Stereoscopic-vision-based rapid workpiece sorting method and device

Abstract

The invention relates to a stereoscopic-vision-based rapid workpiece sorting method and device. A conveyor belt is arranged on a working platform. A binocular camera of which the base line is parallelto the moving direction of the conveyor belt is arranged above the working platform. The side portion of the working platform is provided with a sorting module comprising a mechanical arm. A controller is connected with a displayer, the sorting module, the conveyor belt and the binocular camera. An ROI area is determined through a binocular image. Coordinates and a parallax error of a workpiece in a depth map are obtained through stereo matching, and time consumption is reduced. According to the conveying speed of the conveyor belt and the time interval of former and latter frames of images,the corresponding position of the workpiece in the latter frame of the image is calculated on the basis of the position of the workpiece in the former frame of the depth map. The error is corrected and the correctness is improved through stereo matching at intervals of M frames. Through the method and the device, the stereo matching area is reduced; the calculated quantity is small; there is no need to conduct stereo matching on each frame of the image; the time consumption is reduced; the practicality is high; stereo matching of sorting can be rapidly implemented on relatively low-price hardware equipment with poor performance; the hardware dependency is reduced; and compared with a similar hardware platform, the sorting success rate is increased, and the production efficiency is high.

Description

technical field [0001] The present invention relates to mail sorting; sorting of single items, or sorting of bulk materials suitable for sorting one by one, such as the technical field of picking, in particular to a rapid sorting method for workpieces based on stereo vision and devices. Background technique [0002] In industrial production, it is often necessary to classify a bunch of workpieces, and operations such as assembly can only be performed after the classification is completed. [0003] At present, the degree of automation in sorting operations in our country is very low, and the workpieces are basically sorted manually. With the aging of the population, labor costs are getting higher and higher, continuing to use manual sorting will make the production cost too high, resulting in high product prices, thereby reducing the competitiveness of the market. Therefore, the use of automatic sorting system is the development direction of the future sorting field. [00...

AI Technical Summary

Problems solved by technology

[0008] Most of the main control devices in industrial production are embedded devices, because this kind of device can be customized according to the needs of industrial production, and the price is cheap and stable. does not meet our needs

Most automatic sorting systems based on stereo vision, in order to obtain better sorting results, some sorting system main control devices use embedded devices with strong processing capabilities, but this kind of equipment is expensive; some sorting systems reduce the conveyor belt speed, but this increases time consumption and reduces production efficiency; some sorting systems can only sort stationary workpieces, and the efficiency of such systems is even lower

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