Device and system for adjusting box-type goods on assembly line

Abstract

The present invention relates to the technical field of cargo transportation, and discloses a device and system for adjusting box-type cargo on an assembly line, comprising the following steps: S1, placing the box-type cargo on the assembly line, a visual processing device taking a photo of the position of the box-type cargo on the side device, S2, an image processing unit identifying the long side and position of the box-type cargo and the tilt angle, S3, the image processing unit sending the direction information to the redirection device, S4, the redirection device extending a redirection push rod according to the direction information to adjust the conveying direction of the box-type cargo. The long side direction of the box-type cargo is automatically identified by a visual recognition system, and the direction information is sent to the redirection device. The redirection device automatically adjusts the long side direction of the box-type cargo according to the received direction information, so that the long side faces the required direction and runs in the center, which not only improves production efficiency but also saves production costs. In addition, the device can also adapt to different types of box-type cargo and has a wide range of application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo transportation, and in particular to a device and a system for adjusting box-type cargo on an assembly line. Background Art

[0002] The assembly line, also known as the assembly line, is a mode of production in industry, which means that each production unit only focuses on handling a certain segment of the work, in order to improve work efficiency and output as the existing social and technological trend. The assembly line has high scalability and can be designed according to the needs of the conveying volume, conveying speed, assembly stations, and auxiliary components. Therefore, it is widely welcomed by enterprises. The assembly line is an effective combination of man and machine, and it fully reflects the flexibility of the equipment. It organically combines the conveying system, accompanying fixtures, and online special machines and testing equipment to meet the conveying requirements of multiple varieties of products. The transmission mode of the conveyor line can be synchronous transmission or asynchronous transmission. According to the configuration selection, the assembly and conveying requirements can be achieved. The conveyor line is indispensable in the mass production of enterprises;

[0003] In the production process of box-type goods, the long side of the box-type goods needs to be adjusted in a specific direction and centered before subsequent sealing, labeling and other operations. The traditional adjustment method mainly relies on manual adjustment, which is not only inefficient but also difficult to ensure accuracy. Therefore, in order to solve the above problems, a device and system for adjusting box-type goods on the assembly line is necessary. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a device and system for adjusting box-type goods on an assembly line, which solves the problems existing in the above-mentioned background technology.

[0006] (II) Technical solution

[0007] To achieve the above object, the present invention provides the following technical solution: a system for adjusting box-type goods on an assembly line, comprising the following steps:

[0008] S1. Place box-type goods on the production line. Driven by the conveyor, the goods move to the top of the side device and the bottom of the visual processing device. The visual processing device takes a picture of the position of the box-type goods on the side device. The visual processing device first collects images of the side device part without goods, saves them locally in the industrial computer as background pictures, and sends them to the image processing unit, which is called the background picture. This background picture is one-time and does not need to be changed. When the equipment information, camera, and light source change, the background picture needs to be collected again. The image of the box-type goods placed on the side device taken by the visual processing device is called the running picture;

[0009] S2, the visual processing device takes a photo of the box-type cargo to obtain an image and sends it to the image processing unit for processing. The image processing unit identifies the long side, position and tilt angle of the box-type cargo. The image processing unit compares the running diagram with the background diagram, calculates the difference between the two, obtains a difference diagram, and processes the difference diagram, including but not limited to adjusting contrast and brightness, applying thresholds, morphological operations, blurring, dilation and corrosion, and binarization to find the contour of the cargo, calculate the length of each side of the contour, thereby obtaining the long side and the short side, and calculating the angle of the contour;

[0010] S3, after detecting the long side direction of the box-type cargo, the image processing unit sends the direction information to the redirection device, and the redirection device drives the redirection device according to the received direction information;

[0011] S4, while the side-pull device drives the box-type cargo to move sideways, the redirection device extends a redirection push rod to adjust the conveying direction of the box-type cargo according to the direction information provided by the image processing unit;

[0012] S5. After the direction is adjusted, the box-shaped goods on the side move forward in the center driven by the centering device.

[0013] Furthermore, the redirecting device in S3 controls the redirecting rod to extend in front of the running cargo to block a corner of the box-type cargo according to the direction information provided by the image processing unit, so that the cargo rotates during the running process, thereby achieving the purpose of adjusting its direction.

[0014] Furthermore, the specific method for calculating the image difference in S2 is to subtract the image with goods from the image without goods to obtain the image of goods: the image of goods = the image with goods - the image without goods. The specific calculation formula is:

[0015] dst(I)=saturate(|src1(I)-src2(I)|)

[0016] Among them, src1 represents the input array with goods, src2 represents the input array without goods, src1(I) and src2(I) represent the values ​​of the input arrays src1 and src2 at position I, src1(I)-src2(I) is the absolute value of the difference between src1(I) and src2(I), saturate is a saturation function used to ensure that the result value is within the valid range, dst(I) is the value of the output array dst at position I, it stores the absolute value of the difference between src1(I) and src2(I) after saturation processing, and finds the long side position of the box-shaped goods according to the coordinate information of the four points with the center point of the bottom surface as the coordinate origin. The principle is as follows Figure 5 The specific calculation is as follows:

[0017]

[0018]

[0019] Among them, (box(0)·x, box(0)·y) is the coordinate value of corner point a, (box(1)·x, box(1)·y) is the coordinate value of corner point b adjacent to corner point a, and (box(2)·x, box(2)·y) is the coordinate value of another adjacent corner point c of corner point a.

[0020] When ab>ac, side ab is the long side of the box-shaped cargo;

[0021] When ac>ab, side ac is the long side of the box-type cargo.

[0022] Furthermore, the calculation method of the tilt angle in S2 is to calculate the tilt angle by using the coordinate positions of the four corners of the cargo image and the position of the long side using trigonometric functions. The specific formula is:

[0023]

[0024] θ=tan -1 θ

[0025] Among them, (box(1)·x, box(1)·y) are the coordinate values ​​of the corner point b, (box(3)·

[0026] x,box(3)·y) is the coordinate value of point d in the long side bd corresponding to the corner point b;

[0027] When θ≤45°, the redirection rod is controlled to extend so that the box rotates along the contact point b to adjust the direction;

[0028] When θ>45°, no redirection is required and the redirection rod does not extend. The above-mentioned angle of 45° needs to be adjusted accordingly based on actual operation and cargo.

[0029] Furthermore, the specific operation process of the visual processing device and the image processing unit in S2 is as follows:

[0030] Step 1: The camera collects the background image and saves it locally on the industrial computer. When the camera collects the background image, it is necessary to ensure that there is no cargo on the side machine and the side machine should be turned on at the normal operating speed;

[0031] Step 2: Load the background image, adjust the size of the background image, convert the background image to a grayscale image, and collect the operation image. When the system is operating normally, the camera collects the operation image, adjusts the size of the operation image to the same size as the background image, converts the operation image to a grayscale image, and calculates the difference between the background image and the operation image, which is used as the difference image.

[0032] Step 3: Operate the difference image, calculate the minimum rotation circumscribed rectangle, obtain the four vertices of the rectangle, and arrange the four vertices of the rectangle from small to large according to the horizontal coordinate to obtain a new vertex coordinate, such as Figure 5 Box(0), box(1), box(2), and box(3) shown in the figure calculate the width and height of the rectangle based on the new vertex coordinates after arrangement. Based on the vertex coordinates, width, and height, the inclination angle of the long side of the rectangle can be calculated, and it can be determined whether the angle requirements are met, thereby controlling the operation of the redirection device.

[0033] According to another aspect of the present invention, there is provided a device for adjusting box-type goods on an assembly line, comprising a visual recognition system, a side-pull device, an adjustment device and a centering device, wherein the visual recognition system is used to identify the long side direction of the goods, detect an image array of the goods, calculate the coordinates of the vertices of the rectangular outline according to the image array, and calculate the angle of the rectangular outline from the vertex coordinates, the side-pull device is used to make the goods run sideways so that the goods can move stably, the adjustment device is used to adjust the long side direction of the goods according to the information of the long side direction sent by the visual recognition system so that the long side faces the required direction, and the centering device is used to make the goods run in the center along the assembly line;

[0034] The visual recognition system includes a camera, a light source and an image processing unit;

[0035] The edge device includes an electric roller device and a driving device;

[0036] The adjustment device includes a driving device and a movable redirecting device;

[0037] The centering device comprises two groups of electric rollers with a certain inward inclination angle and an electric driving device.

[0038] (III) Beneficial effects

[0039] The present invention provides a device and system for adjusting box-type goods on an assembly line, which has the following beneficial effects:

[0040] The visual recognition system automatically identifies the long side direction of the box-type cargo and sends the direction information to the redirection device. The redirection device automatically adjusts the long side direction of the box-type cargo according to the received direction information, so that the long side faces the required direction and runs in the center, which not only improves production efficiency but also saves production costs. In addition, the device can also adapt to different types of box-type cargo and has a wide range of application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a system workflow diagram of a device and system for adjusting box-type goods on an assembly line;

[0042] Figure 2 A flow chart of an apparatus for adjusting box-type goods on an assembly line and an image processing system in the system;

[0043] Figure 3 It is a structural front view of a device for adjusting box-type goods on an assembly line and a device in the system;

[0044] Figure 4 A structural top view of a device for adjusting box-type goods on an assembly line and a device in the system;

[0045] Figure 5 The present invention is a schematic diagram of the working principle of a device for adjusting box-type goods on an assembly line and a redirecting device in the system.

[0046] In the figure: 1. Visual recognition system; 2. Side device; 3. Adjustment device; 4. Centering device. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] The present invention provides a technical solution: a system for adjusting box-type goods on an assembly line, comprising the following steps:

[0049] S1. Place box-type goods on the assembly line. Driven by the conveyor, the goods move to the top of the side device and the bottom of the visual processing device. The visual processing device takes a picture of the position of the box-type goods on the side device. The visual processing device first collects images of the side device part without goods, saves them locally on the industrial computer as a background picture, and sends them to the image processing unit, which is called the background picture. This background picture is one-time and does not need to be changed. When the equipment information, camera, and light source change, the background picture needs to be collected again. The image of the box-type goods placed on the side device taken by the visual processing device is called the operation picture.

[0050] S2. The visual processing device takes a photo of the box-shaped cargo to obtain an image and sends it to the image processing unit for processing. The image processing unit identifies the long side, position and tilt angle of the box-shaped cargo. The image processing unit compares the running diagram with the background diagram, calculates the difference between the two, obtains a difference diagram, and processes the difference diagram, including but not limited to adjusting contrast and brightness, applying thresholds, morphological operations, blurring, dilation and corrosion, and binarization to find the contour of the cargo, calculate the length of each side of the contour, thereby obtaining the long side and the short side, and calculate the angle of the contour. The specific method for calculating the image difference is to subtract the image with the cargo from the image without the cargo to obtain the image of the cargo: the image of the cargo = the image with the cargo - the image without the cargo. The specific calculation formula is:

[0051] dst(I)=saturate(|src1(I)-src2(I)|)

[0052] Among them, src1 represents the input array with goods, src2 represents the input array without goods, src1(I) and src2(I) represent the values ​​of the input arrays src1 and src2 at index I, src1(I)-src2(I) is the absolute value of the difference between src1(I) and src2(I), saturate is a saturation function used to ensure that the result value is within the valid range, dst(I) is the value of the output array dst at index I (the value of the goods), it stores the absolute value of the difference between src1(I) and src2(I) after saturation processing, and finds the long side position of the box-shaped goods according to the coordinate information of the four points with the center point of the bottom surface as the coordinate origin. The principle is as follows Figure 5 The specific calculation is as follows:

[0053]

[0054]

[0055] Among them, (box(0)·x, box(0)·y) is the coordinate value of corner point a, (box(1)·x, box(1)·y) is the coordinate value of corner point b adjacent to corner point a, and (box(2)·x, box(2)·y) is the coordinate value of another adjacent corner point c of corner point a.

[0056] When ab>ac, side ab is the long side of the box-shaped cargo;

[0057] When ac>ab, side ac is the long side of the box-shaped cargo;

[0058] The method for calculating the tilt angle is to use trigonometric functions to calculate the tilt angle based on the coordinate positions of the four corners of the cargo image and the position of the long side. The specific formula is:

[0059]

[0060] θ=tan -1 θ

[0061] Among them, (box(1)·x, box(1)·y) are the coordinate values ​​of the corner point b, (box(3)·

[0062] x,box(3)·y) is the coordinate value of point d in the long side bd corresponding to the corner point b;

[0063] When θ≤45°, the redirection rod is controlled to extend so that the box rotates along the contact point b to adjust the direction;

[0064] When θ>45°, no redirection is required and the redirection rod does not extend. The above-mentioned angle of 45° needs to be adjusted accordingly based on actual operation and cargo.

[0065] Furthermore, the specific operation process of the visual processing device and the image processing unit in S2 is as follows:

[0066] Step 1: The camera collects the background image and saves it locally on the industrial computer. When the camera collects the background image, it is necessary to ensure that there is no cargo on the side machine and the side machine should be turned on at the normal operating speed;

[0067] Step 2: Load the background image, adjust the size of the background image, convert the background image to a grayscale image, and collect the operation image. When the system is operating normally, the camera collects the operation image, adjusts the size of the operation image to the same size as the background image, converts the operation image to a grayscale image, and calculates the difference between the background image and the operation image, which is used as the difference image.

[0068] Step 3: Operate the difference image, calculate the minimum rotation circumscribed rectangle, obtain the four vertices of the rectangle, and arrange the four vertices of the rectangle from small to large according to the horizontal coordinate to obtain a new vertex coordinate, such as Figure 5 Box(0), box(1), box(2), and box(3) shown in the figure calculate the width and height of the rectangle based on the new vertex coordinates after arrangement. Based on the vertex coordinates, width, and height, the inclination angle of the long side of the rectangle can be calculated, and it can be determined whether the angle requirements are met, thereby controlling the operation of the redirection device.

[0069] S3. After detecting the long side direction of the box-type cargo, the image processing unit sends the direction information to the redirecting device, and the redirecting device drives the redirecting device according to the received direction information. The redirecting device controls the redirecting rod to extend in front of the cargo to block a corner of the box-type cargo according to the direction information provided by the image processing unit, so that the cargo rotates during the operation, thereby achieving the purpose of adjusting its direction.

[0070] S4. While the side-pull device drives the box-type cargo to move sideways, the redirection device extends a redirection push rod to adjust the conveying direction of the box-type cargo according to the direction information provided by the image processing unit. The redirection device adjusts the direction of the box-type cargo according to the direction information sent by the visual recognition system so that the long side faces the required direction.

[0071] S5. After the direction is adjusted, the box-shaped goods on the side move forward in the center driven by the centering device.

[0072] The method also provides a device for adjusting box-type goods on an assembly line. The system includes a visual recognition system 1, a side device 2, an adjustment device 3 and a centering device 4. The visual recognition system 1 is used to identify the long side direction of the goods, detect the image array of the goods, calculate the vertex coordinates of the rectangular outline according to the image array, and calculate the angle of the rectangular outline from the vertex coordinates. The side device 2 is used to make the goods run sideways so that the goods can walk stably. The adjustment device 3 is used to adjust the long side direction of the goods according to the information of the long side direction sent by the visual recognition system so that the long side faces the required direction. The centering device 4 is used to make the goods run in the center along the assembly line. The visual recognition system 1 includes a camera, a light source and an image processing unit. The camera is used to collect images of the box-type goods. The light source provides sufficient lighting for the camera. The image processing unit processes the received image and identifies the direction of the long side. The image processing unit can use existing image processing algorithms, such as edge detection, morphological processing, etc., to achieve accurate identification of the long side direction. The side device 2 includes an electric roller device and a driving device. The adjustment device 3 includes a driving device and a movable redirecting device. The driving device drives the redirecting device to move according to the received direction information. The redirecting device extends a redirecting push rod to block a corner of the box-type goods in front of the goods, so that the goods rotate during the operation, thereby achieving the purpose of adjusting its direction. The driving device can use pneumatic or electric devices to achieve fast and accurate redirection. The centering device 4 includes two groups of electric rollers with a certain inward inclination angle and a driving device, which are composed of two groups of electric rollers with a certain inward inclination angle, so that the goods move along the middle of the equipment, thereby achieving the effect of centering operation.

[0073] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0074] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A system for adjusting box-type goods on an assembly line, characterized in that: The following steps are involved: S1. Place box-type goods on the production line. Driven by the conveyor, the goods move to the top of the side device and the bottom of the visual processing device. The visual processing device takes a picture of the position of the box-type goods on the side device. The visual processing device first collects images of the side device part without goods, saves them locally in the industrial computer as background pictures, and sends them to the image processing unit, which is called the background picture. This background picture is one-time and does not need to be changed. When the equipment information, camera, and light source change, the background picture needs to be collected again. The image of the box-type goods placed on the side device taken by the visual processing device is called the running picture; S2, the visual processing device takes a photo of the box-type cargo to obtain an image and sends it to the image processing unit for processing. The image processing unit identifies the long side, position and tilt angle of the box-type cargo. The image processing unit compares the running diagram with the background diagram, calculates the difference between the two, obtains a difference diagram, and processes the difference diagram, including but not limited to adjusting contrast and brightness, applying thresholds, morphological operations, blurring, dilation and corrosion, and binarization to find the contour of the cargo, calculate the length of each side of the contour, thereby obtaining the long side and the short side, and calculating the angle of the contour; S3, after detecting the long side direction of the box-type cargo, the image processing unit sends the direction information to the redirection device, and the redirection device drives the redirection device according to the received direction information; S4, while the side-pull device drives the box-type cargo to move sideways, the redirection device extends a redirection push rod to adjust the conveying direction of the box-type cargo according to the direction information provided by the image processing unit; S5. After the direction is adjusted, the box-shaped goods on the side move forward in the center driven by the centering device.

2. A system for adjusting box-type goods on an assembly line according to claim 1, characterized in that: The redirecting device in S3 controls the redirecting rod to extend in front of the running cargo to block a corner of the box-type cargo according to the direction information provided by the image processing unit, so that the cargo rotates during the running process, thereby achieving the purpose of adjusting its direction.

3. A system for adjusting box-type goods on an assembly line according to claim 1, characterized in that: The specific method for calculating the image difference in S2 is to subtract the image with goods from the image without goods to obtain the image of goods: the image of goods = the image with goods - the image without goods. The specific calculation formula is: dst(I)=saturate(|src1(I)-src2(I)|) Among them, src1 represents the input array with goods, src2 represents the input array without goods, src1(I) and src2(I) represent the values ​​of the input arrays src1 and src2 at position I, src1(I)-src2(I) is the absolute value of the difference between src1(I) and src2(I), saturate is a saturation function used to ensure that the result value is within the valid range, dst(I) is the value of the output array dst at position I, it stores the absolute value of the difference between src1(I) and src2(I) after saturation processing, and finds the long side position of the box-shaped goods according to the coordinate information of the four points with the center point of the bottom surface as the coordinate origin. The specific calculation is as follows: Among them, (box(0)·x, box(0)·y) is the coordinate value of corner point a, (box(1)·x, box(1)·y) is the coordinate value of corner point b adjacent to corner point a, and (box(2)·x, box(2)·y) is the coordinate value of another adjacent corner point c of corner point a. When ab>ac, side ab is the long side of the box-shaped cargo; When ac>ab, side ac is the long side of the box-type cargo.

4. A system for adjusting box-type goods on an assembly line according to claim 3, characterized in that: The calculation method of the tilt angle in S2 is to calculate the tilt angle by using the coordinate positions of the four corners of the cargo image and the position of the long side using trigonometric functions. The specific formula is: θ=tan -1 i Among them, (box(1)·x, box(1)·y) is the coordinate value of the corner point b. (box(3)·x, box(3)·y) are the coordinate values ​​of point d on the long side bd corresponding to the corner point b; When θ≤45°, the redirection rod is controlled to extend so that the box rotates along the contact point b to adjust the direction; When θ>45°, no redirection is required and the redirection rod does not extend. The above-mentioned angle of 45° needs to be adjusted accordingly based on actual operation and cargo.

5. A system for adjusting box-type goods on an assembly line according to claim 1, characterized in that: The specific operation process of the visual processing device and the image processing unit in S2 is as follows: Step 1: The camera collects the background image and saves it locally on the industrial computer. When the camera collects the background image, it is necessary to ensure that there is no cargo on the side machine and the side machine should be turned on at the normal operating speed; Step 2: Load the background image, adjust the size of the background image, convert the background image to a grayscale image, and collect the operation image. When the system is operating normally, the camera collects the operation image, adjusts the size of the operation image to the same size as the background image, converts the operation image to a grayscale image, and calculates the difference between the background image and the operation image, which is used as the difference image. Step 3: Operate the difference map, calculate the minimum rotated circumscribed rectangle, obtain the four vertices of the rectangle, arrange the four vertices of the rectangle from small to large according to the horizontal coordinate, obtain a new vertex coordinate, calculate the width and height of the rectangle, and calculate the inclination angle of the long side of the rectangle based on the vertex coordinates and the width and height, and determine whether the angle requirements are met to control the operation of the redirection device.

6. A device for adjusting box-type cargo on an assembly line, comprising a system for adjusting box-type cargo on an assembly line as claimed in any one of claims 1 to 5, characterized in that: The device comprises a visual recognition system (1), a side-pushing device (2), an adjusting device (3) and a centering device (4), wherein the visual recognition system (1) is used to identify the long side direction of the goods, detect the image array of the goods, calculate the coordinates of the vertices of the rectangular outline according to the image array, and calculate the angle of the rectangular outline from the vertex coordinates, the side-pushing device (2) is used to make the goods run sideways so that the goods can move stably, the adjusting device (3) is used to adjust the long side direction of the goods according to the information of the long side direction sent by the visual recognition system so that the long side faces the required direction, and the centering device (4) is used to make the goods run in the center along the production line; The visual recognition system (1) comprises a camera, a light source and an image processing unit; The edge device (2) comprises an electric roller device and a driving device; The adjusting device (3) comprises a driving device and a movable redirecting device; The centering device (4) comprises two groups of electric rollers with a certain inward inclination angle and an electric drive device.

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