A control method for a sorting production line based on visual regulation

Abstract

The present invention discloses a control method for a sorting production line based on visual regulation. The control method includes: acquiring the information of the tray screen and the information of the box screen, and feeding them back to the control host; the control host marks the coordinate points of the mooncakes on the tray based on the tray screen information to obtain the mooncake coordinate point information; the control host marks the box based on the box screen information to obtain the box marking information; the control host divides a number of sorting areas on the tray according to the mooncake coordinate point information, and generates area sorting instructions in combination with the box marking information; the first type of sorting manipulator sorts a number of mooncakes on the tray by area according to the area sorting instructions; the control host generates global sorting instructions according to the mooncake coordinate point information; the second type of sorting manipulator completes the sorting operation according to the global sorting instructions. By setting multiple sorting manipulators on the production line and combining visual regulation to perform area sorting and global sorting on the mooncakes on the tray in sequence, the sorting efficiency is improved.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of automated production, and particularly relates to a control method for a sorting production line based on visual regulation. Background Art

[0002] Currently, for the mooncake processing production line, automated production lines are generally used for processing. When sorting and packaging mooncakes, multiple manipulators are usually arranged on the mooncake conveyor belt for identification and grasping. By repeatedly identifying and grasping the mooncakes on the tray with multiple manipulators, the grasping and sorting of all mooncakes are completed. However, each manipulator only relies on its own sensors for identifying, clamping, and sorting mooncakes, resulting in a long time for the manipulator to identify and clamp mooncakes, which affects the efficiency of mooncake sorting and packaging in production. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a control method for a sorting production line based on visual regulation. The control method improves the sorting efficiency by arranging multiple sorting manipulators on the production line and combining visual regulation to sequentially perform regional sorting and global sorting on the mooncakes on the tray.

[0004] The present invention provides a control method for a sorting production line based on visual regulation. The sorting production line includes a control host, a roller conveyor mechanism, a lifting device located within the roller conveyor mechanism, a sorting conveyor belt, a material box conveyor belt arranged in parallel on the side of the sorting conveyor belt, and a plurality of sorting manipulators arranged above the sorting conveyor belt. Any one of the sorting manipulators is provided with a sub-control module and a sensor. The plurality of sorting manipulators include a first type of sorting manipulator and a second type of sorting manipulator;

[0005] The control method includes:

[0006] Drive the tray full of mooncakes to the sorting conveyor belt, obtain the tray image information on the sorting conveyor belt, and feedback the tray image information to the control host;

[0007] The control host marks the coordinate points of the mooncakes on the tray based on the tray image information to obtain the mooncake coordinate point information;

[0008] Drive the material box to the material box conveyor belt, obtain the material box image information on the material box conveyor belt and feedback it to the control host;

[0009] The control host marks the material box based on the material box image information to obtain the material box marking information;

[0010] The control host divides a plurality of sorting areas on the tray according to the mooncake coordinate point information, and generates a regional sorting instruction in combination with the material box marking information;

[0011] The first type of sorting manipulator sorts several mooncakes on the tray according to the area sorting instruction to obtain the tray after area sorting;

[0012] The control host generates a global sorting instruction according to the mooncake coordinate point information;

[0013] The second type of sorting manipulator performs a sorting operation on all the mooncakes on the tray after area sorting according to the global sorting instruction.

[0014] Further, driving the tray full of mooncakes to the sorting conveyor belt, obtaining the tray picture information on the sorting conveyor belt, and feeding back the tray picture information to the control host includes:

[0015] Driving the tray full of mooncakes into the sorting conveyor belt through the roller transmission mechanism, recording the tray picture information through the first camera, and feeding back the tray picture information to the control host.

[0016] Further, the control host marks the tray based on the tray picture information to obtain the tray marking information, including:

[0017] The control host receives the tray picture information, marks the center position of the tray according to the tray picture information, and records the distance between any two adjacent tray marking points.

[0018] Further, the control host marks the coordinate points of the mooncakes on the tray based on the tray picture information to obtain the mooncake coordinate point information, including:

[0019] After receiving the picture information, the control host extracts the arrangement picture information of the mooncakes on the tray in the tray picture information through image processing;

[0020] The control host establishes a coordinate system with the tray, determines the coordinates of the mooncakes on the tray according to the arrangement picture information, and obtains the mooncake coordinate point information.

[0021] Further, the control host extracts the outer contour information of the tray according to the tray picture information, performs a distance measurement process on the contour information of the tray and the edge contour information of the sorting conveyor belt, and generates the tray position information.

[0022] Further, the control host divides several sorting areas on the tray according to the mooncake coordinate point information, and generates the area sorting instruction in combination with the tray marking information, including:

[0023] The control host divides the material tray into several sorting areas according to the mooncake coordinate point information, and allocates the several sorting areas to the first type of sorting manipulators one by one in combination with the number of the first type of sorting manipulators.

[0024] Further, the control host calculates the sorting action trajectory of the first type of manipulator in the corresponding sorting area according to the material box marking information, and generates the area sorting instruction.

[0025] Further, the first type of sorting manipulator sorts several mooncakes on the material tray by area according to the area sorting instruction, including:

[0026] The first type of sorting manipulator moves above the mooncake according to the area sorting instruction, identifies the mooncake through a sensor, and feeds it back to the sub-control module;

[0027] The sub-control module calculates according to the transmission rate of the sorting conveyor belt to obtain the grasping point information of the mooncake, and generates a grasping instruction;

[0028] The first type of manipulator completes the grasping operation of the mooncake based on the grasping instruction.

[0029] Further, the control host generates a global sorting instruction according to the mooncake coordinate point information, including:

[0030] The control host obtains the distance of each column of mooncakes in the X-axis direction according to the mooncake coordinate point information;

[0031] Wherein, the conveying direction of the sorting conveyor belt is the Y-axis direction, and the direction perpendicular to the side of the sorting conveyor belt is set as the X-axis direction.

[0032] Further, the second type of sorting manipulator completes the sorting operation of the mooncakes on the material tray according to the global sorting instruction, including:

[0033] The second type of sorting manipulator moves to the coordinate position corresponding to the mooncake on the material tray in the X-axis direction in sequence based on the global sorting instruction, and identifies and grabs and sorts the mooncakes moving along the Y-axis direction through a sensor.

[0034] The present invention provides a control method for a sorting production line based on vision regulation. The control method effectively improves the sorting efficiency by arranging a plurality of sorting manipulators on the conveyor belt of the sorting production line and sorting the mooncakes on the material tray by area and globally through several sorting manipulators in combination with image processing. Brief Description of the Drawings

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 is a schematic structural diagram of the sorting production line in the embodiment of the present invention;

[0037] Figure 2 is a schematic connection diagram of the control system structure of the sorting production line in the embodiment of the present invention;

[0038] Figure 3 is a schematic flowchart of the control method of the sorting production line in the embodiment of the present invention;

[0039] Figure 4 is a schematic diagram of the mooncake coordinate calculation state in the embodiment of the present invention. Detailed implementation manners

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0041] The embodiment of the present invention provides a control method for a sorting production line based on visual regulation. Please refer to Figure 1 and Figure 2 , the sorting production line includes a control host 1, a roller conveyor mechanism, a lifting device located in the roller conveyor mechanism, a sorting conveyor belt 7, a first material box conveyor belt and a second material box conveyor belt located on both sides of the sorting conveyor belt 7, and a plurality of sorting manipulators arranged above the sorting conveyor belt 7.

[0042] Specifically, one end of the first material box conveyor belt is connected to a material box feeding mechanism. A plurality of material bins are provided on the material box feeding mechanism. Any one of the material bins contains a plurality of material boxes, and the material box feeding mechanism can simultaneously complete the feeding operation of multiple material boxes.

[0043] Furthermore, the plurality of material boxes are stacked on the first material box conveyor belt, and the transportation rate of the first material box conveyor belt is greater than that of the sorting conveyor belt 7, which is convenient for the plurality of sorting manipulators to place the mooncakes in the material boxes correspondingly when clamping and transporting the mooncakes.

[0044] Furthermore, the second material box conveyor belt has the same structural features and functional effects as the first material box conveyor belt, which will not be described in detail here.

[0045] Specifically, the plurality of sorting robots include two first-type sorting robots 4 and one second-type sorting robot 5. The first-type sorting robots 4 are located close to the loading mechanism 6. When the material tray enters the sorting conveyor belt 7 through the loading mechanism 6, the sorting conveyor belt 7 completes the sorting work after passing through the sorting operations of the first-type sorting robots 4 and the second-type sorting robots 5 in succession.

[0046] Furthermore, the number of the first-type sorting robots 4 and the number of the second-type sorting robots 5 can be adjusted.

[0047] Furthermore, several of the sorting robots are provided with sensors, which may be visual sensors or infrared sensors. The sensors may improve the accuracy of identifying moon cakes and material boxes, thereby improving the sorting effect of the sorting robot.

[0048] Furthermore, several of the sorting robots are provided with sub-control modules, which are used to obtain the identification information of the sensor. The sub-control module can predict the position of the clamping point of the mooncakes according to the transmission rate of the sorting conveyor belt 7 and the mooncake identification information of the visual sensor, generate clamping instructions and control the sorting robot to clamp the mooncakes based on the clamping instructions.

[0049] Specifically, the sorting production line is provided with a first camera 2 and two second cameras 3, the first camera 2 is arranged at the head end position of the sorting conveyor belt, and the two second cameras 3 are respectively located at the head end positions of the first material box conveyor belt and the second material box conveyor belt. When the material tray enters the sorting conveyor belt 7, the first camera 2 is used to capture the image information of the material tray, and the second camera 3 is used to capture the material box image information of the first material box conveyor belt and the second material box conveyor belt.

[0050] Specifically, when the material tray is transported to the position of the lifting device, the lifting device lifts the material tray so that the material tray is separated from the roller conveyor belt, and the material tray can stay on the lifting device and wait.

[0051] Furthermore, the lifting device can be configured as a rotating member, and the position of the material tray can be adjusted by rotating it, so as to facilitate the sorting operation by the sorting robot.

[0052] Specifically, when the first camera 2 captures the previous tray entering the sorting conveyor belt 7, it feeds back to the control host 1. The control host 1 generates a loading instruction and sends it to the lifting device. The lifting device lowers the tray based on the loading instruction, so that the tray contacts the roller conveyor belt and moves towards the sorting conveyor belt 7 under the drive of the roller conveyor belt.

[0053] Further, a transition conveyor belt is provided between the roller conveyor belt and the sorting conveyor belt 7. The speed of the roller conveyor belt is v1, the speed of the transition conveyor belt is v2, and the speed of the sorting conveyor belt 7 is v3. The constraint relationship among v1, v2, and v3 is v1 > v2 > v3.

[0054] Further, by setting a transition conveyor belt to buffer and decelerate the tray, collisions between trays are avoided.

[0055] Specifically, an identification device 8 is provided on the sorting conveyor belt 7. The first camera 2 is arranged inside the identification device 8. A lighting component is arranged inside the identification device 8. The irradiation direction of the lighting component faces the sorting conveyor belt 7 to provide sufficient lighting conditions for the first camera 2. When the tray passes through the identification device 8, the first camera 2 captures and records the picture information of the tray.

[0056] Further, the first camera 2 records the position information of the tray on the conveyor belt and feeds it back to the control host 1. The width of the sorting conveyor belt is greater than the width of the tray. Since during the transportation process, the position states of different trays on the conveyor belt may be different, by capturing the position state of the tray on the conveyor belt through the first camera 2, the control host 1 can adjust the sorting operation of the sorting manipulator according to the position state of the tray.

[0057] Specifically, please refer to Figure 3 , the sorting method of the sorting production line includes:

[0058] S11: Drive the tray full of mooncakes to the sorting conveyor belt 7, obtain the picture information of the tray on the sorting conveyor belt 7, and feed back the picture information to the control host 1.

[0059] Specifically, the loading mechanism 6 transports the tray full of mooncakes to above the lifting device through the roller conveying mechanism. The lifting device lifts the tray, so that the tray is separated from the roller conveyor belt. The tray can stay and wait on the lifting device. When the control host 1 issues a loading instruction, the lifting device lowers the tray onto the roller conveyor belt and transports it to the sorting conveyor belt 7 under the action of the roller conveyor belt.

[0060] Further, the first camera 2 captures the trays entering the sorting conveyor belt 7 and feeds back to the control host 1, and the control host 1 generates a feeding instruction, and performs the feeding operation of the next tray through the feeding mechanism 6.

[0061] Further, the tray is lifted by the lifting device and waits, so as to control the time for each tray to enter the sorting conveyor belt 7, so that a plurality of the sorting manipulators can orderly complete the sorting operation of the mooncakes on each tray.

[0062] Further, the first camera 2 records the picture information of the trays entering the sorting conveyor belt 7 and feeds back the picture information to the control host 1.

[0063] S12: The control host marks the coordinate points of the mooncakes on the tray based on the tray picture information to obtain the mooncake coordinate point information.

[0064] Specifically, after the control host 1 receives the tray picture information, it extracts the arrangement picture information of the mooncakes on the tray in the tray picture information through image processing, including: after the control host 1 receives the tray picture information, the control host 1 performs image processing on the tray picture information, extracts the contour information of the tray, the edge contour information of the sorting conveyor belt 7, and the outer contour information of the arrangement of the mooncakes in the tray, and generates the arrangement picture information of the mooncakes based on the outer contour information of the mooncakes.

[0065] Further, the control host 1 can process the picture information by the binary image method, and repeat the processing to obtain the outer contour information of the arrangement of the mooncakes in the tray, the contour information of the tray, and the edge contour information of the sorting conveyor belt 7 in turn.

[0066] Further, the binary image method means hollowing out the points inside the object contour, that is, judging the gray value of a certain point and whether the gray values of its 8 neighboring points belong to the gray value of the target object. If so, it means it is an internal point and it is changed to the background gray value.

[0067] Further, the control host 1 can also perform edge detection through Roberts operator, Sobel operator, Prewitt operator, Log operator (Gaussian-Laplacian operator) to extract the contour information of the tray, the edge contour information of the sorting conveyor belt 7, and the outer contour information of the arrangement of the mooncakes in the tray.

[0068] Specifically, the control host 1 establishes a coordinate system with the tray, determines the coordinates of the mooncakes on the tray according to the arrangement picture information, and obtains the mooncake coordinate point information.

[0069] Further, in this embodiment, the corner position on the tray closest to the first cartridge conveyor belt is taken as the coordinate origin, the mooncake transportation direction is taken as the Y-axis direction, and the direction perpendicular to the side of the first cartridge conveyor belt is taken as the X-axis direction to establish a coordinate system, and coordinate points are marked for all the mooncakes on the tray.

[0070] S13: Drive the cartridge to the cartridge conveyor belt, obtain the cartridge image information on the cartridge conveyor belt and feed it back to the control host.

[0071] Specifically, in this embodiment, both the first cartridge conveyor belt and the second cartridge conveyor belt are provided with cartridge loading machines, and the cartridge loading machines can perform multiple cartridge loading operations simultaneously to load multiple cartridges onto the first cartridge conveyor belt and the second cartridge conveyor belt.

[0072] S14: The control host marks the cartridge based on the cartridge image information to obtain cartridge marking information.

[0073] Specifically, the control host receives the cartridge image information, marks the center position of the cartridge according to the cartridge image information, and records the distance between any two adjacent cartridge marking points.

[0074] Specifically, the cartridge loading machine drives an empty cartridge to the first cartridge conveyor, and the cartridges on the first cartridge conveyor pass through the second camera 3 in sequence. The second camera 3 captures the cartridge image information on the first cartridge conveyor and sends the cartridge image information to the control host.

[0075] Further, the control host performs image processing on the cartridge image information according to the cartridge image information, extracts and marks the center position of the cartridge to obtain cartridge marking information.

[0076] S15: The control host divides a number of sorting areas on the tray according to the mooncake coordinate point information, and generates area sorting instructions in combination with the cartridge marking information.

[0077] The control host 1 determines the relative position information of each sorting area on the sorting conveyor belt 7 according to the tray position information; the first type of sorting manipulator 4 obtains the relative position information of the corresponding sorting area based on the area sorting instructions and adjusts its own action position relative to the sorting conveyor belt 7 to determine the working area.

[0078] Further, the number of the sorting areas is the same as the number of the first type of sorting manipulators 4, and the area sorting instructions specify the sorting areas corresponding to each of the first type of sorting manipulators 4.

[0079] Further, in this embodiment, the sorting area is divided by evenly dividing the tray into two parts, namely the left sorting area and the right sorting area, corresponding to the two first-class sorting manipulators 4.

[0080] Specifically, the control host 1 determines the relative position information of each sorting area relative to the sorting conveyor belt 7 according to the tray position information. The first-class sorting manipulator 4 obtains the relative position information of the corresponding sorting area based on the area sorting instruction, and adjusts its own action position relative to the sorting conveyor belt 7 to determine the working area. When the tray enters the working area of the first-class sorting manipulator 4, the first-class sorting manipulator 4 can enter the sorting working state, improving the sorting efficiency.

[0081] Further, the tray position information includes the position of the tray relative to the sorting conveyor belt 7, such as whether the side of the tray is parallel to the side of the sorting conveyor belt 7, the distance between the side of the tray and the side of the sorting conveyor belt 7, etc.

[0082] Specifically, the control host calculates the sorting action trajectory of the first-class manipulator in the corresponding sorting area according to the cartridge marking information, and generates the area sorting instruction.

[0083] Further, the control host calculates the handling and sorting path for the first-class sorting manipulator to complete the mooncake sorting operation between two adjacent cartridges according to the cartridge marking information, the distance between two adjacent cartridge markings, and the mooncake coordinate information on the tray.

[0084] Further, the first-class sorting manipulator 4 moves above the cartridge conveyor belt according to the handling and sorting path. After identifying an empty cartridge and completing one sorting, after picking up the next mooncake, it returns above the cartridge conveyor belt along the handling and sorting path, and moves a preset distance along the conveying direction of the cartridge conveyor belt to identify an empty cartridge adjacent to the cartridge sorted last time, thus completing the sorting of adjacent cartridges.

[0085] S16: The first-class sorting manipulator sorts several mooncakes on the tray according to the area sorting instruction by area.

[0086] Specifically, based on the area sorting instruction, the first type of sorting manipulator 4 determines its own working area and performs sorting operations in its working area based on the area sorting instruction. The first type of sorting manipulator 4 identifies the mooncakes on the tray through sensors and feeds back to the sub-control module. The sub-control module calculates based on the transmission rate of the sorting conveyor belt 7 to obtain the grasping point information of the mooncakes and generates a grasping instruction. Based on the area sorting instruction, the first type of sorting manipulator 4 moves above the mooncakes in the corresponding sorting area in the tray, captures the mooncakes on the tray entering the working area of the first type of sorting manipulator 4 through sensors, and sends the mooncake identification information to the sub-control module. The sub-control module calculates the grasping point of the mooncake according to the mooncake identification information combined with the transmission rate v3 of the sorting conveyor belt 7 and generates a grasping instruction to control the first type of sorting manipulator 4 to perform grasping.

[0087] Specifically, after the first type of sorting manipulator 4 grasps the mooncakes, it moves above the first material box conveyor belt or the second material box conveyor belt based on the grasping instruction. Through the infrared sensor of the first type of sorting manipulator 4, it identifies the status information of the material boxes on the material box conveyor belt and places the mooncakes in the empty material boxes, completing the sorting of a single mooncake. The first type of sorting manipulator 4 returns to its own working area and continues to execute the area sorting instruction until the tray leaves the working area of the first type of sorting manipulator 4 along with the sorting conveyor belt 7.

[0088] Specifically, the first type of sorting manipulator moves above the material box conveyor belt along the sorting and handling path according to the area sorting instruction, identifies the empty material boxes through sensors, and sorts the mooncakes into the empty material boxes.

[0089] Furthermore, the first type of sorting manipulator 4 adopts a sorting logic of "placing two and skipping one", that is, after completing the sorting and placement of mooncakes in two adjacent empty material boxes, it skips to the next adjacent empty material box and performs mooncake sorting on the subsequent empty material boxes. Cooperating with the conveying rate of the material box conveyor belt, it can maintain the fast sorting rhythm of the first type of sorting manipulator, enabling the first type of sorting manipulator to maintain a relatively stable working range along the handling and sorting path, thereby improving the sorting efficiency of the first type of sorting manipulator.

[0090] S17: The control host generates a global sorting instruction according to the mooncake coordinate point information.

[0091] S18: The second type of sorting manipulator performs sorting operations on all the mooncakes on the tray after area sorting according to the global sorting instruction.

[0092] Specifically, the control host calculates the distance between each mooncake and the adjacent conveyor belt according to the mooncake coordinate point information, thereby generating a global sorting instruction.

[0093] Specifically, please refer to Figure 4 , where one corner position of the material tray of the control host is taken as the origin, the distance from the origin to the side of the adjacent sorting conveyor belt is x0. On the premise that the side of the material tray is parallel to the side of the sorting conveyor belt, the coordinate information (x1, y1) of each mooncake is generated, and the distance of each mooncake from the side of the adjacent sorting conveyor belt is calculated according to the coordinate information of each mooncake.

[0094] Further, the calculation formula is:

[0095] X f =(y1*sinα + x1)*cosα + x0;

[0096] Where: X f is the distance of the mooncake from one side of the sorting conveyor belt, y1 is the distance of the mooncake in the longitudinal axis direction from the origin, x1 is the distance of the mooncake in the horizontal axis direction from the origin, x0 is the distance from the origin to one side of the sorting conveyor belt, and α is the included angle between one side of the material tray and one side of the sorting conveyor belt.

[0097] Further, the distance of the mooncake from the first material box conveyor belt is obtained according to the calculation formula. By subtracting the distance between the first material box conveyor belt and the second material box conveyor belt from the above calculation result, the distance of the mooncake from the second material box conveyor belt can be obtained.

[0098] Further, calculate the distance of the mooncakes in the left sorting area from the first material box conveyor belt, and the distance of the mooncakes in the right sorting area from the second material box conveyor belt.

[0099] Specifically, the control host calculates the shortest handling and sorting path for the second type of sorting manipulator to carry the mooncakes to the first material box conveyor belt and the second material box conveyor belt according to the calculation result, and summarizes and generates a global sorting instruction.

[0100] Further, the second type of sorting manipulator sequentially identifies the remaining mooncakes on the material tray based on the global sorting instruction and completes the sorting operation.

[0101] Specifically, the second type of sorting manipulator 5 moves to the X-axis direction coordinate position of one of the mooncakes on the material tray. When the material tray enters the working area of the second type of sorting manipulator 5, the remaining mooncakes on the material tray move along the Y-axis direction with the sorting conveyor belt 7. The second type of sorting manipulator 5 identifies the mooncakes moving along the Y-axis direction through the vision sensor and performs the clamping and sorting operation, and sequentially completes the clamping and sorting operations of all the remaining mooncakes.

[0102] Further, the picking and sorting operation of the second sorting manipulator is the same as that of the first type of sorting manipulator 4. By identifying the mooncakes and predicting the picking points of the mooncakes for picking, the picked mooncakes are transported above the material box conveyor belt, and the empty material box is identified and placed on it. The specific operation can refer to the operation process of the first type of sorting manipulator 4, which will not be elaborated here one by one.

[0103] Specifically, the present invention provides a control method for a sorting production line based on vision regulation. The control method captures the first arrangement picture information of the full mooncake trays on the sorting conveyor belt 7, picks and sorts the mooncakes on the trays in regions. After completing the regional sorting, the second arrangement picture information of the trays is obtained again, and the remaining mooncakes are globally picked and sorted according to the second arrangement picture information. The positions of the mooncakes are marked by combining image processing, and regional sorting and global sorting are processed in stages to improve the sorting efficiency of the manipulator.

[0104] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc.

[0105] In addition, the above has introduced in detail a control method for a sorting production line based on vision regulation provided by the embodiments of the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A control method for a sorting production line based on visual regulation, characterized in that, The sorting production line includes a control host, a roller conveyor mechanism, a lifting device located within the roller conveyor mechanism, a sorting conveyor belt, a cartridge conveyor belt arranged in parallel on the side of the sorting conveyor belt, and a plurality of sorting manipulators arranged above the sorting conveyor belt. Any one of the sorting manipulators is provided with a sub-control module and a sensor. The plurality of sorting manipulators include a first type of sorting manipulator and a second type of sorting manipulator; The control method includes: Driving a tray full of mooncakes to the sorting conveyor belt, obtaining the tray image information on the sorting conveyor belt, and feeding back the tray image information to the control host; The control host marks the coordinate points of the mooncakes on the tray based on the tray image information to obtain mooncake coordinate point information; Driving a cartridge to the cartridge conveyor belt, obtaining the cartridge image information on the cartridge conveyor belt and feeding it back to the control host; The control host marks the cartridge based on the cartridge image information to obtain cartridge marking information; The control host divides a plurality of sorting areas on the tray according to the mooncake coordinate point information, and generates area sorting instructions in combination with the cartridge marking information; The first type of sorting manipulator sorts a plurality of mooncakes on the tray by area according to the area sorting instructions to obtain a tray after area sorting; The control host generates a global sorting instruction according to the mooncake coordinate point information; The second type of sorting manipulator performs a sorting operation on all the mooncakes on the tray after area sorting according to the global sorting instruction; The control host marks the cartridge based on the cartridge image information to obtain cartridge marking information, including: The control host receives the cartridge image information, marks the center position of the cartridge according to the cartridge image information, and records the distance between any two adjacent cartridge marking points; The control host generates a global sorting instruction according to the mooncake coordinate point information, including: The control host obtains the X-axis direction distance of each column of mooncakes according to the mooncake coordinate point information; Wherein, the conveying direction of the sorting conveyor belt is the Y-axis direction, and the direction perpendicular to the side of the sorting conveyor belt is set as the X-axis direction.

2. The control method of the sorting production line based on visual regulation according to claim 1, wherein The driving of a tray full of mooncakes to the sorting conveyor belt, obtaining the tray image information on the sorting conveyor belt, and feeding back the tray image information to the control host includes: Driving a tray full of mooncakes into the sorting conveyor belt through the roller transmission mechanism, recording the tray image information through a first camera, and feeding back the tray image information to the control host.

3. The control method of the sorting production line based on visual regulation according to claim 1, characterized in that, The control host marks the coordinate points of the mooncakes on the tray based on the tray image information to obtain mooncake coordinate point information, including: After receiving the tray image information, the control host extracts the arrangement image information of the mooncakes on the tray in the tray image information through image processing; The control host establishes a coordinate system with the tray, and determines the coordinates of the mooncakes on the tray according to the arrangement image information to obtain the mooncake coordinate point information.

4. The control method of the sorting production line based on visual regulation according to claim 3, characterized in that, The control host extracts the outer contour information of the tray according to the tray image information, performs a distance measurement process on the contour information of the tray and the edge contour information of the sorting conveyor belt, and generates tray position information.

5. The control method of the sorting production line based on visual regulation according to claim 1, characterized in that, The control host divides a number of sorting areas on the tray according to the mooncake coordinate point information, and generates area sorting instructions in combination with the material box marking information, including: The control host divides the tray into a number of sorting areas according to the mooncake coordinate point information, and in combination with the number of the first type of sorting manipulators, assigns the number of sorting areas to the first type of sorting manipulators one by one.

6. The control method of the sorting production line based on visual regulation according to claim 5, characterized in that, The control host calculates the sorting action trajectory of the first type of sorting manipulator in the corresponding sorting area according to the material box marking information, and generates the area sorting instructions.

7. The control method of the sorting production line based on vision regulation according to claim 1, characterized in that, The first type of sorting manipulator sorts a number of mooncakes on the tray by area according to the area sorting instructions, including: The first type of sorting manipulator moves above the mooncake according to the area sorting instructions, identifies the mooncake through a sensor, and feeds it back to the sub-control module; The sub-control module calculates in combination with the transmission rate of the sorting conveyor belt to obtain the grasping point information of the mooncake, and generates a grasping instruction; The first type of sorting manipulator completes the grasping operation of the mooncake based on the grasping instruction.

8. The control method of the sorting production line based on visual regulation according to claim 1, characterized in that The second type of sorting manipulator completes the sorting operation of the mooncakes on the tray according to the global sorting instructions, including: The second type of sorting manipulator sequentially moves to the coordinate positions corresponding to the mooncakes on the tray in the X-axis direction based on the global sorting instructions, and identifies and clamps and sorts the mooncakes moving in the Y-axis direction through a sensor.

Images