Material conveying method, system, device and equipment based on visual identification

Abstract

The invention discloses a material conveying method, system, device and equipment based on visual identification, and the method comprises the steps that one or more markers or mark positions are arranged on a to-be-conveyed material, and the markers or the mark positions comprise size information, material information and product information of the to-be-conveyed material; identifying or reading the marker or the mark position, and extracting the information of the to-be-conveyed material contained in the marker or the mark position; the extracted information of the materials to be conveyed is compared with preset material information, and the target storage position of the materials to be conveyed is determined; and the materials to be conveyed are stacked, stored, hoisted or transported according to the determined target storage position. The system comprises the system corresponding to the method. The device comprises identification equipment, conveying equipment, centering equipment and control equipment. The equipment comprises the device, so that automatic identification and conveying of the materials can be realized, an operator does not need to be in direct contact with the materials and equipment on site, and the safety of the operator is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a material conveying method, system, device and equipment based on visual recognition. Background Art

[0002] In traditional industrial manufacturing enterprises, intelligent slab warehouses mainly use single-hook cranes with plate hooks and single-point electromagnetic disk hoists to lift steel plates. After the steel plates are transported to the workshop, the cranes with plate hooks lift the entire stack of steel plates to the steel plate warehouse. When loading is required, cranes with single-point electromagnetic disk hoists are used to lift the steel plates to the roller bed. Manual participation is often required in the above operation process, but there are at least the following problems in the manual operation process:

[0003] (1) The process of lifting steel plates involves a high degree of manual involvement, low work efficiency and potential safety hazards, posing a potential threat to operators.

[0004] (2) When steel plates are stored in the warehouse, there is no warehouse management system to manage them. The storage location of the steel plates cannot be planned in advance and needs to be searched manually. Sometimes, multiple transports are required to lift the required steel plates, which is inefficient.

[0005] (3) Steel plate information relies on manual writing and paper verification, which not only poses the risk of information error but also has the problem of low efficiency.

[0006] In order to improve the automation level of steel plate lifting and ensure on-site production safety and improve work efficiency, it is necessary to propose a set of unmanned steel plate warehouse automatic unloading process solutions, which must have the functions of automatic steel plate storage, automatic steel plate out of the warehouse, steel plate inter-warehouse transfer, steel plate centering and warehouse management and planning. Workers can monitor the equipment status in real time through the ground operating console, and the program-controlled driving automatically performs steel plate lifting work according to the scheduling strategy. At present, the unmanned steel plate warehouse mainly uses flatbed trucks, RGV rail shuttles, and AGV carts as transportation tools to transport incoming steel plates, which does not match the transportation conditions in the market where steel plates are mainly transported by trucks. When trucks transport steel plates to the production workshops of industrial manufacturing enterprises, manual operation is still required to lift the steel plates from the trucks to flatbed trucks or RGV rail shuttles, AGV carts. At the same time, the cost of special tools such as flatbed trucks, RGV rail shuttles, and AGV carts is relatively high, and enterprises have invested a lot. While the cost is high, the efficiency and quality have not been significantly improved, and the potential threat to operators has not been eliminated. Summary of the invention

[0007] In order to solve some or all of the technical problems existing in the above-mentioned prior art, the present invention provides a material conveying method, system, device and equipment based on visual recognition, which can realize that the materials enter the automatic process flow when they are transported by trucks to the workshop, adapt to the industrial enterprises' continuously improving requirements for automatic operation of material storage areas, and have high material conveying quality and efficiency. There is no need for operators to have direct contact with materials and their equipment on site, which ensures the safety of operators, eliminates safety hazards, and saves operating costs and transportation costs.

[0008] The technical solution of the present invention is as follows:

[0009] In a first aspect, the present invention provides a material conveying method based on visual recognition, comprising:

[0010] One or more markers or markings are set on the material to be transported, wherein the markers or markings contain size information, material information and product information of the material to be transported;

[0011] Identify or read the marker or marking position, and extract the material information to be transported contained in the marker or marking position;

[0012] Compare the extracted information of the material to be transported with the preset material information to determine the target storage location of the material to be transported;

[0013] The materials to be transported are stacked, stored, lifted or transported according to the determined target storage location.

[0014] Furthermore, in the above-mentioned material conveying method based on visual recognition, the identifier or marking position includes a QR code or a barcode.

[0015] Furthermore, in the above-mentioned material conveying method based on visual recognition, the size information includes at least the length, width and thickness of the material to be conveyed, the material information includes at least the material data of the material, and the product information includes at least the product name, conveying location and storage location of the material to be conveyed.

[0016] In a second aspect, the present invention provides a material conveying system based on visual recognition, comprising:

[0017] An identification module, the identification module is used to set one or more identification objects or marking positions on the material to be transported, the identification objects or marking positions contain size information, material information and product information of the material to be transported;

[0018] An extraction module, the extraction module is used to identify or read the identifier or marking position, and extract the material information to be transported contained in the identifier or marking position;

[0019] A comparison module, the comparison module is used to compare the extracted material information to be transported with the preset material information to determine the target storage location of the material to be transported;

[0020] A conveying module is used to stack, store, lift or transport materials to be conveyed according to the determined target storage position.

[0021] In a third aspect, the present invention provides a material conveying device based on visual recognition, comprising:

[0022] An identification device, the identification device is used to identify the marker or marking position on the material to be transported, and extract the material information to be transported contained in the marker or marking position;

[0023] Conveying equipment, the conveying equipment is used to stack, store, lift or transport the materials to be conveyed;

[0024] A centering device, the centering device is used to adjust and align the material to be conveyed to the conveying device;

[0025] The control device, the identification device, the conveying device and the centering device are all connected to the control device wirelessly or by wire. All information of the material to be transported and the storage information of the material to be transported input externally are pre-stored in the control device, or the control device can call all information of the material to be transported and the storage information of the material to be transported, and the control device is used to issue instructions to the identification device, the conveying device and the centering device. After the identification device identifies the material information of the material to be transported, it is compared with the material information stored or called in advance. If the compared material information to be transported is consistent, the control device controls the conveying device to move above the material to be transported. After the centering device adjusts the material to be transported to an angle or position consistent with that of the conveying device, the control device controls the conveying device to transport the material to be transported to a preset target position. If the material information to be transported identified by the identification device is inconsistent with the material information stored or called in advance, the control device issues an early warning, and repeats the above-mentioned conveying action of the material to be transported after the early warning is eliminated, until all the materials to be transported are transported to the target position and then the operation is stopped.

[0026] Furthermore, in the above-mentioned material conveying device based on visual recognition, the recognition device includes one or more of a sensor, a radio frequency identification tag and a reader / writer, a global positioning system device, a barcode scanner and a smart camera.

[0027] Furthermore, in the above-mentioned material conveying device based on visual recognition, the conveying equipment includes a program-controlled crane, the program-controlled crane includes an electromagnetic disk for adsorbing, grabbing and transferring the material to be transported, and an electronic scale is installed on the program-controlled crane for measuring the weight of the hoisted object. In addition, the program-controlled crane also includes:

[0028] A trolley running mechanism, the trolley running mechanism is used to support the trolley running mechanism, and the trolley running mechanism is also used to guide the direction of the material to be transported;

[0029] A trolley running mechanism, wherein the trolley running mechanism is arranged on the carriage running mechanism, and the trolley running mechanism is used to transport the material to be transported from a starting transport position to a target transport position along the direction of the carriage running mechanism;

[0030] A lifting mechanism, wherein the lifting mechanism is arranged on the trolley running structure and is fixedly connected to the trolley running mechanism, and a slewing mechanism is arranged below the lifting mechanism, and the lifting mechanism is used to lift and lower the slewing mechanism;

[0031] A rotating mechanism, at the bottom of which one or more suction cups or electromagnetic disks are provided for grabbing or adsorbing the material to be transported, and the rotating mechanism is used to adjust the angle of the suction cup or the electromagnetic disk to grab the material to be transported.

[0032] Furthermore, in the above-mentioned material conveying device based on visual recognition, the centering device includes:

[0033] A laser distance measuring sensor, wherein the laser distance measuring sensor is used to locate the trolley running mechanism and the trolley running mechanism;

[0034] A rotary encoder, wherein the rotary encoder is used to position the lifting mechanism;

[0035] A single-turn absolute value encoder is used to position the rotary mechanism.

[0036] Furthermore, in the above-mentioned material conveying device based on visual recognition, the control device includes a PLC control system.

[0037] In a fourth aspect, the present invention further provides a device, comprising the material conveying device based on visual recognition as described above.

[0038] The main advantages of the technical solution of the present invention are as follows:

[0039] The material conveying method based on visual recognition of the present invention automatically identifies the identifiers or markers set on the materials, extracts the material information, and determines the storage location and operation task of the material to be conveyed according to the comparison between the material information and the preset information or the original information, thereby realizing the full-process operation of the material, and realizing that, for example, the material enters the automatic process flow as soon as it arrives at the workshop by truck transportation, adapts to the continuously improving automatic operation requirements of industrial enterprises for material storage areas, has high material conveying quality and efficiency, does not require operators to come into direct contact with the materials and their equipment on site, ensures the safety of operators, eliminates safety hazards, and saves operating costs and conveying costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0041] Figure 1 A schematic diagram of a flow chart of a material conveying method based on visual recognition according to an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of the structure of a material conveying system based on visual recognition provided by one embodiment of the present invention;

[0043] Figure 3 A schematic structural diagram of a material conveying device based on visual recognition provided by one embodiment of the present invention;

[0044] Figure 4 A schematic structural diagram of a centering device in a material conveying device based on visual recognition provided by one embodiment of the present invention;

[0045] Figure 5 A schematic diagram of the structure of a control device in a material conveying device based on visual recognition provided by one embodiment of the present invention;

[0046] Description of reference numerals:

[0047] 1. Identification module; 2. Extraction module; 3. Comparison module; 4. Transport module;

[0048] 10. Identification equipment; 11. Conveying equipment; 12. Centering equipment; 13. Control equipment;

[0049] 110. Trolley running mechanism; 111. Carriage running mechanism; 112. Lifting mechanism; 113. Rotating mechanism. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. 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 making creative work are within the scope of protection of the present invention.

[0051] The following is combined with Figure 1-5 , describes in detail the technical solution provided by the embodiments of the present invention.

[0052] As attached Figure 1 As shown, an embodiment of the present invention provides a material conveying method based on visual recognition, which includes the following steps S1-S4:

[0053] Step S1: setting one or more markers or marking positions on the material to be transported, wherein the markers or marking positions contain size information, material information and product information of the material to be transported;

[0054] In some optional implementations of this embodiment, the above-mentioned identifier or marking position includes a QR code or a barcode.

[0055] In order to enable the QR code or barcode set on the material to be transported to contain more material information and prevent storage position errors during material transportation, or multiple transfers and transportations, the size information set on the QR code or barcode shall include at least the length, width and thickness of the material to be transported, the material information shall include at least the material data of the material, and the product information shall include at least the product name, transportation location and storage location of the material to be transported.

[0056] It is easy to track and also capable of positioning, for example, by setting a QR code or barcode in the center of a steel plate.

[0057] In order to prevent the QR code or barcode set for identification and marking from being damaged and unable to be identified, and thus unable to be transported, multiple QR codes and barcodes can be set on the transported material. At the same time, in order to facilitate the tracking of the identification device 10, it is preferred that the set QR code or barcode is consistent at each boring position of the transport, thereby improving the efficiency of identification and transportation.

[0058] In some optional implementations of this embodiment, under the conditions of satisfying the above-mentioned positioning and easy tracking, QR codes and barcodes can be set at the surrounding positions and the center position of the transported material, and the distance between the QR codes or barcodes at the surrounding positions and the edge positions is equal.

[0059] In another optional implementation of this embodiment, under the conditions of satisfying the above-mentioned positioning and easy tracking, a QR code and a barcode can be set at the center position of the transported material, and one or more QR codes or barcodes identical to the center position can be set around the QR code or barcode at the center position, but the distance and shape of the multiple QR codes or barcodes set around the center are pre-set.

[0060] As an example, the technical solution of the present invention is described in detail by taking steel plates as the material to be transported.

[0061] Since the identification device 10 cannot directly identify the material and weight information of the steel plate, and the steel plate information needs to be confirmed when the steel plate is hoisted to ensure the safety of hoisting, it is necessary to print a QR code at the geometric center of the steel plate surface. The QR code stores information such as the length, width, thickness, weight, and material of the steel plate, meets the use requirements of the workshop program-controlled driving and control system, and provides a unified information reading dictionary; if the QR code is damaged during the transportation and storage of the steel plate, protective measures should be taken or multiple QR codes should be printed on the steel plate to ensure the use requirements.

[0062] In order to ensure that the steel plates are safe and reliable during transportation and do not fall off or tilt, the steel plates should be kept flat when stacked on the transport truck to ensure reliable contact with the electromagnetic disk head.

[0063] Step S2: Identify or read the marker or marking position, and extract the material information to be transported contained in the marker or marking position;

[0064] In some optional implementations of this embodiment, identification or reading of markers or markings is achieved through one or more devices including sensors, radio frequency identification tags and readers, global positioning system equipment, barcode scanners and smart cameras, so as to extract the above-mentioned steel plate length, width, thickness, weight, material and other information to meet the use requirements of the workshop's programmable driving and control systems.

[0065] Step S3: comparing the extracted information of the material to be transported with the preset material information to determine the target storage location of the material to be transported;

[0066] Since the material to be transported needs to be transported from the starting position to the target position, the material to be transported needs to be identified, the storage position of the material to be transported needs to be determined, or the material to be transported needs to be transferred or lifted, etc. In this process, the material to be transported needs to be matched one by one with the pre-set storage position, or the material to be transported needs to be transferred or lifted, etc., so as to realize the accurate transportation of the material to be transported, realize the control of the material to be transported, quantity statistics, task allocation, status monitoring, accurate allocation and management of material information, etc., so as to facilitate the storage of the material to be transported and other operational tasks, and also facilitate the execution of the next process, reduce the material search time, save the processing time of the material to be transported, and thus improve the material processing efficiency.

[0067] In some optional implementations, in order to reduce manual operations, further improve the efficiency of operations such as material transportation, and achieve high-quality transfer or transportation of materials, an alarm mechanism and a re-verification mechanism may also be set up.

[0068] For example, when the extracted material information to be transported is compared with the preset material information and found to be inconsistent, the alarm mechanism triggers an alarm signal to remind the operating personnel to verify the material to be transported. The operating personnel compare and verify the material to be transported on site with the pre-stored material to determine the operating status of the material to be transported, thereby realizing precise operation and precise management of materials.

[0069] For example, when the above-mentioned alarm mechanism is triggered, the re-verification mechanism will compare the preset material information with the original material information. When the comparison results of the two are the same, the material information is manually confirmed on site to perform the alarm mechanism's operation task. When the two are different, the original material information and the pre-stored material information are respectively compared with the material information identified and detected on site. If there is consistent information, the material to be transported is operated according to the consistent information. If there is no consistent information, manual intervention is performed to process the alarm mechanism.

[0070] In order to ensure the accuracy of the original material information, the original material information needs to be checked multiple times when calling or storing the original material information to reduce the participation of subsequent operators, thereby improving the overall management and transportation tasks.

[0071] Step S4: stacking, hoisting or transporting the materials to be transported according to the determined target storage location.

[0072] Combined with actual applications, the program-controlled crane can be used to transport, lift and perform special operations on the materials to be transported. The program-controlled crane includes a trolley operating mechanism 110, a trolley operating mechanism 111, a lifting mechanism 112, and a slewing mechanism 113, which can adjust the angle of the rotating electromagnetic disk. In the process of the program-controlled crane operating the materials, it can be controlled by the corresponding control device 13. The control device 13 can send instructions to it, and can also control the QR code or barcode recognition device 10 to complete the task queuing, task decomposition, warehouse information update, task sending, driving status display and other functions of the materials to be transported. It has a driving status management interface and a manual operation interface, and needs to be used in conjunction with the central control system. The control device 13 can reasonably plan the steel plate warehouse area according to the steel plate information, for example, according to the storage area of ​​the storage equipment, the storage space, the optimal transportation route, etc., to transport the materials, and can feedback the steel plate information and steel plate height of each warehouse to the crane PLC. In order to facilitate the operation of the transported materials, the control device 13 arranges an operating table at a suitable location in the material storage area for workshop staff to operate and monitor equipment status, query information, etc.

[0073] At the same time, in order to accurately convey the materials and achieve neat stacking of multiple materials during conveying, the conveying device 11 is also provided with a centering device 12, so that the conveying device 11 centers one steel plate at a time, the steel plate is centered in the middle in the length direction, and the steel plate is centered to one side in the width direction. The centering device is provided with a detection sensor for detecting the length, width and thickness information of the steel plate, and communicating with the driving PLC.

[0074] In order to further realize the detection of the conveyed materials and prevent tilting and collapse during the stacking of multiple materials to be conveyed, sensors are arranged in the material storage area, such as around the steel plate identification loading area, to identify the geometric center position and deflection angle of the top steel plate on the transport truck in the loading area, and identify the target as the steel plate pile; at the same time, one or more QR codes and bar codes are arranged at the appropriate position of the programmable driving electromagnetic disk hoist to realize the accurate reading of material information.

[0075] Specifically, the above-mentioned centering method is set and adjusted according to actual application.

[0076] In order to accurately transport the materials to be transported and reduce the risks of tilting or falling during material transportation, which may cause damage to the materials and affect the transportation efficiency, it is necessary to pre-treat the equipment that transports the materials to be transported. The pre-treatment includes detecting the reliability of the material conveying equipment 11 and adjusting its position during the material conveying process so that the material conveying equipment 11 can accurately stack, store, lift or transport the materials to be conveyed.

[0077] Therefore, the material conveying method based on visual recognition of the present invention can realize that the materials enter the automatic process flow when they are transported by trucks to the workshop, which adapts to the industrial enterprises' continuously improving requirements for automatic operation of material storage areas. The material conveying quality and efficiency are high, and there is no need for operators to have direct contact with materials and their equipment on site, which ensures the safety of operators, eliminates safety hazards, and saves operating costs and transportation costs.

[0078] The following is a further explanation of the warehousing, outbound and transshipment processes of steel plates based on actual applications.

[0079] The steel plate storage process includes the following steps S100-S115:

[0080] Step S100: The transport truck transports the steel plates to the slab storage area to identify the loading area, and the steel plates enter the automatic process flow. The truck transports multiple steel plates each time.

[0081] Step S101: A worker operates on the warehouse management system console to trigger the automatic warehousing process of steel plates.

[0082] Step S102: The control device 13 or the control system (warehouse area management system) sends an identification instruction to the marker or mark position identification device 10 (machine vision system), and the machine vision system starts to identify. After successful identification, the geometric center coordinates of the top steel plate on the transport truck, the steel plate deflection angle, and the length and width information of the steel plate are sent to the program-controlled driving PLC (there is no need to identify the steel plate thickness information); when the identification fails, the information is fed back to the warehouse area management system, and the warehouse area management system displays that the machine vision system has failed to identify, an alarm is issued, and the automatic process is stopped.

[0083] Step S103: After receiving the feedback data from the machine vision system, the program-controlled crane moves to the position just above the geometric center of the top steel plate in the identification loading area, and adjusts the angle of the rotary mechanism 113 according to the deflection angle of the steel plate.

[0084] Step S104: The program-controlled crane triggers the QR code reader to read the QR code information of the top steel plate and feeds back the program-controlled crane PLC and the warehouse management system. If the QR code information reading fails, the warehouse management system will be fed back to the warehouse management system, which will display the QR code information reading failure, issue an alarm and stop the automatic process.

[0085] Step S105: The program-controlled driving PLC compares the steel plate size information read by the QR code reader with the steel plate length and width information fed back by the machine vision system. If they are consistent, the process continues; otherwise, an alarm is triggered to the warehouse management system. The warehouse management system displays that the steel plate information does not match, and an alarm is issued to stop the automatic process;

[0086] Step S106: The program-controlled crane controls the lifting mechanism 112 to descend, the electromagnetic disk to magnetize, and the lifting mechanism 112 to ascend, thus completing the plate grabbing work.

[0087] Step S107: The programmable crane PLC calculates the thickness of the steel plate according to the length, width and weight information of the hoisted steel plate, and compares it with the steel plate size information read by the QR code reader. If they are consistent, continue; otherwise, trigger an alarm to the warehouse area management system. The warehouse area management system displays that the steel plate information does not match, issues an alarm and stops the automatic process.

[0088] Step S108: The program-controlled crane runs to above the discharge position of the centering device.

[0089] Step S109: the program-controlled crane controls the lifting mechanism 112 to descend, the electromagnetic disk to demagnetize, and the lifting mechanism 112 to ascend, thus completing the board placing work.

[0090] Step S110: The warehouse management system sends a trigger signal to the centering device, and the roller bed of the centering device starts to transport the steel plate to the centering position, and triggers the centering mechanism to perform centering, centering to the center in the length direction and to one side in the width direction. The length, width and thickness information of the current steel plate are measured and fed back to the program-controlled crane and warehouse management system; when the centering device fails to center, an alarm is triggered to the warehouse management system, and the warehouse management system displays that the centering device fails to center, and an alarm is issued to stop the automatic process.

[0091] Step S111: the warehouse management system determines the warehouse location where the current steel plate needs to be stored according to the scheduling strategy, and sends an automatic task to the program-controlled crane to lift the steel plate from the centering position of the centering device to the target warehouse location;

[0092] Step S112: the program-controlled crane moves to the top of the centering steel plate of the centering device and grabs the plate;

[0093] Step S113: the program-controlled crane runs to the target storage location, places the pallet, and feeds back the task execution information to the storage area management system;

[0094] Step S114: The warehouse management system re-triggers the machine vision system to identify the second steel plate, and loops through steps S102 to S113 until the machine vision system identifies that there are no more steel plates on the truck.

[0095] Step S115: The warehouse management system console displays that the steel plates have been put into storage, and sends the information of each storage location in the warehouse to the central control system, and the truck leaves.

[0096] The steel plate outbound process includes the following steps S200 to S203:

[0097] Step S200: The central control system issues a steel plate lifting task to the warehouse management system according to the workshop production task;

[0098] Step S201: the warehouse management system sends the plate loading task to the program-controlled crane according to the scheduling strategy, and sends the steel plate length, width, thickness, weight and other information to the program-controlled crane;

[0099] Step S202: the program-controlled crane runs to the top of the steel plate at the material taking position and grabs the plate;

[0100] Step S203: the program-controlled crane runs to the roller bed discharge position and places the plate, ending the process.

[0101] The steel plate transport process includes the following steps S300-S303:

[0102] Step S300: The central control system issues a steel plate transport task to the warehouse management system according to the workshop production task;

[0103] Step S301: the warehouse management system sends the steel plate reverse transportation task to the program-controlled crane according to the dispatching strategy, and sends the steel plate length, width, thickness, weight and other information to the program-controlled crane;

[0104] Step S302: the program-controlled crane moves to the top of the steel plate at the material taking position and grabs the plate;

[0105] Step S303: the program-controlled crane runs to the material discharge location and places the board, ending the process.

[0106] Second, as Figure 2 As shown, the present invention also provides a material conveying system based on visual recognition, comprising: an identification module 1, an extraction module 2, a comparison module 3 and a conveying module 4, wherein:

[0107] The identification module 1 is used to set one or more identifiers or marking positions on the material to be transported, and the identifiers or marking positions contain the size information, material information and product information of the material to be transported; the extraction module 2 is used to identify or read the identifiers or marking positions, and extract the material information to be transported contained in the identifiers or marking positions; the comparison module 3 is used to compare the extracted material information to be transported with the preset material information to determine the target storage position of the material to be transported; the conveying module 4 is used to stack, store, lift or transport the material to be transported according to the determined target storage position.

[0108] With such an arrangement, the material conveying system based on visual recognition of the present invention can realize automatic identification of materials, and the identified materials can be compared and stored, lifted or transported according to the pre-stored material information, so that the materials can enter the automatic process flow as soon as they arrive at the workshop by truck, which can adapt to the industrial enterprises' continuously improving requirements for automatic operation of material storage areas. The material conveying quality and efficiency are high, and there is no need for operators to come into direct contact with materials and their equipment on site, which ensures the safety of operators, eliminates safety hazards, and saves operating costs and transportation costs.

[0109] Thirdly, Figure 3-Figure 5 As shown, the present invention also provides a material conveying device based on visual recognition, comprising: an identification device 10, a conveying device 11, a centering device 12 and a control device 13, wherein:

[0110] The identification device 10 is used to identify the markers or markings on the material to be transported, and extract the information of the material to be transported contained in the markers or markings; the conveying device 11 is used to stack, store, lift or transport the material to be transported; the centering device 12 is used to adjust and align the material to be transported to the conveying device 11; the identification device 10, the conveying device 11 and the centering device 12 are all connected to the control device 13 wirelessly or by wire, and all the information of the material to be transported and the storage information of the material to be transported input from the outside are pre-stored in the control device 13, or the control device 13 can call all the information of the material to be transported and the storage information of the material to be transported, and the control device 13 is used to issue Instruction, after the identification device 10 identifies the material information of the material to be transported, it is compared with the material information stored or called in advance. If the compared material information to be transported is consistent, the control device 13 controls the conveying device 11 to move above the material to be transported. After the centering device 12 adjusts the material to be transported to the angle or position consistent with the conveying device 11, the control device 13 controls the conveying device 11 to transport the material to be transported to the preset target position. If the material information to be transported identified by the identification device 10 is inconsistent with the material information stored or called in advance, the control device 13 issues an early warning. After the early warning is eliminated, the conveying action of the material to be transported is repeated until all the materials to be transported are transported to the target position and the operation is stopped.

[0111] In some optional implementations of this embodiment, the above-mentioned identification device 10 includes one or more of a sensor, a radio frequency identification tag and a reader / writer, a global positioning system device, a barcode scanner, and a smart camera.

[0112] Such a configuration enables the identification device 10 to not only identify the material information on the QR code or barcode, but also locate the conveying equipment 11, etc., to achieve accurate detection and full-process monitoring of the materials to be conveyed.

[0113] Specifically, in the material conveying device based on visual recognition of the present invention, the conveying equipment 11 includes a program-controlled crane, which includes an electromagnetic disk for adsorbing, grabbing and transferring the material to be transported, and an electronic scale is installed on the program-controlled crane for measuring the weight of the hoisted object. In addition, the program-controlled crane also includes: a trolley running mechanism 110, a trolley running mechanism 111, a lifting mechanism 112 and a slewing mechanism 113, wherein:

[0114] The trolley operating mechanism 110 is used to support the trolley operating mechanism 111, and the trolley operating mechanism 110 is also used to guide the direction of the material to be transported; the trolley operating mechanism 111 is arranged on the trolley operating mechanism 110, and the trolley operating mechanism 111 is used to transport the material to be transported from the starting conveying position to the target conveying position along the direction of the trolley operating mechanism 110; the lifting mechanism 112 is arranged on the trolley operating structure, fixedly connected to the trolley operating mechanism 111, and a rotating mechanism 113 is arranged below the lifting mechanism 112, and the lifting mechanism 112 is used to lift and lower the rotating mechanism 113; one or more suction cups or electromagnetic magnetic fields for grabbing or adsorbing the material to be transported are arranged at the bottom of the rotating mechanism 113, and the rotating mechanism 113 is used to adjust the angle of the suction cup or electromagnetic magnetic field to grab the material to be transported.

[0115] In order to realize accurate storage of materials during the material transportation process, reduce multiple transfers during the material transportation process, reduce the time and the transportation steps of the conveying equipment 11 during the transportation process, and improve the transportation efficiency, the centering device 12 is used to adjust the posture and angle of the above-mentioned program-controlled driving for material transportation, so that the program-controlled driving can ensure that the materials do not tilt or fall off during the material transportation process, and safely and reliably transport the materials from the starting position to the target position, wherein, Figure 4 As shown, the centering device 12 of the present invention includes: a laser distance sensor, a rotary encoder, and a single-turn absolute encoder, wherein:

[0116] The laser distance measuring sensor is used to locate and detect the trolley running mechanism 110 and the car running mechanism 111; the rotary encoder is used to locate and detect the lifting mechanism 112; and the single-turn absolute encoder is used to locate and detect the rotary mechanism 113.

[0117] It should be noted that the above-mentioned laser ranging sensor, rotary encoder and single-turn absolute encoder are not the only limitations in the present invention, but are only exemplified in the embodiments of the present invention. All devices that function in accordance with the above-mentioned encoders and sensors are within the scope of protection of the present invention. When the above-mentioned centering device 12 is used to adjust the posture and angle of the program-controlled crane for material transportation, the above-mentioned centering device 12 is set on the corresponding device, detects and obtains the corresponding data, and transmits the detected and obtained data to the control device 13. The control device 13 determines whether the corresponding device is balanced through the acquired and detected devices, thereby realizing the corresponding control adjustment and positioning detection.

[0118] In some optional implementations of this embodiment, the control device 13 of the present invention includes a PLC control system. In addition, the control device 13 of the present invention can also be set as a control device 13 such as a computer, an industrial computer, etc.

[0119] In a fourth aspect, the present invention further provides a device, which includes the above-mentioned material conveying device based on visual recognition.

[0120] Therefore, the equipment of the present invention can realize the identification and automatic transportation of materials to be transported, realize the automatic transportation and management of materials, reduce manual participation, improve the efficiency of material transportation and other operations, ensure the safety of operators, and reduce the operating costs of different operating methods such as material transportation.

[0121] In summary, the present invention can realize the full process automatic operation of automatic warehousing, inter-warehouse transfer, automatic outbound transportation and automatic alignment of materials, with high degree of automation and high production safety; and in the process of material operation, the warehouse information can be updated in real time, the warehouse steel plate information can be queried, the task can be traced back, and the system has a high degree of informatization; the system and device of the present invention can adapt to the transportation conditions of trucks transporting steel plates to materials, without the need for manual transportation and transportation tools such as flatbed trucks and rail cars, reducing equipment investment and simplifying the process flow; in addition, the material information such as steel plates is read by scanning QR codes, and the steel plate data is reconfirmed by machine vision systems, centering devices, programmable driving, etc., avoiding the risk of information errors during manual handwriting and paper order verification.

[0122] It should be noted that, in this article, relational terms such as "first" and "second" 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. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A material conveying method based on visual recognition, characterized in that: include: One or more markers or markings are set on the material to be transported, wherein the markers or markings contain size information, material information and product information of the material to be transported; Identify or read the marker or marking position, and extract the material information to be transported contained in the marker or marking position; Compare the extracted information of the material to be transported with the preset material information to determine the target storage location of the material to be transported; The materials to be transported are stacked, stored, lifted or transported according to the determined target storage location.

2. A material conveying method based on visual recognition according to claim 1, characterized in that: The identifier or marking position includes a QR code or a bar code.

3. A material conveying method based on visual recognition according to claim 1, characterized in that: The size information at least includes the length, width and thickness of the material to be transported, the material information at least includes the material data of the material, and the product information at least includes the product name, transport location and storage location of the material to be transported.

4. A material conveying system based on visual recognition, characterized in that: include: An identification module, the identification module is used to set one or more identification objects or marking positions on the material to be transported, the identification objects or marking positions contain size information, material information and product information of the material to be transported; An extraction module, the extraction module is used to identify or read the identifier or marking position, and extract the material information to be transported contained in the identifier or marking position; A comparison module, the comparison module is used to compare the extracted material information to be transported with the preset material information to determine the target storage location of the material to be transported; A conveying module is used to stack, store, lift or transport materials to be conveyed according to the determined target storage position.

5. A material conveying device based on visual recognition, characterized in that: include: An identification device, the identification device is used to identify the marker or marking position on the material to be transported, and extract the material information to be transported contained in the marker or marking position; Conveying equipment, the conveying equipment is used to stack, store, lift or transport the materials to be conveyed; A centering device, the centering device is used to adjust and align the material to be conveyed to the conveying device; The control device, the identification device, the conveying device and the centering device are all connected to the control device wirelessly or by wire. All information of the material to be transported and the storage information of the material to be transported input externally are pre-stored in the control device, or the control device can call all information of the material to be transported and the storage information of the material to be transported, and the control device is used to issue instructions to the identification device, the conveying device and the centering device. After the identification device identifies the material information of the material to be transported, it is compared with the material information stored or called in advance. If the compared material information to be transported is consistent, the control device controls the conveying device to move above the material to be transported. After the centering device adjusts the material to be transported to an angle or position consistent with that of the conveying device, the control device controls the conveying device to transport the material to be transported to a preset target position. If the material information to be transported identified by the identification device is inconsistent with the material information stored or called in advance, the control device issues an early warning, and repeats the above-mentioned conveying action of the material to be transported after the early warning is eliminated, until all the materials to be transported are transported to the target position and then the operation is stopped.

6. A material conveying device based on visual recognition according to claim 5, characterized in that: The identification device includes one or more of a sensor, a radio frequency identification tag and reader / writer, a global positioning system device, a barcode scanner, and a smart camera.

7. A material conveying device based on visual recognition according to claim 5, characterized in that: The conveying equipment includes a program-controlled crane, which includes an electromagnetic disk for adsorbing, grabbing and transferring the materials to be transported, and an electronic scale is installed on the program-controlled crane for measuring the weight of the hoisted objects. In addition, the program-controlled crane also includes: A trolley running mechanism, the trolley running mechanism is used to support the trolley running mechanism, and the trolley running mechanism is also used to guide the direction of the material to be transported; A trolley running mechanism, wherein the trolley running mechanism is arranged on the carriage running mechanism, and the trolley running mechanism is used to transport the material to be transported from a starting transport position to a target transport position along the direction of the carriage running mechanism; A lifting mechanism, wherein the lifting mechanism is arranged on the trolley running structure and is fixedly connected to the trolley running mechanism, and a slewing mechanism is arranged below the lifting mechanism, and the lifting mechanism is used to lift and lower the slewing mechanism; A rotating mechanism, at the bottom of which one or more suction cups or electromagnetic disks are provided for grabbing or adsorbing the material to be transported, and the rotating mechanism is used to adjust the angle of the suction cup or the electromagnetic disk to grab the material to be transported.

8. A material conveying device based on visual recognition according to claim 7, characterized in that: The centering device comprises: A laser distance measuring sensor, wherein the laser distance measuring sensor is used to locate the trolley running mechanism and the trolley running mechanism; A rotary encoder, wherein the rotary encoder is used to position the lifting mechanism; A single-turn absolute value encoder is used to position the rotary mechanism.

9. A material conveying device based on visual recognition according to claim 5, characterized in that: The control device includes a PLC control system.

10. A device, characterized in that: The equipment includes the material conveying device based on visual recognition as described in any one of claims 5-9.

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