Method and system for detecting the pose of a profile on a heavy load palletizer conveyor chain

Abstract

The application provides a method for detecting the pose of a profile on a heavy load palletizer conveying chain, and relates to the field of pose recognition. The method comprises the following steps: obtaining a first time group of a first group of reference points at the beginning of a conveying chain detection section and a second time group of a second group of reference points at the end of the conveying chain detection section; calculating the total time between each two reference points corresponding to the positions of the first group of reference points and the second group of reference points through which the profile passes the conveying chain detection section, respectively, to obtain a plurality of groups of real time; comparing the relationship between the real time and a preset first time, and adjusting the first pose of the profile according to the comparison result; calculating the time interval of the adjacent two profiles passing through the second group of reference points, comparing the relationship between the time interval and a preset standard interval, and adjusting the second pose of the profile according to the comparison result. The application is suitable for conveying control in the conveying process of the profile on the heavy load palletizer conveying chain, and can provide guidance information for the head lifting for correcting the pose of the profile on the conveying chain, and the step distance adjustment of the front and rear profiles.

Description

Technical Field

[0001] This invention relates to the field of posture recognition technology, specifically to a method and system for detecting the posture of profiles on the conveyor chain of a heavy-duty palletizer. Background Technology

[0002] With the development of science and technology and industry, the application of automatic palletizing machines has spread to multiple industries. Automatic palletizing machines can improve production efficiency, reduce labor costs, and increase corporate profits for enterprises, showing significant application prospects in industries such as materials, warehousing, and manufacturing. Before use, automatic palletizing machines need to have their parameters adjusted according to the specific scenario to adapt to different workpieces and palletizing methods. During use, they execute the work cyclically according to the set workflow.

[0003] Currently, automated palletizers primarily execute tasks cyclically according to a set operating cycle and cannot adaptively pick up workpieces based on their posture. This means that workpieces transported to the automated palletizer must maintain a set posture; otherwise, the palletizing efficiency of the production line will be significantly reduced. Furthermore, while existing pre-palletizing conveyor chains use sensors to detect workpiece posture, manual adjustments by multiple people are required, resulting in low efficiency and high labor costs. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizer. By monitoring the time and image of the profiles passing through reference points on the conveyor chain, the position and orientation of the profiles can be detected and corrected, thereby improving the palletizing efficiency of the heavy-duty palletizer.

[0005] To achieve the above objectives, the present invention proposes the following technical solution:

[0006] Firstly, a method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizer is proposed, including:

[0007] The first time group of the profile passes through the first set of reference points at the beginning of the conveyor chain detection section and the second time group passes through the second set of reference points at the end of the conveyor chain detection section. The first set of reference points is arranged at intervals along the length of the profile. Each reference point in the first set of reference points corresponds to each reference point in the second set of reference points. The distance between any two reference points in the first set of reference points and the second set of reference points is equal.

[0008] Calculate the total time between each pair of reference points corresponding to the positions in the first and second sets of reference points in the conveyor chain detection section of the profile to obtain several sets of real times;

[0009] The relationship between the actual time and the preset first time is compared, and based on the comparison results, the first posture of the profile is adjusted in the correction section of the conveyor chain by selecting a maintenance operation strategy, a first speed regulation strategy, a short-term blocking strategy, or a speed regulation and blocking parallel strategy; wherein, the adjustment target of the first posture of the profile is that when the profile is conveyed on the conveyor chain, its length direction is horizontal and perpendicular to the conveying direction of the conveyor chain.

[0010] Based on the second time group of two adjacent profiles that pass through the second set of reference points at the end of the conveyor chain detection section in sequence, calculate the time interval between the two adjacent profiles passing through the second set of reference points;

[0011] The relationship between the comparison time interval and the preset standard interval is used, and the second position of the profile is adjusted by selecting either the maintenance operation strategy or the second speed regulation strategy in the correction section of the conveyor chain based on the comparison results; wherein, the adjustment target of the second position of the profile is that the distance between two adjacent profiles when they are conveyed on the conveyor chain is equal to the preset distance.

[0012] Furthermore, it also includes:

[0013] According to a preset cycle, several images of each reference point in the second set of reference points at the end of the conveyor chain detection section are acquired. The preset standard image of any reference point in the second set of reference points is matched with the acquired images corresponding to each reference point to perform pose recognition and matching, so as to adjust the third pose of the profile in the conveyor chain correction section according to the recognition and matching results. The adjustment target of the third pose of the profile is that the cross-sectional view of the profile in the length direction when it is conveyed on the conveyor chain is completely matched with the cross-sectional view of the profile in the length direction when it is conveyed in the preset standard pose.

[0014] Furthermore, the process of adjusting the first orientation of the profile based on the comparison results is as follows:

[0015] Calculate and obtain at least two real times t2 and t3, compare them with a preset first time t1, and when:

[0016] t1 = t2 = t3, select the maintenance operation strategy; wherein, the maintenance operation strategy is to maintain the profile's movement and not adjust the profile's posture;

[0017] t2=t3≠t1, select the first speed adjustment strategy; wherein, the first speed adjustment strategy is to adjust the travel speed of the profile, reduce or increase the travel speed of the profile;

[0018] If t2 = t1 ≠ t3 or t3 = t1 ≠ t2, a short-time blocking strategy is selected; wherein, the short-time blocking strategy is to briefly block the profile position corresponding to the reference point on the shorter time side to correct the profile tilt;

[0019] t1≠t2≠t3, select the parallel strategy of speed adjustment and blocking; wherein, the parallel strategy of speed adjustment and blocking is to adjust the traveling speed of the profile while briefly blocking the profile position corresponding to the reference point on the shorter time side to correct the tilt of the profile.

[0020] Furthermore, based on the comparison results, the process of adjusting the second pose of the profile in the correction section of the conveyor chain is as follows:

[0021] When the calculated time interval is equal to the preset standard interval, the operation strategy is selected to maintain the profile's movement without adjusting its position.

[0022] When the calculated time interval is not equal to the preset standard interval, the second speed adjustment strategy is selected; wherein, the second speed adjustment strategy is to adjust the traveling speed of the profile, reduce or increase the traveling speed of the profile, so as to maintain the spacing between two adjacent profiles on the conveyor chain.

[0023] Furthermore, the process of adjusting the third pose of the profile based on the recognition and matching results is as follows:

[0024] Based on the recognition reference points of the preset standard image, the recognition and matching of several images corresponding to each reference point are performed to determine the deviation angle of the recognition position in the acquired image that matches the recognition reference point relative to the reference position.

[0025] The profile is flipped in the corrective section of the conveyor chain according to the deviation angle.

[0026] Furthermore, it also includes:

[0027] The third time group of the profile passing through the third set of reference points on the conveyor chain correction section is obtained; wherein the conveyor chain correction section is located behind the conveyor chain correction section, and each reference point in the third set of reference points corresponds one-to-one with each reference point in the second set of reference points, and the distance between any two reference points in the second set of reference points and the third set of reference points is equal.

[0028] The correction time between each pair of reference points corresponding to the positions in the second set of reference points and the third set of reference points is calculated respectively. Based on the comparison result of the correction time and the preset second time, it is determined whether the correction result of the first posture of the profile meets the expectations.

[0029] Calculate the time interval between two adjacent profiles passing through the third set of reference points, and determine whether the correction result of the second posture of the profile meets expectations based on the comparison result of the time interval and the preset correction time.

[0030] If the correction result of the first posture of the profile does not meet expectations or the correction result of the second posture of the profile does not meet expectations, then posture correction continues in the correction section of the conveyor chain.

[0031] Secondly, a detection system for the position and orientation of profiles on the conveyor chain of a heavy-duty palletizer is proposed, including:

[0032] The acquisition module is used to acquire the first time group of the profile passing through the first set of reference points at the beginning of the conveyor chain detection section and the second time group of the profile passing through the second set of reference points at the end of the conveyor chain detection section; wherein, the first set of reference points are arranged at intervals along the length direction of the profile, and each reference point in the first set of reference points corresponds to each reference point in the second set of reference points, and the distance between any two reference points in the first set of reference points and the second set of reference points is equal.

[0033] The first calculation module is used to calculate the total time between each pair of reference points corresponding to the positions in the first set of reference points and the second set of reference points in the conveyor chain detection section, and to obtain several sets of real times.

[0034] The first comparison and adjustment module is used to compare the relationship between the real time and the preset first time, and select the following strategies in the conveyor chain correction section: maintaining operation strategy, first speed adjustment strategy, short-term blocking strategy, or parallel speed adjustment and blocking strategy to adjust the first posture of the profile; wherein, the adjustment target of the first posture of the profile is that the length direction of the profile is horizontal and perpendicular to the conveying direction of the conveyor chain when the profile is conveyed on the conveyor chain.

[0035] The second calculation module is used to calculate the time interval between two adjacent profiles passing through the second set of reference points at the end of the conveyor chain detection section based on the second time group of two adjacent profiles passing through the second set of reference points in sequence.

[0036] The second comparison and adjustment module is used to compare the relationship between the time interval and the preset standard interval, and to select either the maintenance operation strategy or the second speed regulation strategy in the conveyor chain correction section to adjust the second pose of the profile based on the comparison result; wherein, the adjustment target of the second pose of the profile is that the distance between two adjacent profiles when they are conveyed on the conveyor chain is equal to the preset distance.

[0037] Furthermore, it also includes:

[0038] The image acquisition module is used to acquire several images of each reference point in the second set of reference points at the end of the conveyor chain detection section of the profile according to a preset cycle.

[0039] The identification and adjustment module is used to perform pose identification and matching between the preset standard image of any reference point in the second set of reference points and the acquired images corresponding to each reference point, so as to adjust the third pose of the profile in the correction section of the conveyor chain according to the identification and matching results; wherein, the adjustment target of the third pose of the profile is that the cross-sectional view of the profile in the length direction when it is conveyed on the conveyor chain is completely matched with the cross-sectional view of the profile in the length direction when it is conveyed in the preset standard pose.

[0040] Thirdly, a computer device is proposed, including at least one processor and a memory coupled together, the memory storing a program or instructions that run on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method for detecting the pose of profiles on the conveyor chain of a heavy-duty palletizer as described above.

[0041] Fourthly, a readable storage medium is proposed, on which a program or instructions are stored, characterized in that, when the program or instructions are executed by a processor, the steps of the method for detecting the pose of profiles on the conveyor chain of a heavy-duty palletizer as described above are implemented.

[0042] As can be seen from the above technical solutions, the technical solutions of the present invention have achieved the following beneficial effects:

[0043] (1) This method uses computer vision to obtain the image of the profile passing through the reference point and combines the sensor to obtain the time of the profile passing through the reference point, so as to more comprehensively realize the pose detection of the profile on the conveyor chain.

[0044] (2) The pose detection implemented by this method includes the traveling speed of a single profile on the conveyor chain, the moving speed of both ends of a single profile on the conveyor chain, and the distance between two profiles in front and behind.

[0045] (3) This method can help heavy-duty palletizers perform more efficient palletizing operations, thereby improving the overall working efficiency of heavy-duty palletizers;

[0046] (4) The data collected by this method can assist in the construction of the digital twin system of the heavy-duty palletizer, and provide support for the improvement of the working efficiency of the heavy-duty palletizer from the perspective of theoretical design and practical application.

[0047] It should be understood that all combinations of the foregoing concepts and the additional concepts described in more detail below can be considered part of the inventive subject matter of this disclosure, provided that such concepts do not contradict each other.

[0048] The foregoing and other aspects, embodiments, and features of the teachings of the present invention will be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the invention, such as features and / or beneficial effects of exemplary embodiments, will become apparent from the following description or may be learned through practice of specific embodiments according to the teachings of the present invention. Attached Figure Description

[0049] The accompanying drawings are not drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings, wherein:

[0050] Figure 1 This is a flowchart of the method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizer disclosed in this invention.

[0051] Figure 2 This is a schematic diagram of a profile conveyor chain consisting of a detection section and a correction section, as disclosed in an embodiment.

[0052] Figure 3 This is a schematic diagram illustrating the process of conveying profiles on a conveyor chain as disclosed in the embodiment.

[0053] Figure 4 This diagram illustrates two types of positional errors that need to be detected during the conveyor chain transport of profiles.

[0054] Figure 5 The flowchart below shows the method for detecting the position of profiles on the conveyor chain of a heavy-duty palletizer, as disclosed in the embodiment.

[0055] Figure 6 This is a schematic diagram of an electronic device disclosed in an embodiment of the present invention;

[0056] Figure 7 This is a framework diagram of a profile position detection system on the conveyor chain of a heavy-duty palletizer disclosed in an embodiment. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this invention pertains.

[0058] The terms "first," "second," and similar words used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" mean that the element or object preceding "comprising" encompasses the features, integrals, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0059] In existing technologies, automatic palletizers require workpieces to be in a set position when performing cyclical tasks according to a set operating cycle. Therefore, when the workpiece position is not detected as required by the conveyor chain, manual adjustment is usually required. This not only affects the working efficiency of the automatic palletizer but also incurs significant labor costs. Therefore, this invention aims to propose a method and system for detecting the position of profiles on the conveyor chain of a heavy-duty palletizer. Based on visual images and sensing time, the method identifies the profile position and then adopts corresponding position adjustment strategies, effectively improving the palletizing efficiency of heavy-duty palletizers and saving labor costs.

[0060] The following detailed description, in conjunction with the specific embodiments shown in the accompanying drawings, further illustrates the method and system for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizing machine disclosed in this invention.

[0061] Combination Figure 1 The method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizer, as shown, includes the following steps:

[0062] Step S102: Obtain the first time group when the profile passes through the first set of reference points at the beginning of the conveyor chain detection section and the second time group when it passes through the second set of reference points at the end of the conveyor chain detection section; wherein, the first set of reference points are arranged at intervals along the length of the profile, and each reference point in the first set of reference points corresponds one-to-one with each reference point in the second set of reference points, and the distance between any two reference points in the first set of reference points and the second set of reference points is equal.

[0063] Step S104: Calculate the total time between each pair of reference points corresponding to the positions in the first set of reference points and the second set of reference points in the conveyor chain detection section, and obtain several sets of real times.

[0064] Step S106: Compare the relationship between the actual time and the preset first time, and select the following strategies in the conveyor chain correction section: maintain operation strategy, first speed regulation strategy, short-term blocking strategy, or parallel speed regulation and blocking strategy to adjust the first posture of the profile; wherein, the adjustment target of the first posture of the profile is that when the profile is conveyed on the conveyor chain, its length direction is horizontal and perpendicular to the conveying direction of the conveyor chain.

[0065] Specifically, the process of adjusting the first pose of the profile based on the comparison results is as follows: calculate and obtain at least two real times t2 and t3, compare them with the preset first time t1, and when:

[0066] t1 = t2 = t3, select the maintenance operation strategy; wherein, the maintenance operation strategy is to maintain the profile's movement and not adjust the profile's posture;

[0067] t2=t3≠t1, select the first speed adjustment strategy; wherein, the first speed adjustment strategy is to adjust the travel speed of the profile, reduce or increase the travel speed of the profile;

[0068] If t2 = t1 ≠ t3 or t3 = t1 ≠ t2, a short-time blocking strategy is selected; wherein, the short-time blocking strategy is to briefly block the profile position corresponding to the reference point on the shorter time side to correct the profile tilt;

[0069] t2≠t3≠t1, select the parallel strategy of speed adjustment and blocking; wherein, the parallel strategy of speed adjustment and blocking is to adjust the traveling speed of the profile while briefly blocking the profile position corresponding to the reference point on the shorter time side to correct the tilt of the profile.

[0070] Step S108: Calculate the time interval between two adjacent profiles passing through the second set of reference points at the end of the conveyor chain detection section based on the second time group of the two adjacent profiles passing through the second set of reference points in sequence.

[0071] Step S110: Compare the relationship between the time interval and the preset standard interval, and select either the maintenance operation strategy or the second speed regulation strategy in the conveyor chain correction section to adjust the second pose of the profile according to the comparison result; wherein, the adjustment target of the second pose of the profile is that the distance between two adjacent profiles when they are conveyed on the conveyor chain is equal to the preset distance.

[0072] In the scheme, the process of adjusting the second pose of the profile in the correction section of the conveyor chain based on the comparison results is as follows:

[0073] When the calculated time interval is equal to the preset standard interval, the operation strategy is maintained; wherein, the operation strategy maintains the profile's movement without adjusting the profile's position; when the calculated time interval is not equal to the preset standard interval, the second speed adjustment strategy is selected; wherein, the second speed adjustment strategy adjusts the profile's movement speed, reducing or increasing the profile's movement speed to maintain the spacing between two adjacent profiles on the conveyor chain.

[0074] Steps S102-S110 above disclose two profile conveying problems: whether the profile is in a set pose and whether the spacing between adjacent profiles meets the requirements, based on monitoring the time the profile passes through the reference point. This solution can also be used for the detection and processing of the profile's third pose. Specifically, it acquires several images of each reference point in the second set of reference points at the end of the conveyor chain detection section according to a preset cycle. It performs pose recognition and matching between the preset standard image of any reference point in the second set of reference points and the acquired images corresponding to each reference point, so as to adjust the profile's third pose in the conveyor chain correction section according to the recognition and matching results. The adjustment target of the profile's third pose is that the cross-sectional view of the profile in the length direction when it is conveyed on the conveyor chain completely matches the cross-sectional view of the profile in the length direction when it is conveyed in the preset standard pose. Optionally, the process of adjusting the third pose of the profile according to the recognition and matching results during implementation is as follows: based on the recognition reference point of the preset standard image, several images corresponding to each reference point are recognized and matched to determine the deviation angle of the recognition position in the acquired image that matches the recognition reference point relative to the reference position; based on the deviation angle, the profile is flipped in the correction section of the conveyor chain.

[0075] As an optional implementation, to ensure the effectiveness of profile posture correction, a further correction section is set after the conveyor chain correction section to confirm or fine-tune the posture correction effect. The implementation process may include the following steps: obtaining a third time group of reference points on the third set of reference points on the conveyor chain correction section; wherein, the conveyor chain correction section is located behind the conveyor chain correction section, and each reference point in the third set of reference points corresponds one-to-one with each reference point in the second set of reference points, and the distance between any two reference points in the second and third sets of reference points is equal; calculating the correction time between each two reference points in the second and third sets of reference points respectively, and judging whether the correction result of the first posture of the profile meets the expectation based on the comparison result of the correction time and the preset second time; calculating the time interval between two adjacent profiles passing through the third set of reference points, and judging whether the correction result of the second posture of the profile meets the expectation based on the comparison result of the time interval and the preset correction time; if the correction result of the first posture of the profile does not meet the expectation or the correction result of the second posture of the profile does not meet the expectation, then posture correction continues in the conveyor chain correction section. Optionally, to improve the profile posture correction effect, multiple correction sections can be set on the conveyor chain to ensure that the profiles conveyed to the palletizer are in a preset standard posture.

[0076] The pose correction method disclosed above is applied in specific embodiments as follows: For example... Figure 5 As shown, using profile Q i Taking the movement on the conveyor chain of a heavy-duty palletizer as an example, Q iLet Q be a profile with a relative sequence of i that is entering the detection section of the conveyor chain for the first time; when profile Q... i When transported on the conveyor chain, its preset standard posture is that the length direction of the profile is perpendicular to the conveying direction of the conveyor chain.

[0077] Combination Figure 2 As shown, in this embodiment, the conveyor chain of the heavy-duty palletizer is divided into two sections: a detection section and a correction section. The profile pose detection method disclosed in the scheme is applied to the detection section of the conveyor chain. This method applied to the detection section is mainly used to detect profile pose errors or collect data for analyzing profile pose errors, so that the correction section of the conveyor chain can perform corresponding pose correction actions. To facilitate the acquisition of the first and second time groups, this embodiment uses an electromagnetic induction sensor (hereinafter referred to as the electromagnetic sensor) to acquire time information; such as Figure 2 In this method, electromagnetic induction sensors A and B are deployed at the beginning of the conveyor chain detection section, and electromagnetic induction sensors C and D are deployed at the end of the conveyor chain detection section. These sensors are linked to a central processing unit P via wired or wireless signals. The locations of electromagnetic induction sensors A and B constitute the first set of reference points at the beginning of the conveyor chain detection section, and the locations of electromagnetic induction sensors C and D constitute the second set of reference points at the end of the conveyor chain detection section. When the profile passes directly under the electromagnetic induction sensors, the time elapsed is recorded. In this embodiment, two reference points are set in each of the first and second sets for pose recognition and detection. This method is not limited to the number of reference points mentioned above; it can be adaptively adjusted according to the profile structure during specific implementation. The first and second sets of reference points are not limited to being fixed at the beginning and end of the conveyor chain; they can be arranged at predetermined intervals along the conveyor chain.

[0078] like Figure 3 As shown, when a profile Q i Upon entering the conveyor chain detection section, the material is sensed by the first set of electromagnetic induction sensors A and B. When electromagnetic induction sensor A or B emits a profile sensing signal, the central processing unit P records the moment when the electromagnetic induction sensor senses the profile. The profile sensing moments of electromagnetic sensors A and B are respectively recorded as T. A and T B Profile Q i In the conveyor chain detection section, the second set of electromagnetic induction sensors C and D move from the beginning to the end. When electromagnetic induction sensor C or D emits a profile sensing signal, the central processing unit P records the moment when the electromagnetic induction sensor senses the profile. The profile sensing moments of electromagnetic sensors C and D are respectively recorded as T. C and T D .

[0079] The central processing unit P compares whether the three time lengths t1, t2, and t3 are equal; the calculation process for the preset first time t1 is as follows: the distance between two reference points corresponding to any set of positions on the conveyor chain is defined as L (i.e., the distance between electromagnetic induction sensor groups AB and CD at...). Figure 2 (The spacing on the horizontal axis is shown). The profiles on the conveyor chain detection section travel at a preset fixed speed v. Therefore, t1 = L / v, where the preset fixed speed v is determined by the dimensions of the heavy-duty palletizer factory, the working rhythm of the heavy-duty palletizer, and the overall length of the conveyor chain; t2 = T C -T A t3 = T D -T B t2 is Figure 2 The profile Q shown i The time t3 taken for the upper end to travel from electromagnetic induction sensor A to electromagnetic induction sensor C is... Figure 2 The profile Q shown i The time taken for the lower end to travel from electromagnetic induction sensor B to electromagnetic induction sensor D.

[0080] For profile Q i For example, if t1 = t2 = t3, it means that profile Q i Both sides pass through the inspection section on the conveyor chain at the same speed, and the profile Q i No skew occurred. For profile Q i In general, if t1, t2, and t3 are not equal, including t2 = t3 ≠ t1, it means that profile Q i The travel speed of the inspection section on the conveyor chain and the set speed v of the roller conveyor on the inspection section are inconsistent. Therefore, the profile Q needs to be corrected in the correction section. i Adjust the moving speed of the profile Q; i For example, if t2 = t1 ≠ t3 or t3 = t1 ≠ t2, it means that profile Q i The two ends travel at different speeds in the conveyor chain inspection section, requiring adjustment on different sides of the correction section; define profile Q. i The side closer to electromagnetic induction sensors A and C is the upper side of the profile, and the side closer to electromagnetic induction sensors B and D is the lower side of the profile. If t2 < t3, then profile Q i The travel speed at the upper end is faster than that at the lower end; if t2 > t3, then profile Q i The upper end travels slower than the lower end; when profile Q i When the travel speed at the upper end is faster than that at the lower end, the profile Q needs to be adjusted in the correction section. i The upper end is briefly blocked; when the profile Q i When the travel speed at the upper end is slower than that at the lower end, the profile Q needs to be adjusted in the correction section. i The lower end is briefly blocked. Additionally, when profile Q... iWhen the travel speed at the upper end is faster than that at the lower end, and t2≠t1, it is also necessary to adjust the profile Q in the correction section. i Adjust the moving speed; profile Q i When the travel speed at the lower end is faster than that at the lower end, and t3≠t1, it is also necessary to adjust the profile Q in the correction section. i Adjust the movement speed; that is Figure 4 As shown, the speed regulation and blocking parallel strategy is selected for profile Q. i The first step is to check whether the profile is tilted and make adjustments accordingly.

[0081] In this embodiment, after adjusting the first pose of the profile, the second pose is further adjusted, that is, the spacing between the profiles is determined by the time interval between adjacent profiles passing through the second set of reference points. The preset standard interval T... b The calculation method is T b =L B / v,L B The preset standard spacing between two adjacent profiles on the conveyor chain.

[0082] Optionally, the elapsed time of the profile is taken as the time closest to the current time in the second time group, and the time interval T is calculated based on this time. n When the profile Q i Same as the previous profile Q i-1 The time interval T of the electromagnetic induction sensor group CD n With T b When they are not equal, the profile Q can be considered equal. i Same as the above profile Q i-1 The step sizes differ significantly or slightly, such as Figure 4 As shown, profile Q needs to be corrected in the correction section. i Adjust the movement speed.

[0083] In practice, the actual time and time interval T are calculated. n They can be performed simultaneously. To facilitate the adjustment of the profile's posture, the adjustment of the first posture is performed before the adjustment of the second posture.

[0084] In practical implementation, for single profile Q i The time T recorded after passing through the conveyor chain detection section A T B T C and T D The three time periods t1, t2, and t3 all need to be passed as parameter tuples Q on the central processing unit P. i parameters Save, where 'i' in the parameter tuple indicates Q in a set of profiles stacked by the heavy-duty palletizer. iIn this group, the ordinal number i ranges from 1 to N, where N is the number of profiles in a group of profiles stacked by the heavy-duty palletizer. During the execution of the detection method disclosed in this scheme, the central processing unit P needs to store the Q of all profiles. i parameters That is, to record and obtain the parameter tuple Q 1 parameters Q 2 parameters Q i-1 parameters Q i parameters .

[0085] As another optional implementation, the electromagnetic induction sensors C and D accumulate and record the sensing times of each profile passing by them, and can form a time sequence (T) based on the recorded parameter tuples. 1 C T 1 D ), (T 2 C T 2 D ), (T 3 C T 3 D ), ..., (T m C T m D ), where 1-m is the relative sequence number of each profile passing through this pair of electromagnetic induction sensors. The average time interval between two consecutive profiles passing through this pair of electromagnetic induction sensors CD is calculated using sequence time pairs. The average time interval is then compared with the preset standard interval T. b Compare and determine the spacing between the profiles.

[0086] Further integration Figure 2 In the illustrated embodiment, a set of cameras E and F are deployed on both sides of the conveying direction at the end of the conveyor chain detection section; when the electromagnetic induction sensor C emits a profile sensing signal, the central processing unit P captures the image S from one side of the conveyor chain detection section and the camera E deployed at the same longitudinal axis position as the electromagnetic induction sensor C. C 1, and according to the time interval t P Capture the screen in seconds S C 2 and S C 3; Similarly, capture the image S from the camera F, where the electromagnetic induction sensor D is deployed at the same vertical axis position. D 1, and according to the time interval t P Capture screen S D 2 and S D 3. The time interval t between the central processing unit P capturing images from cameras E and F.P The number of images captured by the camera is determined by the type of profile and the conveying speed v of the conveyor chain detection section. In addition, the number of images captured by the camera can also be selected adaptively. In this solution, three images are selected.

[0087] For profile Q i The central processing unit P uses two sets of images, S, captured from cameras E and F. C 1. S C 2 and S C 3 and S D 1. S D 2 and S D 3 pairs of profiles Q i The position and orientation are determined to decide whether the correction segment should be applied to the Q profile. i The flipping process is then implemented. The central processing unit P first preprocesses these six images, including denoising, grayscale conversion, and edge detection. Then, it targets the profile Q... i The cross-section is used to identify and match the reference point in the preset standard image, and the deviation angle of the identification position matching the reference point in the cropped image relative to the reference position is determined. Finally, the control center flips the profile in the correction section of the conveyor chain according to the deviation angle.

[0088] This invention discloses a method for detecting the pose of profiles on the conveyor chain of a heavy-duty palletizer. It combines computer vision and sensors, employing multi-image recognition to achieve more comprehensive pose detection of profiles on the conveyor chain. This method not only identifies pose errors in the profiles but also provides data for subsequent pose correction methods. The data collected by this invention serves as feedback data for corresponding correction methods on the conveyor chain correction section and facilitates the construction of a digital twin system for the heavy-duty palletizer, providing a foundation for in-depth research on the palletizing efficiency of heavy-duty palletizers.

[0089] In this embodiment of the invention, an electronic device is also provided, such as... Figure 6 As shown, it includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor runs the computer program, it implements the above-mentioned method for detecting the position of profiles on the conveyor chain of a heavy-duty palletizer.

[0090] The aforementioned program can run in a processor or be stored in memory (or a computer-readable storage medium). Computer-readable media includes both permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated data signals and carrier waves.

[0091] These computer programs may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes can be implemented using different modules, and different steps can be implemented using different modules.

[0092] The embodiments of this application provide such a device or system, which is called a profile position detection system on the conveyor chain of a heavy-duty palletizer, and its composition is as follows: Figure 7As shown, it includes: an acquisition module, used to acquire a first time group of the profile passing through a first set of reference points at the beginning of the conveyor chain detection section and a second time group of the profile passing through a second set of reference points at the end of the conveyor chain detection section; wherein, the first set of reference points are arranged at intervals along the length direction of the profile, and each reference point in the first set of reference points corresponds one-to-one with each reference point in the second set of reference points, and the distance between any two corresponding reference points in the first set of reference points and the second set of reference points is equal; a first calculation module, used to calculate the total time between every two reference points corresponding to the positions in the first set of reference points and the second set of reference points in the conveyor chain detection section, to obtain several sets of real times; and a first comparison and adjustment module, used to compare the relationship between the real times and the preset first time, and select a correction section in the conveyor chain based on the comparison result. The system selects a maintenance operation strategy, a first speed regulation strategy, a short-term blocking strategy, or a combination of speed regulation and blocking strategies to adjust the first posture of the profile. The adjustment target for the first posture is that the profile's length direction is horizontally perpendicular to the conveying direction of the conveyor chain when it is being conveyed. A second calculation module calculates the time interval between two adjacent profiles passing through the second set of reference points at the end of the conveyor chain detection section, based on the second time group of the two adjacent profiles. A second comparison and adjustment module compares the time interval with a preset standard interval and, based on the comparison result, selects either a maintenance operation strategy or a second speed regulation strategy to adjust the second posture of the profile in the conveyor chain correction section. The adjustment target for the second posture is that the distance between two adjacent profiles when they are being conveyed is equal to a preset distance.

[0093] This system is used to implement the functions of the methods in the above embodiments. Each module in the system corresponds to each step in the method, which has already been described in the method and will not be repeated here.

[0094] For example, the detection system further includes: an image acquisition module, used to acquire several images of each reference point in the second set of reference points at the end of the detection section of the conveyor chain according to a preset cycle; and an identification and adjustment module, used to perform pose recognition and matching between the preset standard image of any reference point in the second set of reference points and the several images corresponding to each acquired reference point, so as to adjust the third pose of the profile in the correction section of the conveyor chain according to the identification and matching results; wherein, the adjustment target of the third pose of the profile is that the cross-sectional view of the profile in the length direction when it is conveyed on the conveyor chain completely matches the cross-sectional view of the profile in the length direction when it is conveyed in the preset standard pose. Optionally, the process of the identification and adjustment module adjusting the third pose of the profile according to the identification and matching results is as follows: according to the identification reference point of the preset standard image, the several images corresponding to each acquired reference point are identified and matched to determine the deviation angle of the identification position in the acquired image that matches the identification reference point relative to the reference position; according to the deviation angle, the profile is flipped in the correction section of the conveyor chain.

[0095] For example, the process by which the first comparison and adjustment module adjusts the first pose of the profile based on the comparison result is as follows: Calculate and obtain at least two real times t2 and t3, compare them with the preset first time t1, and when:

[0096] t1 = t2 = t3, select the maintenance operation strategy; wherein, the maintenance operation strategy is to maintain the profile's movement and not adjust the profile's posture;

[0097] t2=t3≠t1, select the first speed adjustment strategy; wherein, the first speed adjustment strategy is to adjust the travel speed of the profile, reduce or increase the travel speed of the profile;

[0098] If t2 = t1 ≠ t3 or t3 = t1 ≠ t2, a short-time blocking strategy is selected; wherein, the short-time blocking strategy is to briefly block the profile position corresponding to the reference point on the shorter time side to correct the profile tilt;

[0099] t2≠t3≠t1, select the parallel strategy of speed adjustment and blocking; wherein, the parallel strategy of speed adjustment and blocking is to adjust the traveling speed of the profile while briefly blocking the profile position corresponding to the reference point on the shorter time side to correct the tilt of the profile.

[0100] For example, the process by which the second comparison and adjustment module adjusts the second pose of the profile in the correction section of the conveyor chain based on the comparison result is as follows: when the calculated time interval is equal to the preset standard interval, a maintenance operation strategy is selected; wherein, the maintenance operation strategy is to keep the profile moving without adjusting the profile pose; when the calculated time interval is not equal to the preset standard interval, a second speed adjustment strategy is selected; wherein, the second speed adjustment strategy is to adjust the traveling speed of the profile, reducing or increasing the traveling speed of the profile, so as to maintain the spacing between two adjacent profiles on the conveyor chain.

[0101] For example, the detection system further includes: a second acquisition module, used to acquire a third time group of reference points on the third set of reference points on the conveyor chain correction section; wherein the conveyor chain correction section is located behind the conveyor chain correction section, and each reference point in the third set of reference points corresponds one-to-one with each reference point in the second set of reference points, and the distance between the two reference points corresponding to any two sets of positions is equal; a third calculation module, used to calculate the correction time of the profile passing through any pair of reference points in the second set of reference points and the third set of reference points, and to determine whether the correction result of the first posture of the profile meets expectations based on the comparison result of the correction time and the preset second time; a fourth calculation module, used to calculate the time interval between two adjacent profiles passing through the third set of reference points, and to determine whether the correction result of the second posture of the profile meets expectations based on the comparison result of the time interval and the preset correction time; and a correction module, used to continue posture correction on the conveyor chain correction section when the correction result of the first posture of the profile does not meet expectations or the correction result of the second posture of the profile does not meet expectations.

[0102] The present invention discloses a method and system for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizer. When the palletizer is performing its work tasks in a cycle, there is no need for manual adjustment of the profile position and orientation in advance. This not only greatly improves the overall palletizing efficiency of the production line, but also reduces the manpower input of the production line.

[0103] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizing machine, characterized in that, include: The first time group of the profile passes through the first set of reference points at the beginning of the conveyor chain detection section and the second time group passes through the second set of reference points at the end of the conveyor chain detection section. The first set of reference points is arranged at intervals along the length of the profile. Each reference point in the first set of reference points corresponds to each reference point in the second set of reference points. The distance between any two reference points in the first set of reference points and the second set of reference points is equal. Calculate the total time between each pair of reference points corresponding to the positions in the first and second sets of reference points in the conveyor chain detection section of the profile to obtain several sets of real times; The relationship between the actual time and the preset first time is compared, and based on the comparison results, the first posture of the profile is adjusted in the correction section of the conveyor chain by selecting a maintenance operation strategy, a first speed regulation strategy, a short-term blocking strategy, or a speed regulation and blocking parallel strategy; wherein, the adjustment target of the first posture of the profile is that when the profile is conveyed on the conveyor chain, its length direction is horizontal and perpendicular to the conveying direction of the conveyor chain. Based on the second time group of two adjacent profiles that pass through the second set of reference points at the end of the conveyor chain detection section in sequence, calculate the time interval between the two adjacent profiles passing through the second set of reference points; The relationship between the time interval and the preset standard interval is compared, and the second position of the profile is adjusted by selecting either the maintenance operation strategy or the second speed regulation strategy in the correction section of the conveyor chain based on the comparison results; wherein, the adjustment target of the second position of the profile is that the distance between two adjacent profiles when they are conveyed on the conveyor chain is equal to the preset distance. The process of adjusting the first position of the profile based on the comparison results is as follows: Calculate and obtain at least two real times t2 and t3, compare them with a preset first time t1, and when: t1=t2=t3, select the maintenance operation strategy; wherein, the maintenance operation strategy is to maintain the profile's movement and not adjust the profile's posture; t2=t3≠t1, select the first speed adjustment strategy; wherein, the first speed adjustment strategy is to adjust the travel speed of the profile, reduce or increase the travel speed of the profile; If t2 = t1 ≠ t3 or t3 = t1 ≠ t2, a short-term blocking strategy is selected; wherein, the short-term blocking strategy is to briefly block the profile position corresponding to the reference point on the shorter time side to correct the profile tilt; t1≠t2≠t3, select the parallel strategy of speed adjustment and blocking; wherein, the parallel strategy of speed adjustment and blocking is to adjust the traveling speed of the profile while briefly blocking the profile position corresponding to the reference point on the shorter time side to correct the tilt of the profile.

2. The method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizing machine according to claim 1, characterized in that, Also includes: According to a preset cycle, several images of each reference point in the second set of reference points at the end of the conveyor chain detection section are acquired. The preset standard image of any reference point in the second set of reference points is matched with the acquired images corresponding to each reference point to perform pose recognition and matching, so as to adjust the third pose of the profile in the conveyor chain correction section according to the recognition and matching results. The adjustment target of the third pose of the profile is that the cross-sectional view of the profile in the length direction when it is conveyed on the conveyor chain is completely matched with the cross-sectional view of the profile in the length direction when it is conveyed in the preset standard pose.

3. The method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizing machine according to claim 1, characterized in that, Based on the comparison results, the process of adjusting the second pose of the profile in the corrective section of the conveyor chain is as follows: When the calculated time interval is equal to the preset standard interval, the operation strategy is selected to maintain the profile's movement without adjusting its position. When the calculated time interval is not equal to the preset standard interval, the second speed adjustment strategy is selected; wherein, the second speed adjustment strategy is to adjust the traveling speed of the profile, reduce or increase the traveling speed of the profile, so as to maintain the spacing between two adjacent profiles on the conveyor chain.

4. The method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizing machine according to claim 2, characterized in that, The process of adjusting the third pose of the profile based on the identification and matching results is as follows: Based on the recognition reference points of the preset standard image, the recognition and matching of several images corresponding to each reference point are performed to determine the deviation angle of the recognition position in the acquired image that matches the recognition reference point relative to the reference position. The profile is flipped in the corrective section of the conveyor chain according to the deviation angle.

5. The method for detecting the position and orientation of profiles on the conveyor chain of a heavy-duty palletizing machine according to claim 1, characterized in that, Also includes: The third time group of the profile passing through the third set of reference points on the conveyor chain correction section is obtained; wherein the conveyor chain correction section is located behind the conveyor chain correction section, and each reference point in the third set of reference points corresponds one-to-one with each reference point in the second set of reference points, and the distance between any two reference points in the second set of reference points and the third set of reference points is equal. The correction time between each pair of reference points corresponding to the positions in the second set of reference points and the third set of reference points is calculated respectively. Based on the comparison result of the correction time and the preset second time, it is determined whether the correction result of the first posture of the profile meets the expectations. Calculate the time interval between two adjacent profiles passing through the third set of reference points, and determine whether the correction result of the second posture of the profile meets expectations based on the comparison result of the time interval and the preset correction time. If the correction result of the first posture of the profile does not meet expectations or the correction result of the second posture of the profile does not meet expectations, then posture correction continues in the correction section of the conveyor chain.

6. A profile position detection system on a heavy-duty palletizing machine conveyor chain that implements the method of claim 1, characterized in that, include: The acquisition module is used to acquire the first time group of the profile passing through the first set of reference points at the beginning of the conveyor chain detection section and the second time group of the profile passing through the second set of reference points at the end of the conveyor chain detection section; wherein, the first set of reference points are arranged at intervals along the length direction of the profile, and each reference point in the first set of reference points corresponds to each reference point in the second set of reference points, and the distance between any two reference points in the first set of reference points and the second set of reference points is equal. The first calculation module is used to calculate the total time between each pair of reference points corresponding to the positions in the first set of reference points and the second set of reference points in the conveyor chain detection section, and to obtain several sets of real times. The first comparison and adjustment module is used to compare the relationship between the real time and the preset first time, and select the following strategies in the conveyor chain correction section: maintaining operation strategy, first speed adjustment strategy, short-term blocking strategy, or parallel speed adjustment and blocking strategy to adjust the first posture of the profile; wherein, the adjustment target of the first posture of the profile is that the length direction of the profile is horizontal and perpendicular to the conveying direction of the conveyor chain when the profile is conveyed on the conveyor chain. The second calculation module is used to calculate the time interval between two adjacent profiles passing through the second set of reference points at the end of the conveyor chain detection section based on the second time group of two adjacent profiles passing through the second set of reference points in sequence. The second comparison and adjustment module is used to compare the relationship between the time interval and the preset standard interval, and to select either the maintenance operation strategy or the second speed regulation strategy in the conveyor chain correction section to adjust the second pose of the profile based on the comparison result; wherein, the adjustment target of the second pose of the profile is that the distance between two adjacent profiles when they are conveyed on the conveyor chain is equal to the preset distance.

7. The profile position detection system on the conveyor chain of a heavy-duty palletizer according to claim 6, characterized in that, Also includes: The image acquisition module is used to acquire several images of each reference point in the second set of reference points at the end of the conveyor chain detection section of the profile according to a preset cycle. The identification and adjustment module is used to perform pose identification and matching between the preset standard image of any reference point in the second set of reference points and the acquired images corresponding to each reference point, so as to adjust the third pose of the profile in the correction section of the conveyor chain according to the identification and matching results; wherein, the adjustment target of the third pose of the profile is that the cross-sectional view of the profile in the length direction when it is conveyed on the conveyor chain is completely matched with the cross-sectional view of the profile in the length direction when it is conveyed in the preset standard pose.

8. A computer device, characterized in that, The device includes at least one processor coupled to a memory, the memory storing a program or instructions that run on the processor, the program or instructions being executed by the processor to implement the steps of the method for detecting the orientation of profiles on the conveyor chain of a heavy-duty palletizer as described in any one of claims 1-5.

9. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the method for detecting the orientation of profiles on the conveyor chain of a heavy-duty palletizer as described in any one of claims 1-5.

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