Method for quickly sorting goods by robot

Abstract

The invention discloses a method for quickly sorting goods by a robot. The method comprises the following steps that 1, a robot goods sorting platform is built in a real environment; 2, a camera 1 collects images of the goods in a to-be-sorted box, and rapidly positions grabbable goods in the to-be-sorted box and grabbing points through an enlightenment graph method; 3, the robot grabs the goods,and a grabbing mechanism at the tail end of the robot is moved into the view field of a camera 2; 4, the camera 2 collects an image of the grabbing mechanism at the tail end of the robot, if the robotsuccessfully grabs the goods, the goods are classified and recognized through a deep learning method or a small sample learning method, the step 5 continues to be executed, and if grabbing fails, therobot is reset, and the step 2 is executed again; 5, the robot places the grabbed goods into a specified storage box according to the recognition result; and 6, the steps from 2 to 5 are repeatedly executed until sorting of the goods in the to-be-sorted box is finished. According to the two-stage method of 'grabbing first and then recognizing', the speed and the success rate of goods sorting canbe effectively improved.

Description

technical field [0001] The invention relates to a method for quickly sorting goods by a robot, which belongs to the technical field of robot applications. Background technique [0002] In recent years, researchers have conducted extensive research on sorting robots in the industrial field, such as parts sorting. By adding a machine vision system to industrial robots, the robot has the ability to actively perceive and detect objects to be sorted position and category, adaptively control the robot to the corresponding position to perform grasping and classification actions, breaking the limitation that traditional industrial robots can only perform actions at fixed positions through teaching or programming. The application of sorting robots can not only liberate people from heavy assembly line work, but also improve production efficiency. [0003] In the link of goods production, transportation and sales, it is necessary to sort mixed goods. However, a wide variety of goods ...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: Aiming at the problem that the existing industrial sorting robots cannot be applied to the sorting of dense mixed goods and the problems of high intensity and low efficiency of manual sorting, the present invention provides a method for quickly sorting goods by robots, which can be used in Accurate positioning and grabbing of overlapped and covered goods in the densely mixed goods sorting box, and then identify and classify the grabbed goods, so as to realize the rapid sorting of goods by robots

Images