or placed to the required position according to the process requirements. Patent "Robot Sorting System and Method Based on Machine Vision" (No. 716 Institute of China Shipbuilding Industry Corporation, CN103706568A) uses a single camera to acquire a static circular tablet image and then sorts it by the s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B07C5/342B07C5/02
CPCB07C5/02B07C5/3422
Inventor 蒋知峰方江龙吕燕张力蒋劲峰
Owner SHANGHAI ELECTRICGROUP CORP
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