A fully automatic flexible sheet single transfer device and method based on machine vision

Abstract

The present invention discloses a fully automatic flexible sheet single transfer device and method based on machine vision, which uses a three-dimensional laser machine vision scanning system to scan the warehouse area, quickly locate the position and size of the target material, and combine the visual automatic recognition equipment to quickly identify the material specifications and models, thereby improving the efficiency of material scheduling in the warehouse area. The present invention also automatically adjusts the horizontal spacing of the suction cups of the vacuum suction cup hanger and the height difference between the front and rear rows of suction cups through the recognition of specification and model information to achieve the purpose of self-adaptation for the transfer of steel plates of different models, and timely adjusts the sucked steel plate in combination with the signal feedback of the weighing sensor to ensure that a single steel plate can be accurately sucked each time, effectively improving the quality and efficiency of steel plate transfer, and solving the problem that the existing transfer device cannot quickly and accurately identify, locate and transfer the plate, especially the problem that the existing handling equipment has difficulty in handling flexible plates.

Description

Technical Field

[0001] The present invention relates to the technical field of material handling equipment, and more specifically, to a fully automatic flexible sheet single-sheet transfer device and method based on machine vision. Background Art

[0002] In the material storage warehouse, the materials need to be transported in and out of the warehouse by overhead crane equipment. There are plates of different specifications stacked. Due to the different batches of plate storage or out of the warehouse, the height of the plates of the same specifications will be different. It is difficult for personnel to update the height of the plate stack in real time. Therefore, when the plates are transferred, the plate information stored in the warehouse needs to be reconfirmed. In addition, in the process of lifting materials, semi-automatic control of traditional overhead cranes is mostly used for transfer, and personnel operate the equipment on the onboard console. The traditional console buttons are complicated to operate, the operating experience is poor, and the degree of automation is low, which greatly affects the work efficiency.

[0003] In CN202021866057.7, a fully automatic unmanned lifting integrated control platform is disclosed, which includes a three-dimensional scanning system, a warehouse management system, a crane dispatching system and an electrical control system; the three-dimensional scanning system is used to obtain point cloud images; the warehouse management system is used to formulate operation instructions based on material data and point cloud images; the crane dispatching system includes a work order generation area, a path optimization area and a dispatching execution area; the work order generation area is used to automatically generate a crane work order according to the operation instruction, the workload of the crane and the priority of the lifting operation; the path optimization area calculates the optimized operation path of the crane through the optimization algorithm and partition management; the dispatching execution area allocates the crane to operate according to the crane work order and the optimized operation path of the crane; the electrical control system includes a ground control subsystem, and the ground control subsystem performs the dispatching management of the crane by transmitting the start-stop signal to the crane dispatching system, so as to achieve the purpose of fully automatic material grabbing and unattended operation. However, in this patent, although the location data of the material stacking and the movement optimization of the crane system are determined by the three-dimensional scanning system, it is impossible to quickly and accurately identify the stored plates and handle materials of different specifications. Especially in the handling of flexible sheets, since the sheets are relatively soft, it is difficult for handling equipment to clamp multiple pieces in the sheet pile, making transportation difficult. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a fully automatic flexible sheet single transfer device based on machine vision to address the inability of existing transfer devices to quickly and accurately identify, locate and transfer plates, especially the difficulty of existing handling equipment in handling flexible plates.

[0005] Another technical problem to be solved by the present invention is a method for fully automatic single-sheet transfer of flexible plates based on machine vision.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A fully automatic flexible sheet single-sheet transfer method based on machine vision, comprising the following steps:

[0008] S1. Obtain the data of the plates to be transported, scan the warehouse area through the 3D laser machine vision scanning system, determine the position and height of the stack of plates to be transported, and transmit the information to the control system;

[0009] S2. The control system combines the positioning laser measurement data of the plate transport trolley to control the conveyor to move above the plate stack, and uses the visual automatic recognition device on the plate transport trolley to scan the inkjet coding information on the surface of the plate on the stack to obtain the specifications and models of the plates;

[0010] S3. The control system adjusts the vacuum suction cup to move to the surface of the plate according to the obtained plate specification and model information, sucks the plate and lifts it to a safe height, and the walking mechanism controls the plate conveyor to automatically position itself to the plate placement position;

[0011] S4. After reaching the board placement position, the board transport trolley automatically descends to place the board after obtaining information from the control system that allows the board to be placed;

[0012] S5. After the board is placed, the next board will be transported according to the transportation task and the number of boards. The above transportation steps will be repeated until all boards are hoisted and the machine automatically returns to the waiting position to wait for the next transportation task.

[0013] Furthermore, in step S3, the step of sucking the plate with the vacuum suction cup hanger comprises:

[0014] S31. After obtaining the specifications of the plate, the control system adjusts the distance between the two horizontal suction cups of the spreader according to the width and length of the plate through the plate transport trolley, and automatically matches the steel plates of different widths for transportation. At the same time, the height difference of the suction cups in the longitudinal direction can be adjusted, and the number of suction cups to be put in is set according to the length of the plate, and the unnecessary suction cups are retracted, and the transportation of steel plates of different length specifications is automatically applicable;

[0015] S32. The vacuum suction cup hoist is attached to the surface of the plate, and the plate is sucked from the suction cup at the edge of the plate, and the edge of the plate is lifted first, and then the suction cup in the middle of the longitudinal part is controlled to lift the plate in sequence. The book-turning suction method can initially ensure that only one steel plate is sucked at a time;

[0016] S32. After the adsorption is completed, the vacuum suction cup hanger and the lifting mechanism rise, and the weighing sensor detects the weight of the plate absorbed by the vacuum suction cup hanger and transmits it to the control system to determine whether it meets the set weighing threshold of a single plate. If the weighing information is lower than the set weighing threshold, it indicates that the absorbed plate is a single plate and can continue to be lifted to a safe height. The walking mechanism controls the plate conveyor to automatically position itself to the plate placement position.

[0017] Furthermore, the weighing threshold is 1.5 times the mass of a single sheet of plate. If the weighing information is higher than the set weighing threshold, indicating that multiple sheets of plate have been sucked, the control system controls the suction cup connected to the plate through the cylinder to continuously change the height of the suction cup, vibrate and throw away excess adsorbed plates, and after the weighing information meets the weighing threshold, it is lifted to a safe height, and the walking mechanism controls the plate conveyor to automatically position itself to the plate placement position.

[0018] A fully automatic flexible sheet single transfer device based on machine vision, comprising:

[0019] A three-dimensional laser machine vision scanning system is used to scan the position and elevation data of the plates in the warehouse area. The three-dimensional laser machine vision scanning system is installed on the upper part of the warehouse area to facilitate all-round scanning of the factory area and transmit the scanned warehouse area information to the control system;

[0020] The heavy-load suction and handling operation equipment sucks and transfers the plate to the designated location. The heavy-load suction and handling operation equipment includes a frame part, a moving part and a vacuum suction cup sling. The frame part is arranged in the warehouse area, the moving part is arranged on the frame part, the vacuum suction cup fixture is connected to the moving part, and the vacuum suction cup fixture and the moving part are both connected to the control system signal;

[0021] The visual automatic recognition device is used to recognize the inkjet code on the surface of the plate. The visual automatic recognition device is installed on the heavy-load suction and handling operation equipment, and can directly recognize the inkjet code information on the surface of the stacked plates. The control system adjusts the vacuum suction cup clamp according to the plate specifications recognized by the visual automatic recognition device;

[0022] The control system receives information from the 3D laser machine vision scanning system, heavy-load suction and handling equipment, and visual automatic recognition equipment and provides action feedback.

[0023] Furthermore, the control system includes laser scanning and visual recognition control, as well as scheduling and motion control of heavy-load suction and handling equipment. The heavy-load suction and handling equipment is driven to move to the target position through feedback information from the three-dimensional laser machine vision scanning system, and then the heavy-load suction and handling equipment is adjusted through information feedback from the visual automatic recognition equipment to suck and carry the plate below.

[0024] The present invention obtains the position and size of the transported steel plate through a three-dimensional laser machine vision system, and then obtains the specifications and models of the steel plates based on the visual automatic recognition equipment. The control system automatically adjusts the devices corresponding to different specifications of plates on the heavy-load suction and handling equipment according to the feedback information, thereby achieving the purpose of adaptive transportation of steel plates of different models and effectively improving the quality and efficiency of plate transportation.

[0025] Furthermore, a laser distance measuring sensor is provided at one end of the moving part, and a laser reflection plate corresponding to the laser distance measuring sensor is installed at the end position of the track of the frame part.

[0026] Furthermore, the frame portion includes columns arranged on both sides of the moving part, and a track-supporting beam is arranged between adjacent columns on each side, and a track is laid on the track-supporting beam.

[0027] Furthermore, the moving part includes a plate transport trolley spanning between two side tracks. The plate transport trolley body is driven by a traveling mechanism to move along the track. The plate transport trolley is provided with a lifting mechanism for vertically moving the transported objects, and the vacuum suction cup hoist is connected to the lifting mechanism.

[0028] Furthermore, the vacuum suction cup lifter and the lifting mechanism are connected via a weighing sensor and a connecting pin, and the number of plates sucked by the vacuum suction cup lifter is determined by the weighing information, thereby avoiding multiple transports caused by plate adsorption and preventing the occurrence of excess adsorbed steel plates falling midway.

[0029] Furthermore, the signal of the weighing sensor is fed back to the control system, and it is determined whether a single steel plate is sucked based on the information fed back by the weighing sensor.

[0030] Furthermore, a threshold is set in the program of the control system. If the threshold is exceeded, it means that the steel plate sucked is not a single steel plate. The threshold is 1.2 to 1.7 times the mass of a single plate.

[0031] Furthermore, the vacuum suction cup hanger is provided with a plurality of vacuum suction cups.

[0032] Furthermore, the vacuum suction cups are arranged in parallel in groups along the longitudinal direction of the overhead crane body, and each group is composed of a number of vacuum suction cups. The height difference of the suction cups in the longitudinal direction is adjustable, and the number of suction cup groups to be put in can be set according to the length of the steel plate. The unnecessary suction cups are retracted, and the steel plates of different lengths and specifications are automatically suitable for transportation. The spacing of the suction cups in the transverse direction is adjustable to adapt to different steel plate widths.

[0033] Compared with the prior art, the beneficial effects are:

[0034] The present invention adopts flexible closed-loop control and smooth suction and transfer technology, scans the warehouse area through a three-dimensional laser machine vision scanning system, quickly locates the position and size of the target material, and combines the visual automatic recognition equipment to quickly identify the material specifications and models, thereby improving the efficiency of material scheduling in the warehouse area. The present invention also automatically adjusts the horizontal spacing of the suction cups of the vacuum suction cup hanger and the height difference between the front and rear rows of suction cups through the recognition of specification and model information, so as to achieve the purpose of self-adaptation for the transfer of steel plates of different models, and combines the signal feedback of the weighing sensor to make timely adjustments to the sucked steel plates, ensuring that a single steel plate can be accurately sucked each time, effectively improving the quality and efficiency of steel plate transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the structure of the present invention;

[0036] Figure 2 It is a schematic diagram of the structure of the present invention;

[0037] Figure 3 It is a schematic diagram of the structure of the present invention.

[0038] Among them, 1 is a column, 2 is a track beam, 3 is a lifting mechanism, 4 is a vacuum suction cup hoist, 5 is a visual automatic recognition device, 6 is a weighing sensor, 7 is a laser ranging sensor, and 8 is a laser reflector. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Example 1

[0042] The present embodiment provides a fully automatic flexible single sheet transfer device based on machine vision, including a three-dimensional laser machine vision scanning system for scanning the position and elevation data of the plates in the storage area, a heavy-load suction and handling operation equipment for sucking and transferring the plates to the specified position, a visual automatic recognition device for identifying the plate inkjet coding, and a control system for receiving information from the three-dimensional laser machine vision scanning system, the heavy-load suction and handling operation equipment, and the visual automatic recognition device and providing feedback.

[0043] The three-dimensional laser machine vision scanning system is installed above the storage area to facilitate all-round scanning of the storage area.

[0044] The heavy-load suction and handling equipment is installed in the warehouse area, and includes a frame part, a moving part, and a vacuum suction cup clamp. The frame part includes columns 1 arranged in the warehouse area and on both sides of the moving part. A track-bearing beam 2 is erected between the adjacent columns 1 on each side, and a track is laid on the track-bearing beam 2. The moving part includes a plate transport trolley straddling between the tracks on both sides. The plate transport trolley body is driven by a traveling mechanism to travel along the track. The plate transport trolley is provided with a lifting mechanism 3 for vertically moving the transported objects, and a vacuum suction cup hanger 4 is connected to the lifting mechanism 3. A laser distance sensor 7 is provided at one end of the moving part, and a laser reflection plate 8 corresponding to the laser distance sensor 7 is installed at the end of the track of the frame part. The traveling mechanism, the lifting mechanism, and the laser distance sensor are all connected to the control system signal.

[0045] The vacuum suction cups on the vacuum suction cup sling 4 are arranged in parallel in groups along the longitudinal direction of the crane body, and each group is composed of a number of vacuum suction cups. The height difference of the suction cups in the longitudinal direction can be adjusted, and the number of suction cup groups can be set according to the length of the steel plate. The unnecessary suction cups are retracted, and the steel plates of different lengths and specifications are automatically transported. The spacing of the suction cups in the transverse direction can be adjusted to adapt to different steel plate widths.

[0046] The visual automatic identification device 5 is arranged on the heavy-load suction and handling operation equipment, and can directly identify the inkjet coding information on the upper surface of the stacked plates.

[0047] The control system includes a scheduling and motion control system for the heavy-load suction and handling operation equipment, which drives the heavy-load suction and handling operation equipment to move to the target position through the feedback information of the three-dimensional laser machine vision scanning system, and adjusts the heavy-load suction and handling operation equipment to suck the plate below based on the information feedback from the visual automatic recognition device 5.

[0048] Example 2

[0049] The present embodiment provides a fully automatic flexible single-sheet transfer device based on machine vision, including a three-dimensional laser machine vision scanning system for scanning the position and elevation data of the plates in the storage area, a heavy-load suction and handling operation equipment for sucking and transferring the plates to the specified position, a visual automatic recognition device for identifying the plate inkjet coding, and a control system for receiving information from the three-dimensional laser machine vision scanning system, the heavy-load suction and handling operation equipment, and the visual automatic recognition device and providing feedback.

[0050] The three-dimensional laser machine vision scanning system is installed above the storage area to facilitate all-round scanning of the storage area.

[0051] The heavy-load suction and handling equipment is installed in the warehouse area, and includes a frame part, a moving part, a vacuum suction cup fixture and an electrical control system. The frame part includes columns 1 arranged on both sides of the moving part, and a track-bearing beam 2 is erected between the adjacent columns 1 on each side, and a track is laid on the track-bearing beam 2. The moving part includes a plate transport trolley spanning between the tracks on both sides. The plate transport trolley body is driven by a traveling mechanism to travel along the track. The plate transport trolley is provided with a lifting mechanism 3 for vertically moving the transported object, and a vacuum suction cup hanger 4 is connected to the lifting mechanism 3. A laser distance sensor 7 is provided at one end of the moving part, and a laser reflection plate 8 corresponding to the laser distance sensor 7 is installed at the end of the track of the frame part. The traveling mechanism, the lifting mechanism, and the laser distance sensor are all connected to the control system signal.

[0052] The vacuum suction cup hanger 4 and the lifting mechanism 3 are connected through a weighing sensor 6 and a connecting pin, and the weighing sensor 6 is connected to the control system information. The weighing information is used to determine the number of plates sucked by the vacuum suction cup hanger 4, thereby avoiding multiple transports caused by plate adsorption and preventing excess adsorbed steel plates from falling midway, thereby ensuring personnel safety.

[0053] The vacuum suction cups on the vacuum suction cup sling 4 are arranged in parallel in groups along the longitudinal direction of the crane body, and each group is composed of a number of vacuum suction cups. The height difference of the suction cups in the longitudinal direction can be adjusted, and the number of suction cup groups can be set according to the length of the steel plate. The unnecessary suction cups are retracted, and the steel plates of different lengths and specifications are automatically transported. The spacing of the suction cups in the transverse direction can be adjusted to adapt to different steel plate widths.

[0054] The visual automatic identification device 5 is arranged on the heavy-load suction and handling operation equipment, and can directly identify the inkjet coding information on the upper surface of the stacked plates.

[0055] The control system includes a scheduling and motion control system for the heavy-load suction and handling operation equipment, which drives the heavy-load suction and handling operation equipment to move to the target position through the feedback information of the three-dimensional laser machine vision scanning system, and adjusts the heavy-load suction and handling operation equipment to suck the plate below based on the information feedback from the visual automatic recognition device.

[0056] Example 3

[0057] This embodiment provides a method for providing a fully automatic flexible sheet single transfer device based on machine vision according to Example 2, and the steps include:

[0058] S1. Obtain the data of the plates to be transported, scan the warehouse area through the 3D laser machine vision scanning system, determine the stacking position and stacking height information of the plates to be transported, and transmit the information to the control system.

[0059] S2. The control system combines the positioning laser measurement data of the plate transport trolley to control the conveyor to move above the plate stack, and uses the visual automatic recognition device on the plate transport trolley to scan the inkjet coding information on the surface of the plate on the stack to obtain the specifications and models of the plates.

[0060] S3. The control system adjusts the vacuum suction cup to lift the plate and move it to the plate placement position:

[0061] S31. After obtaining the specifications of the plate, the control system adjusts the distance between the two horizontal suction cups of the spreader according to the width and length of the plate through the plate transport trolley, and automatically matches the steel plates of different widths for transportation. At the same time, the height difference of the suction cups in the longitudinal direction is adjustable, and the number of suction cups to be put in is set according to the length of the plate, and the unnecessary suction cups are retracted, which automatically adapts to the transportation of steel plates of different lengths.

[0062] S32. Stick the vacuum suction cup hanger to the surface of the plate and start vacuuming the plate from the suction cup at the edge of the plate, and first lift the edge of the plate, and then control the suction cup in the middle part of the longitudinal direction to lift the plate in turn. The book-turning suction method can initially ensure that only one steel plate is sucked at a time.

[0063] S32. After the adsorption is completed, the vacuum suction cup hanger and the lifting mechanism rise, and the weighing sensor detects the weight of the plate absorbed by the vacuum suction cup hanger and transmits it to the control system to determine whether it meets the set weighing threshold of a single plate, that is, 1.5 times the weight of a single plate. If the weighing information is lower than the set weighing threshold, it indicates that a single plate is absorbed and can continue to be lifted to a safe height. The walking mechanism controls the plate conveyor to automatically position itself to the plate placement position; if the weighing information is higher than the set weighing threshold, it indicates that multiple plates are absorbed. The control system controls the suction cup connected to the plate through the cylinder to continuously change the height of the suction cup, vibrate and throw off the excess adsorbed plates, and lift it to a safe height after the weighing information meets the weighing threshold. The walking mechanism controls the plate conveyor to automatically position itself to the plate placement position.

[0064] S4. After reaching the board placement position, the board transport trolley automatically descends to place the board after obtaining information from the control system allowing the board to be placed.

[0065] S5. After the board is placed, the next board will be transported according to the transportation task and the number of boards. The above transportation steps will be repeated until all boards are hoisted and the machine automatically returns to the waiting position to wait for the next transportation task.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A fully automatic single-sheet flexible plate transfer method based on machine vision, characterized in that: The method is based on a heavy-load suction and handling operation equipment to transfer a single flexible plate. The heavy-load suction and handling operation equipment includes a moving part and a vacuum suction cup sling. The vacuum suction cup sling and the lifting mechanism of the moving part are connected through a weighing sensor and a connecting pin. The vacuum suction cups on the vacuum suction cup sling are arranged in groups and in parallel along the longitudinal direction of the overhead crane body. Each group is composed of multiple vacuum suction cups. The height difference of the longitudinal suction cups and the spacing of the transverse suction cups are adjustable. The transfer steps include: S1. Obtain the data of the plates to be transported, scan the warehouse area through the 3D laser machine vision scanning system, determine the position and height of the stack of plates to be transported, and transmit the information to the control system; S2. The control system combines the positioning laser measurement data of the plate transport trolley to control the conveyor to move above the plate stack, and uses the visual automatic recognition device on the plate transport trolley to scan the inkjet coding information on the surface of the plate on the stack to obtain the specifications and models of the plates; S3. The control system adjusts the vacuum suction cup to move to the surface of the plate according to the obtained plate specification and model information, sucks the plate and lifts it to a safe height, and the walking mechanism controls the plate conveyor to automatically position itself to the plate placement position; S31. After obtaining the specifications and models of the plate, the control system adjusts the spacing between the two groups of suction cups in the horizontal direction of the spreader and the height difference of the suction cups in the longitudinal direction through the plate transport walking trolley according to the width and length of the plate. The height difference of the suction cups in the longitudinal direction is adjustable. The number of suction cups to be put in is set according to the length of the flexible plate, and the unnecessary suction cups are retracted. The steel plates of different lengths and specifications are automatically transported. The spacing of the suction cups in the horizontal direction is adjustable to adapt to different steel plate widths. S32. Attach the vacuum suction cup hoist to the surface of the plate, start vacuuming the plate from the suction cups at the edge of the plate, and first lift the edge of the plate, and then control the suction cups in the middle of the longitudinal part to lift the plate in sequence; S33. After the adsorption is completed, the vacuum suction cup hanger and the lifting mechanism rise. The vacuum suction cup hanger and the lifting mechanism are connected through a weighing sensor and a connecting pin. The weighing sensor detects the weight of the plate absorbed by the vacuum suction cup hanger and transmits it to the control system to determine whether it meets the set weighing threshold of 1.2 to 1.7 times of the single plate. If it meets the threshold, it is lifted to a safe height, and the walking mechanism controls the plate conveyor to automatically position it to the plate placement position; if it does not meet the threshold, the control system controls the suction cup to continuously change the height of the suction cup connected to the plate through the cylinder, and the suction cup cylinder vibrates to throw off the excess adsorbed plate. After the weighing information meets the weighing threshold, it is lifted to a safe height, and the walking mechanism controls the plate conveyor to automatically position it to the plate placement position; S4. After reaching the board placement position, the board transport trolley automatically descends to place the board after obtaining information from the control system that allows the board to be placed; S5. After the plate is placed, the next plate is transported according to the transport task and the number of plates, and the above transfer steps are repeated until all the plates are lifted and automatically return to the waiting position to wait for the next transfer task.

2. A transfer device based on the fully automatic flexible sheet single transfer method based on machine vision as claimed in claim 1, characterized in that: include: A three-dimensional laser machine vision scanning system is used to scan the position and elevation data of the plates in the warehouse area. The three-dimensional laser machine vision scanning system is installed on the upper part of the warehouse area and transmits the scanned warehouse area information to the control system; The heavy-load suction and handling operation equipment is used to suck and transfer the plate to a designated location. The heavy-load suction and handling operation equipment includes a frame part, a moving part and a vacuum suction cup sling. The frame part is arranged in the storage area, the moving part is arranged on the frame part, the vacuum suction cup sling is connected to the moving part, and the vacuum suction cup fixture and the moving part are both connected to the control system; the moving part includes a plate transport walking trolley spanning between the tracks on both sides, the plate transport walking trolley body is driven by a walking mechanism to travel along the track, the plate transport walking trolley is provided with a lifting mechanism for vertically moving the transported object, the vacuum suction cup sling and the lifting mechanism are connected by a weighing sensor and a connecting pin, and the vacuum suction cup sling is provided with a plurality of vacuum suction cups, which are arranged in parallel along the longitudinal direction of the overhead crane body, and the height difference of the longitudinal suction cups and the spacing between the transverse suction cups are adjustable; A visual automatic recognition device is used to recognize the plate code, the visual automatic recognition device is installed on the heavy-load suction and handling operation equipment, and the control system adjusts the vacuum suction cup clamp according to the plate specifications recognized by the visual automatic recognition device; The control system receives information from the 3D laser machine vision scanning system, heavy-load suction and handling equipment, and visual automatic recognition equipment and provides action feedback.

3. The transfer device of the fully automatic flexible sheet single transfer method based on machine vision according to claim 2 is characterized in that: The control system includes laser scanning and visual recognition control, heavy-load suction and handling equipment scheduling and motion control. The control system drives the heavy-load suction and handling equipment to move to the target position through the feedback information of the three-dimensional laser machine vision scanning system, and then adjusts the heavy-load suction and handling equipment through the information feedback from the visual automatic recognition equipment to suck and carry the plate below.

4. The transfer device of the fully automatic flexible single sheet transfer method based on machine vision according to claim 2 is characterized in that: A laser distance measuring sensor is arranged at one end of the moving part, and a laser reflecting plate corresponding to the laser distance measuring sensor is installed at the end position of the track of the frame part.

5. The transfer device of the fully automatic flexible single sheet transfer method based on machine vision according to claim 2 is characterized in that: The frame part comprises columns arranged on both sides of the moving part, and a track-supporting beam is arranged between the adjacent columns on each side, and a track is laid on the track-supporting beam.

6. The transfer device of the fully automatic flexible single sheet transfer method based on machine vision according to claim 2 is characterized in that: The weighing sensor is connected with a control system.

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