Mixed unstacking and stacking method based on 3D vision

Abstract

The invention provides a mixed unstacking and stacking method based on 3D vision. The mixed unstacking and stacking method comprises the following steps that a gravity sensing device is arranged on a tray for loading a box body, and the horizontal gravity center position of the box body on the tray is obtained in real time; a 3D vision device is arranged to recognize the size and the edge position of the box body, and a mechanical arm is guided to grab the box body; a grabbing and weighing device is arranged on the mechanical arm, and the weight of the box body is detected while the box body is grabbed; and according to the horizontal gravity center position of the box body on the tray, the size and edge position of the box body and the weight of the box body, the stacking and unstacking sequence is determined, and the mechanical arm is used for completing mixed stacking and unstacking. By means of the above manner, the gravity sensing device can be used for obtaining the overall gravity center position of the box body on the tray in real time, the stacking and unstacking sequence and the stacking position are adjusted, and the safety of the stacking and unstacking process is guaranteed; and the size and the edge of the box body are recognized through the 3D vision device, the space utilization rate on the tray is increased, and the stable and efficient mixed unstacking and stacking process is achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent depalletizing, in particular to a 3D vision-based hybrid depalletizing method. Background technique [0002] In recent years, with the development of science and technology and the great progress of automation technology, various manipulators or robots have gradually replaced manual production, greatly improving production efficiency while liberating labor, and are widely used in various fields. In the field of depalletizing, traditional manual depalletizing not only has high work intensity and low work efficiency, but also brings a large physical burden to the staff, which in turn affects the quality of depalletizing. Based on the existing problems of manual depalletizing, the use of manipulators or industrial robots to replace manual depalletizing has gradually become a development trend in the field of depalletizing. [0003] At present, the automatic depalletizing technology mainly uses v...

AI Technical Summary

Problems solved by technology

However, this method can only perform planning calculations based on the shape and size of the items that need to be depalletized. For boxes with different weights, it is still prone to problems such as unstable center of gravity and collapse during the depalletizing process, which seriously affects The smooth progress of the depalletizing process

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