Unstacking robot system and method based on information collection of mixed materials

Abstract

The invention discloses an unstacking robot system and method based on information collection of mixed materials. The unstacking robot system comprises a multi-degree-of-freedom robot, a local binocular vision device, a global binocular vision device and an industrial computer, wherein an end effector unstacks the materials and places the materials at a designated position; the local binocular vision device is used for detecting the three-dimensional shape of the to-be-grabbed materials, obtaining the volume information of the materials, and identifying label barcode information; the global binocular vision device photographs the shaped of a material stack through at least two cameras arranged above an unstacking station, and extracts spatial coordinate positions and attitude information of the to-be-grabbed materials; the industrial computer is connected with the multi-degree-of-freedom robot, the global binocular vision device and the local binocular vision device and used for transmitting data and other information. The system can reduce labor and equipment investment; the applicability is wider, and the intelligence is higher.

Description

technical field [0001] The invention belongs to the technical field of automation, and relates to a destacking robot system and method based on information collection of mixed materials. Background technique [0002] With the rapid development of the logistics industry, e-commerce industry, packaging industry, manufacturing industry, etc., the number of depalletizing tasks in warehousing or logistics has increased significantly. Because the traditional depalletizing work is done manually, it has disadvantages such as high labor intensity, low work efficiency, high manual error rate, and great safety risks. At present, more and more warehousing or logistics systems use robots for depalletizing operations. However, in view of the status quo of industries such as logistics or warehousing, transshipment and sorting, packages come in various forms such as boxed and bagged, and the specifications are diverse and random. There are still some defects in the existing robot depalletiz...

AI Technical Summary

Problems solved by technology

[0005] (2) Label barcode information of materials cannot be collected

However, the existing depalletizing system can only realize a single depalletizing work, and does not have the function of collecting material information

There is no report on the application or introduction of label barcode identification and direct sorting through searching.

[0007] (3) The volume information of the material cannot be collected

[0009] After searching the existing technical literature, it was found that the Chinese invention patent application number is 201810349886.9, and the patent name is: a 3D visual carton depalletizing system, which proposes to use a 3D structured light and two 2D cameras to stack cartons Take pictures and extract the position information of the cartons to guide the robot to unstack; but its 2D camera only measures the plane position information of the cartons, and cannot obtain the three-dimensional shape and posture of the stack; and the invention does not involve the three-dimensional shape of a single material Acquisition of information such as measurement, volume measurement and barcode identification

[0010] The Chinese invention patent application number is 201510678912.9 patent, the patent name is: a new type of destacking method and system, the patent discloses a destacking system and method based on binocular vision, but the patent is only installed at the front end of the mechanical arm For binocular cameras, the field of view of the camera is relatively limited. It is necessary to use a circular template to scan the image and position it first. It is more complicated to divide and unstack the stack. At the same time, due to the limitation of the field of view of the camera, it is impossible to obtain the 3D image of the stack in real time. In addition, the patent does not involve the collection function of information such as volume measurement and barcode identification of a single material

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