Flexible conveying equipment based on visual detection positioning and control system

Abstract

The invention relates to the field of conveying equipment, in particular to flexible conveying equipment based on visual detection positioning and a control system, and aims to solve the problems that when the conveying equipment faces containers with different sizes, the center lines of the containers cannot be positioned, and the same stop positions of the center lines cannot be ensured. According to the invention, the code scanning mechanism scans the code of the container to obtain the size information of the container, when the code scanning of the container is not successful, the image acquisition device automatically calculates the size of the container, and the system calculates the movement distance required for conveying the container to a specified position according to the size of the container. A container is accurately moved by a specified distance through a servo control mechanism, it is ensured that the center line of the container is accurately located at the cargo receiving position after conveying is completed, favorable conditions are provided for subsequent grabbing and carrying of a mechanical arm, and after conveying of the container is completed, the deviation condition of the actual position and the set position of the container is collected; and automatic correction of the servo control distance is realized.

Description

Technical Field

[0001] The present invention relates to the field of conveying equipment, in particular to flexible conveying equipment and a control system based on visual detection and positioning. Background Art

[0002] Conveying equipment is a kind of friction-driven machinery that transports materials in a continuous manner. It can form a material conveying process from the initial feeding point to the final unloading point on a certain conveying line. It can convey both bulk materials and finished items. In addition to pure material conveying, it can also cooperate with the requirements of the process in the production process of various industrial enterprises to form a rhythmic flow operation transportation line. Therefore, conveying equipment is widely used in various modern industrial enterprises. Conveying goods with conveyor belts is a commonly used technology in contemporary industrial production. At present, a technical solution is disclosed in the prior art CN208367236U, which is to position the conveyor belt through a servo motor and a photoelectric sensor. During the operation of the conveyor belt, if the transported cargo boxes are the same, a better positioning effect can be achieved by setting the detection position of the photoelectric sensor; however, the photoelectric sensor is triggered by the front end of the cargo box. When cargo boxes of different sizes trigger the photoelectric sensor, the center line of the cargo box is not at the same position, and the center line of the cargo box is an important control parameter for subsequent cargo stacking, handling, and clamping. Therefore, it is difficult to achieve center line positioning control of cargo boxes of different sizes by only using a single photoelectric sensor; In view of the above technical problems, this application proposes a solution. Summary of the invention

[0003] The present invention obtains cargo box size information by scanning the cargo box through a scanning mechanism, and calculates the moving distance required for transporting the cargo box to a specified position according to the cargo box size through system calculation. The servo control mechanism enables the cargo box to move the specified distance accurately, ensuring that the center line of the cargo box is accurately located at the receiving position after the transportation is completed, providing favorable conditions for subsequent manipulator grasping and handling, so as to solve the problem that when the conveying equipment faces cargo boxes of different sizes, it is unable to locate the center line of the cargo box and ensure that the center line stop position is the same, which is not conducive to the subsequent robot automatic picking up and stacking. Flexible conveying equipment and control system based on visual detection and positioning are proposed.

[0004] The object of the present invention can be achieved by the following technical solution: a flexible conveying device based on visual detection positioning comprises a first conveying line, a conveying roller is rotatably connected to the upper surface of the first conveying line, the conveying roller is driven by a motor, and a plurality of first conveying lines are used in combination; The tail end of the first conveyor line is connected to the second conveyor line, and a code scanning structure is installed at the end of the second conveyor line to scan the cargo boxes passing therethrough; The tail end of the second conveyor line is connected to the third conveyor line, wherein conveying rollers are rotatably connected above the second conveyor line and the third conveyor line, the conveying rollers above the third conveyor line rotate in the opposite direction, a servo drive structure is fixedly installed at the bottom of the third conveyor line, the conveying rollers on the third conveyor line are controlled by the servo drive structure, and a pickup station is arranged at the intersection of the third conveyor line and the second conveyor line. When the cargo box is conveyed to the pickup station, the cargo box is grabbed by a manipulator and grabbed onto a handling robot, and the cargo box is transported to a designated location by the handling robot.

[0005] The present invention also proposes a control system for a flexible conveying device based on visual detection and positioning, comprising a code scanning and recognition unit, a database, a detection and analysis unit, a servo control unit, a terminal control unit and a supplementary control unit; The code scanning and identification unit is used to scan the code of the cargo box to obtain the size of the cargo box; The database is used to store cargo box barcodes and size information corresponding to the cargo box barcodes; The detection and analysis unit is used to calculate according to the size of the cargo box and generate a servo control distance; The servo control unit is used to receive the servo control distance and control the cargo box transportation according to the servo control distance; The terminal control unit is used to control the manipulator to grab the transported cargo box and transport it through the transport robot; The supplementary control unit is used to obtain the size and position of the cargo box that failed to scan the code, and send it to the detection and analysis unit. At the same time, the supplementary control unit can also monitor the servo transportation of the cargo box, and automatically optimize and adjust the servo transportation results and issue alarms through the servo control unit.

[0006] As a preferred embodiment of the present invention, the database obtains the scanning result through the scanning and recognition unit, and sends the retrieved cargo box size back to the scanning and recognition unit according to the scanning result. The scanning and recognition unit sends the obtained cargo box size and scanning time to the detection and analysis unit at the same time.

[0007] As a preferred embodiment of the present invention, after the detection and analysis unit obtains the size of the cargo box, it obtains the distance between the two ends of the cargo box and records it as B; The detection and analysis unit generates a centerline position according to the distance between the two ends of the cargo box; The detection and analysis unit obtains a visual image of the cargo box at the same time as the code scanning time through the supplementary control unit, and obtains the position between the starting point of the cargo box and the center line of the pickup station in the visual image of the cargo box, which is recorded as A; The detection and analysis unit generates the servo control distance X through formula analysis. , and immediately sends the servo control distance to the servo control unit. The servo control unit controls the conveyor roller to rotate in the opposite direction through the servo drive structure, transports the cargo box to the specified position, and generates a conveying completion signal to send to the terminal control unit.

[0008] As a preferred embodiment of the present invention, after obtaining the delivery completion signal, the terminal control unit controls the robot arm to clamp the cargo box above the transport robot. At the same time, the terminal control unit obtains the cargo box size information through the detection and analysis unit, and automatically allocates the corresponding storage location to the transport robot according to the cargo box size information, so that the transport robot can transport the cargo box to the designated location.

[0009] As a preferred embodiment of the present invention, when the cargo box completely passes the end of the second conveyor line and the code scanning and recognition unit fails to obtain the code scanning result, the supplementary control unit generates a scanning failure signal. At the same time, the supplementary control unit obtains the size information of the cargo box in the picture, calculates the distance between the front end of the cargo box and the center line of the pickup station in the picture and the distance between the two ends of the cargo box, and sends them to the detection and analysis unit, which calculates the servo control distance X.

[0010] As a preferred embodiment of the present invention, the supplementary control unit collects the cargo box through a camera after the transportation is completed, calculates the distance between the center line of the cargo box and the center line of the pickup station, records it as a servo error, and the supplementary control unit sends the servo error to the servo control unit; If the servo error is greater than a preset error threshold, a servo error signal is generated, the servo control unit collects statistics on the servo error, uses the average value of the servo error as a servo error adjustment value, and adjusts the servo control distance according to the servo error adjustment value.

[0011] As a preferred embodiment of the present invention, the servo control unit compares the number of occurrences of servo errors with the number of calculations of the servo control distance to obtain an error ratio, and generates a servo alarm signal if the error ratio is greater than a preset ratio threshold.

[0012] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, during the transportation process, the barcode on the cargo box is used to store the cargo box size, so that the cargo box automatically obtains the cargo box size information when passing through the barcode scanning mechanism, and the system calculates the moving distance required for the cargo box to be transported to the specified position according to the cargo box size. That is, the servo control mechanism enables the cargo box to move the specified distance accurately, ensuring that the center line of the cargo box is accurately located at the receiving position after the transportation is completed, providing favorable conditions for subsequent robot grasping and handling. In the present invention, during the cargo box conveying process, supplementary control is performed through the image acquisition device. When the cargo box code scanning is unsuccessful, the cargo box size is automatically calculated by the image acquisition device to play an additional supplementary role. At the same time, after the cargo box is conveyed, the deviation between the actual position and the set position of the cargo box is collected, and the servo control distance is automatically corrected for multiple deviations to improve the accuracy of the servo control system. In the present invention, when the servo control system is working, the error probability of the servo control system is calculated, and the error probability of the servo control system is used to automatically warn the servo control system, so as to realize self-check of the normality of the system according to the working results. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0014] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 This is a schematic diagram of the second conveyor line structure of the present invention. Figure 3 It is a schematic diagram of the structure of the third conveyor line of the present invention; Figure 4 is a system block diagram of the present invention; Figure 5 It is a system flow chart of the present invention.

[0015] In the figure: 1. First conveyor line; 2. Conveyor roller; 3. Second conveyor line; 4. Third conveyor line; 5. Code scanning structure; 6. Servo drive structure; 7. Pick-up station. DETAILED DESCRIPTION

[0016] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Example 1: Please refer to Figure 1 - Figure 5 As shown, the flexible conveying equipment based on visual detection positioning includes a first conveying line 1, a conveying roller 2 is rotatably connected to the upper surface of the first conveying line 1, and the conveying roller 2 is driven by a motor. Multiple groups of first conveying lines 1 are combined to form a conveying structure with sufficient length; The tail end of the first conveyor line 1 is connected to the second conveyor line 3, and a barcode scanning structure 5 is installed at the tail end of the second conveyor line 3. The barcode scanning structure 5 scans the cargo box passing through here to obtain the barcode information on the cargo box, and obtains the cargo box size corresponding to the barcode information through the database; The tail end of the second conveyor line 3 is connected to the third conveyor line 4, wherein conveying rollers 2 are rotatably connected above the second conveyor line 3 and the third conveyor line 4, and the conveying rollers 2 above the third conveyor line 4 rotate in the opposite direction. A servo drive structure 6 is fixedly installed at the bottom of the third conveyor line 4, and the conveying rollers 2 on the third conveyor line 4 are controlled by the servo drive structure 6. The rotation of the conveying rollers 2 is controlled by the servo drive structure 6 to ensure that the transported cargo box can be accurately moved to the pickup station 7. The pickup station 7 is located at the intersection of the second conveyor line 3 and the third conveyor line 4. When the cargo box is transported to the pickup station 7, the manipulator grabs the cargo box and grabs the cargo box onto the handling robot, which transports the cargo box to the designated location.

[0018] Example 2: Please refer to Figure 1 - Figure 5 As shown, the control system of the flexible conveying equipment based on visual detection and positioning includes a code scanning and recognition unit, a database, a detection and analysis unit, a servo control unit, a terminal control unit and a supplementary control unit, wherein the code scanning and recognition unit obtains the code scanning result through the code scanning structure 5, records the code scanning time, and sends the code scanning result to the database. After comparison in the database, the individual information in the code scanning result is confirmed, and the corresponding cargo box size is retrieved from the database through the individual information; The database sends the retrieved cargo box dimensions back to the code scanning and identification unit, and the code scanning and identification unit sends the acquired cargo box dimensions and the code scanning time to the detection and analysis unit; After the detection and analysis unit obtains the size of the cargo box, it obtains the distance between the two ends of the cargo box, and generates the centerline position according to the distance between the two ends of the cargo box. The detection and analysis unit obtains the distance between the front end of the cargo box and the pickup station 7, calculates the servo control distance, and immediately sends the servo control distance to the servo control unit; The method for the detection and analysis unit to calculate the servo control distance is: Step 1: The detection and analysis unit obtains the scanning time, and at the same time obtains the visual image of the cargo box at the same time as the scanning time through the supplementary control unit; Step 2: The detection and analysis unit obtains the position between the starting point of the cargo box and the center line of the pickup station 7 in the cargo box visual image, and records it as A. The detection and analysis unit records the distance between the two ends of the cargo box as B, and generates the servo control distance X through formula analysis. ; After the servo control unit obtains the servo control distance, it controls the conveying roller 2 to rotate in the opposite direction for a fixed distance through the servo drive structure 6 to convey the cargo box to the designated position, and after conveying to the designated position, generates a conveying completion signal and sends it to the terminal control unit; After obtaining the delivery completion signal, the terminal control unit controls the robotic arm to clamp the cargo box above the transport robot. At the same time, the terminal control unit obtains the cargo box size information through the detection and analysis unit, and automatically allocates the corresponding storage location to the transport robot based on the cargo box size information, so that the transport robot can transport the cargo box to the designated location.

[0019] Example 3: Please refer to Figure 1 - Figure 5 As shown, the supplementary control unit collects images above the second conveyor line 3 through a camera device, and identifies the cargo box passing the end of the second conveyor line 3. When the cargo box completely passes the end of the second conveyor line 3 and the code scanning and recognition unit does not obtain the code scanning result, a code scanning failure signal is generated, and the supplementary control unit sends the code scanning failure signal to the detection and analysis unit; At the same time, the supplementary control unit performs algorithm extraction through the collected image information, obtains the size information of the cargo box in the picture, and calculates the distance between the front end of the cargo box and the center line of the pickup station 7 in the picture, and calculates the distance between the two ends of the cargo box. The supplementary control unit sends the distance between the front end of the cargo box and the center line of the pickup station 7 and the distance between the two ends of the cargo box to the detection and analysis unit, and the detection and analysis unit calculates the servo control distance X.

[0020] Example 4: Please refer to Figure 1 - Figure 5 As shown, the supplementary control unit uses a camera to collect images above the third conveyor line 4, and when the servo control unit executes the servo control distance, the camera collects images of the cargo box to obtain the stop position of the cargo box at the pickup station 7; The supplementary control unit selects the center line of the cargo box and the center line of the interval station, calculates the distance between the center line of the cargo box and the center line of the pickup station 7, records it as the servo error, and sends the servo error to the servo control unit; The servo control unit compares the servo error with a preset error threshold, and does not respond if the servo error is not greater than the preset error threshold. If the servo error is greater than the preset error threshold, a servo error signal is generated, and statistics are taken on the servo error. After obtaining the servo errors for multiple times, the servo control unit counts the servo errors, takes the average value of the servo errors as the servo error adjustment value, and adjusts the servo control distance according to the servo error adjustment value to improve the accuracy of the servo control distance; At the same time, the servo control unit compares the number of occurrences of servo errors with the number of calculations of the servo control distance to obtain the error ratio, and compares the error ratio with the preset ratio threshold. If the error ratio is greater than the preset ratio threshold, a servo alarm signal is generated. If the error ratio is less than the preset ratio threshold, a servo normal signal is generated, and the servo alarm signal or servo normal signal is prompted through the display device so that the management personnel can understand whether the accuracy of the cargo box transportation is normal.

[0021] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A flexible conveying device based on visual detection and positioning, comprising a first conveying line (1), wherein a conveying roller (2) is rotatably connected to the upper surface of the first conveying line (1), and the conveying roller (2) is driven by a motor, and multiple groups of first conveying lines (1) are used in combination, characterized in that: The tail end of the first conveyor line (1) is connected to a second conveyor line (3), and a code scanning structure (5) is installed at the tail end of the second conveyor line (3), and the code scanning structure (5) is used to scan the cargo boxes passing through the tail end; The tail end of the second conveyor line (3) is connected to a third conveyor line (4), wherein conveyor rollers (2) are rotatably connected above the second conveyor line (3) and the third conveyor line (4), the conveyor rollers (2) above the third conveyor line (4) rotate in the opposite direction, a servo drive structure (6) is fixedly installed at the bottom of the third conveyor line (4), the conveyor rollers (2) on the third conveyor line (4) are controlled by the servo drive structure (6), and a pickup station (7) is arranged at the intersection of the third conveyor line (4) and the second conveyor line (3). When a cargo box is transported to the pickup station (7), the cargo box is grabbed by a manipulator and grabbed onto a transport robot, and the transport robot transports the cargo box to a designated location.

2. A control system for a flexible conveying device based on visual detection and positioning, applicable to the flexible conveying device based on visual detection and positioning according to claim 1, characterized in that: It includes a code scanning and recognition unit, a database, a detection and analysis unit, a servo control unit, a terminal control unit and a supplementary control unit; The code scanning and identification unit is used to scan the code of the cargo box to obtain the size of the cargo box; The database is used to store cargo box barcodes and size information corresponding to the cargo box barcodes; The detection and analysis unit is used to calculate according to the size of the cargo box and generate a servo control distance; The servo control unit is used to receive the servo control distance and control the cargo box transportation according to the servo control distance; The terminal control unit is used to control the manipulator to grab the transported cargo box and transport it through the transport robot; The supplementary control unit is used to obtain the size and position of the cargo box that failed to scan the code, and send it to the detection and analysis unit. At the same time, the supplementary control unit can also monitor the servo transportation of the cargo box, and automatically optimize and adjust the servo transportation results and issue alarms through the servo control unit.

3. The control system of the flexible conveying equipment based on visual detection and positioning according to claim 2 is characterized in that: The database obtains the scanning result through the scanning and recognition unit, and sends the retrieved cargo box size back to the scanning and recognition unit according to the scanning result. The scanning and recognition unit sends the obtained cargo box size and scanning time to the detection and analysis unit at the same time.

4. The control system of the flexible conveying equipment based on visual detection and positioning according to claim 2 is characterized in that: After the detection and analysis unit obtains the size of the cargo box, it obtains the distance between the two ends of the cargo box and records it as B; The detection and analysis unit generates a centerline position according to the distance between the two ends of the cargo box; The detection and analysis unit obtains a visual image of the cargo box at the same time as the code scanning time through the supplementary control unit, and obtains the position between the starting point of the cargo box and the center line of the pickup station (7) in the visual image of the cargo box, and records it as A; The detection and analysis unit generates the servo control distance X through formula analysis. , and immediately sends the servo control distance to the servo control unit. The servo control unit controls the rotation of the conveying roller (2) through the servo drive structure (6), conveys the cargo box to the specified position, and generates a conveying completion signal and sends it to the terminal control unit.

5. The control system of the flexible conveying equipment based on visual detection and positioning according to claim 2 is characterized in that: After obtaining the delivery completion signal, the terminal control unit controls the robot arm to clamp the cargo box above the transport robot. At the same time, the terminal control unit obtains the cargo box size information through the detection and analysis unit, and automatically allocates the corresponding storage location to the transport robot according to the cargo box size information, so that the transport robot can transport the cargo box to the designated location.

6. The control system of the flexible conveying equipment based on visual detection and positioning according to claim 2 is characterized in that: When the cargo box completely passes the end of the second conveyor line (3) and the code scanning and identification unit fails to obtain the code scanning result, the supplementary control unit generates a code scanning failure signal. At the same time, the supplementary control unit obtains the size information of the cargo box in the picture, calculates the distance between the front end of the cargo box and the center line of the pickup station (7) in the picture and the distance between the two ends of the cargo box, and sends them to the detection and analysis unit, which calculates the servo control distance X.

7. The control system of the flexible conveying equipment based on visual detection and positioning according to claim 2 is characterized in that: After the transport is completed, the supplementary control unit collects the cargo box through a camera device, calculates the distance between the center line of the cargo box and the center line of the pickup station (7), records it as a servo error, and sends the servo error to the servo control unit; If the servo error is greater than a preset error threshold, a servo error signal is generated, the servo control unit collects statistics on the servo error, uses the average value of the servo error as a servo error adjustment value, and adjusts the servo control distance according to the servo error adjustment value.

8. The control system of the flexible conveying equipment based on visual detection and positioning according to claim 7 is characterized in that: The servo control unit compares the number of occurrences of the servo error with the number of calculations of the servo control distance to obtain an error ratio, and generates a servo alarm signal if the error ratio is greater than a preset ratio threshold.

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