Plate sorting system and method

Abstract

The invention relates to the technical field of plate sorting, and particularly provides a plate sorting system and method. The grabbing mechanism is arranged above the conveying assembly, goods shelves are arranged on the two sides of the grabbing mechanism, a plurality of placing areas are distributed on the goods shelves, and each placing area corresponds to one plate; the first image acquisition assembly is arranged on the conveying assembly; the orientation adjusting assembly is mounted on the conveying assembly and used for adjusting the orientation of the plates placed on the conveying assembly; the controller is used for obtaining the actual orientation of the plate according to the first image information, controlling the orientation adjusting assembly to adjust the actual orientation of the plate to be the same as the preset orientation when the actual orientation of the plate is different from the preset orientation, and controlling the orientation adjusting assembly to adjust the actual orientation of the plate to be the same as the preset orientation when the actual orientation of the plate is the same as the preset orientation. The conveying assembly is controlled to convey the plate to the position below the grabbing mechanism, and then the grabbing mechanism is controlled to place the plate into a placing area corresponding to the goods shelf; according to the system, the sorting efficiency and the sorting accuracy of the plates can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of plate sorting, and in particular, to a plate sorting system and method. Background Art

[0002] In the furniture industry, the relevant technology requires manual sorting of boards. Due to the wide variety of boards, the sizes and shapes of different boards may vary, and it takes a long time for workers to sort the boards. Workers are prone to making mistakes when sorting boards. Therefore, the relevant technology has problems with low sorting efficiency and accuracy.

[0003] There is no effective technical solution to the above problems. It should be noted that the above information disclosed in this section is only used to understand the background of the present invention, and therefore may contain information that does not constitute prior art. Summary of the invention

[0004] The purpose of the present application is to provide a plate sorting system and method, which can effectively improve the sorting efficiency and sorting accuracy of the plates.

[0005] In a first aspect, the present application provides a plate sorting system, which comprises: A conveying assembly, used for conveying plates; The grabbing mechanism is arranged above the conveying assembly, and is used to grab the plate on the conveying assembly and drive the grabbed plate to rise or fall or move horizontally. There are shelves on both sides of the mechanism, and a plurality of placement areas are allocated on the shelves, and each placement area is used to place a plate; A first image acquisition component is disposed on the conveying component and is used to acquire first image information of a plate on the conveying component; An orientation adjustment component is installed on the conveying component and is used to adjust the orientation of the plate placed on the conveying component; The controller is used to obtain the actual orientation of the plate according to the first image information, and to control the orientation adjustment component to adjust the actual orientation of the plate to be the same as the preset orientation when the actual orientation of the plate is different from the preset orientation, and is also used to control the conveying component to convey the plate to the bottom of the grasping mechanism when the actual orientation of the plate is the same as the preset orientation, and then control the grasping mechanism to place the plate in the placement area corresponding to the shelf.

[0006] The present application provides a plate sorting system that can realize automatic sorting of plates through the cooperation of a conveying component, a first image acquisition component, an orientation adjustment component and a gripping mechanism. That is, the present application does not need to sort the plates manually, and because the present application can accurately and quickly identify the plates according to the first image information, compared with the prior art, the present application can effectively improve the sorting efficiency and sorting accuracy of the plates.

[0007] Optionally, the shelf includes a plurality of storage spaces, each storage space includes a plurality of storage layers differentiated based on stacked plates, each storage layer includes a plurality of placement areas, and the allocation of the placement areas is performed before the plates are sorted. The allocation process of the placement areas includes: A1. Select the bottom storage layer in a storage space that has not been allocated a placement area, and select the first produced plate as the plate to be allocated according to the production sequence of the plates. The plate to be allocated is the plate that needs to be allocated a placement area; A2, generating a circumscribed rectangle according to a preset distance and a preset contour corresponding to the plate to be allocated; A3, analyzing whether the blank area in the selected storage layer can accommodate the circumscribed rectangle, if so, executing step A4, if not, executing step A5; A4. Position allocation is performed on the circumscribed rectangle in the blank area to obtain the placement area corresponding to the plate, and then the area where the placement area is located in the blank area is removed; A5, analyzing whether the currently selected storage layer is the highest layer in the corresponding storage space, if so, executing step A6, if not, executing step A7; A6, selecting the lowest storage layer in the storage space where no placement area has been allocated, and returning to step A4; A7, select the previous storage layer of the current storage layer, and return to step A4; A8. Select the next produced plate as the plate to be allocated according to the production sequence of the plates, and return to step A1 until the allocation of the last plate is completed or there is no storage space that has not been allocated for the placement area.

[0008] Optionally, step A4 includes: A41. Perform multiple random placement assignments on the circumscribed rectangle in the blank area to obtain multiple preliminary placement areas, where the preliminary placement areas are subsets of areas in the blank area and are shaped like circumscribed rectangles; A42, based on the minimization principle, rectangularly divide the areas in the blank area except the preliminary placement area, so that each preliminary placement area corresponds to a plurality of rectangular areas; A43, selecting a preliminary placement area with the least number of rectangular areas from the multiple preliminary placement areas as the placement area; A44. Remove the area where the placement area is located in the blank area.

[0009] Since the technical solution first generates multiple feasible plate placement schemes by performing multiple random placement position allocations on the circumscribed rectangle in the blank area, and then finds the optimal solution from the multiple plate placement schemes based on the principle of minimizing the number of rectangular areas, and the size of the preliminary placement area is a fixed value, the fewer the number of rectangular areas corresponding to the preliminary placement area, the larger the maximum size of a single rectangular area in the blank area except the preliminary placement area, the technical solution can effectively increase the size of the circumscribed rectangle that can be accommodated by the remaining blank area, thereby effectively improving the space utilization of the shelf.

[0010] Optionally, step A41 includes: A411, performing multiple random placement position allocations on the circumscribed rectangle in the blank area to obtain multiple preliminary placement areas, wherein at least one edge of the preliminary placement area is perpendicular to an edge of the blank area; A412. Make the distance between the edge of the initial placement area and the edge of the blank area 0.

[0011] After obtaining multiple preliminary placement areas, the technical solution first makes the distance between the edge of the preliminary placement area and the edge of the blank area 0, and then divides the blank area except the preliminary placement area and screens the preliminary placement area. Therefore, the technical solution can make the placement area finally screened close to the edge of the blank area, thereby further increasing the size of the circumscribed rectangle that can be accommodated in other areas of the blank area except the area where the placement area is located, so as to increase the size of the circumscribed rectangle that can be accommodated in the remaining blank area, thereby further improving the space utilization rate of the shelf 3.

[0012] Optionally, the orientation adjustment component includes a rotating component and a clamping component, the rotating component is slidably mounted on the conveying component, the clamping component is mounted on the rotating component, the rotating component is used to drive the clamping component to rotate, and the controller controls the orientation adjustment component to adjust the actual orientation of the plate to the same as the preset orientation when the actual orientation of the plate is different from the preset orientation. The process includes: B1. Obtaining the center line of the plate according to the first image information based on the bounding box method; B2. Control the rotating assembly to drive the clamping assembly to rotate according to the center line of the plate, so that the center line of the clamping assembly is aligned with the center line of the plate; B3. Control the clamping assembly to clamp the plate, and then control the rotating assembly to drive the clamping assembly to rotate to adjust the orientation of the plate until the actual orientation of the plate is the same as the preset orientation.

[0013] Because before adjusting the orientation of the plate, this technical solution first aligns the center line of the clamping assembly with the center line of the plate by using the rotating assembly to drive the clamping assembly to rotate, this technical solution can effectively improve the clamping accuracy of the clamping assembly, thereby effectively avoiding the situation where the plate is accidentally offset during the process of adjusting its orientation due to insufficient clamping accuracy of the clamping assembly.

[0014] Optionally, an identification code bound to a preset plate parameter is posted on the plate, the plate sorting system further includes a removal mechanism, the removal mechanism is installed on one side of the conveying component, and the controller further includes a step executed before step B1: B4. Acquire actual plate parameters according to the first image information, and acquire preset plate parameters corresponding to the plate according to the identification code in the first image information; B5. Analyze whether the plate is qualified according to the actual plate parameters and the preset plate parameters. If so, execute step B1; if not, execute step B6; B6. Move the unqualified plate to the side of the conveying assembly close to the removal mechanism through the cooperation of the rotating assembly and the clamping assembly, and then control the removal mechanism to remove the unqualified plate from the conveying assembly.

[0015] Optionally, the controller is also used to control the grasping mechanism to grasp the auxiliary pads and fill the placement area corresponding to the unqualified plates with the grasped auxiliary pads when analyzing the existence of unqualified plates.

[0016] Since the above technical solution utilizes a removal mechanism to remove unqualified plates from the conveying assembly, that is, the above technical solution may result in a situation where plates located above the placement area corresponding to the unqualified plates cannot be placed smoothly, and this technical solution can enable plates located above the placement area corresponding to the unqualified plates to be placed smoothly by filling the placement area corresponding to the unqualified plates with auxiliary pads. Therefore, this technical solution can effectively avoid the situation where the placement of plates located above the unqualified plates is affected due to the fact that no plates are placed in the placement area corresponding to the unqualified plates.

[0017] Optionally, the process of the controller controlling the grabbing mechanism to grab the auxiliary pad and using the grabbed auxiliary pad to fill the placement area corresponding to the unqualified plate includes: Dividing the placement area corresponding to the unqualified plate into regions based on the preset divided area sizes to obtain a plurality of first filling regions; The grabbing mechanism is controlled to grab the auxiliary pads, and the centers of the first filling areas are filled with the grabbed auxiliary pads.

[0018] Since this technical solution is equivalent to filling only one auxiliary pad in each first filling area, this technical solution can effectively reduce the number of auxiliary pads required to fill the placement areas corresponding to unqualified plates, thereby effectively improving the filling efficiency of the auxiliary pads, and further effectively improving the plate sorting efficiency of the plate sorting system.

[0019] Optionally, there are multiple gripping mechanisms, and shelves are provided on both sides of each gripping mechanism.

[0020] Since the technical solution has multiple gripping mechanisms, and shelves are provided on both sides of each gripping mechanism, while one of the gripping mechanisms places the plate on its corresponding shelf, the technical solution can use other gripping mechanisms to place other plates on their corresponding shelves, that is, the technical solution can realize the loading of multiple plates at the same time, so the technical solution can effectively improve the utilization rate of the conveying components and the plate sorting efficiency.

[0021] In a second aspect, the present application further provides a plate sorting method, which is applied in the plate sorting system of the first aspect, and comprises the following steps: S1. Acquire the actual orientation of the plate according to the first image information, and control the orientation adjustment component to adjust the actual orientation of the plate to be the same as the preset orientation when the actual orientation of the plate is different from the preset orientation; S2. When the actual orientation of the plate is the same as the preset orientation, the conveying assembly is controlled to convey the plate to the bottom of the gripping mechanism, and then the gripping mechanism is controlled to place the plate in the corresponding placement area of ​​the shelf.

[0022] The present application provides a plate sorting method, which can realize automatic sorting of plates through the cooperation of a conveying component, a first image acquisition component, an orientation adjustment component and a gripping mechanism. That is, the present application does not need to sort the plates manually, and because the present application can accurately and quickly identify the plates according to the first image information, compared with the prior art, the present application can effectively improve the sorting efficiency and sorting accuracy of the plates.

[0023] From the above, it can be seen that the plate sorting system and method provided by the present application can realize automatic sorting of plates through the cooperation of a conveying component, a first image acquisition component, an orientation adjustment component and a gripping mechanism, that is, the present application does not need to sort the plates manually, and because the present application can accurately and quickly identify the plates according to the first image information, compared with the prior art, the present application can effectively improve the sorting efficiency and sorting accuracy of the plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the structure of a plate sorting system provided in an embodiment of the present application.

[0025] Figure 2 A schematic diagram of the structure of the removal mechanism provided in an embodiment of the present application.

[0026] Figure 3 A schematic diagram of the structure of the orientation adjustment component provided in an embodiment of the present application.

[0027] Figure 4 A schematic diagram of the structure of the auxiliary pad providing mechanism provided in an embodiment of the present application.

[0028] Figure 5 A schematic diagram of the structure of the gripping mechanism provided in an embodiment of the present application.

[0029] Figure 6 A schematic diagram of the control relationship of a plate sorting system provided in an embodiment of the present application.

[0030] Figure 7 A schematic diagram of the allocated area and the preliminary placement area provided for the first embodiment of the present application.

[0031] Figure 8 A schematic diagram of an allocated area, a preliminary placement area, and a rectangular area provided for the first embodiment of the present application.

[0032] Fig. 9 A schematic diagram of the allocated area and the preliminary placement area provided for the second embodiment of the present application.

[0033] Fig.10 A schematic diagram of an allocated area, a preliminary placement area, and a rectangular area provided for the second embodiment of the present application.

[0034] Fig.11 A flow chart of a plate sorting method provided in an embodiment of the present application.

[0035] Figure numerals: 1. Conveying assembly; 2. Grabbing mechanism; 21. Frame; 22. Multi-axis moving mechanism; 23. Second adsorption assembly; 3. Shelf; 4. First image acquisition assembly; 5. Orientation adjustment assembly; 51. Rotating assembly; 52. Clamping assembly; 6. Controller; 7. Pressure sensor; 8. Removal mechanism; 81. Placement table; 82. Rotating telescopic cylinder; 83. First adsorption assembly; 84. Second image acquisition assembly; 9. Auxiliary pad; 10. Auxiliary pad providing mechanism; 11. Mechanical travel limit switch. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0037] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0038] First, as Figure 1-Figure 10 As shown, the present application provides a plate sorting system, which includes: Conveying component 1, used for conveying plates; The grabbing mechanism 2 is arranged above the conveying assembly 1, and is used to grab the plate on the conveying assembly 1 and drive the grabbed plate to be lifted or moved horizontally. There are shelves 3 on both sides of the grabbing mechanism 2, and a plurality of placement areas are allocated on the shelves 3, and each placement area is used to place a plate; A first image acquisition component 4 is disposed on the conveying component 1 and is used to acquire first image information of a plate on the conveying component 1; The orientation adjustment component 5 is installed on the conveying component 1 and is used to adjust the orientation of the plate placed on the conveying component 1; The controller 6 is used to obtain the actual orientation of the plate according to the first image information, and to control the orientation adjustment component 5 to adjust the actual orientation of the plate to the same as the preset orientation when the actual orientation of the plate is different from the preset orientation, and is also used to control the conveying component 1 to convey the plate to the bottom of the grasping mechanism 2 when the actual orientation of the plate is the same as the preset orientation, and then control the grasping mechanism 2 to place the plate into the placement area corresponding to the shelf 3.

[0039] The conveying assembly 1 of this embodiment can be a roller conveyor line or a belt conveyor line, and the conveying assembly 1 can realize the smooth conveying of the plate. The grabbing mechanism 2 of this embodiment can be an existing mechanical arm or other mechanism that can grab and move items. Since the grabbing mechanism 2 is installed above the conveying assembly 1, the grabbing mechanism 2 can effectively cover the working area of ​​the conveying assembly 1 to realize the operation of grabbing the plate on the conveying assembly 1 and placing the grabbed plate in the corresponding placement area on the shelf 3. The shelf 3 of this embodiment can be an existing shelf 3, and multiple placement areas are allocated on the shelf 3. The time node for allocating the placement area is preferably before the time node for starting to produce the plate, and each placement area is used to place a plate, that is, a plate can be placed in each placement area. The first image acquisition component 4 of this embodiment is preferably a camera, and the first image acquisition component 4 is installed on the conveying assembly 1 to ensure that the first image information containing the plate placed on the conveying assembly 1 is effectively collected and provide data support for the subsequent plate orientation recognition. The orientation adjustment component 5 of this embodiment can be a component such as a robotic arm that can adjust the orientation of an object. The orientation adjustment component 5 is installed on the conveying component 1 and can adjust the orientation of the plate placed on the conveying component 1.

[0040] The controller 6 of this embodiment is electrically connected to the conveying component 1, the gripping mechanism 2, the first image acquisition component 4 and the orientation adjustment component 5 respectively. The specific process of sorting the plates by the plate sorting system of this embodiment can be as follows: when the plate is placed on the conveying component 1, the conveying component 1 is controlled to move the plate under the first image acquisition component 4; the first image acquisition component 4 is used to acquire the first image information, and the actual orientation of the plate is obtained according to the first image information based on the existing visual recognition technology; when the actual orientation of the plate is different from the preset orientation, the orientation adjustment component 5 is controlled to adjust the actual orientation of the plate to be the same as the preset orientation; when the actual orientation of the plate is the same as the preset orientation, the conveying component 1 is controlled to move the plate under the gripping mechanism 2, and then the gripping mechanism 2 is controlled to place the plate in the placement area corresponding to the shelf 3.

[0041] The present application provides a plate sorting system, which can realize automatic sorting of plates through the cooperation of a conveying component 1, a first image acquisition component 4, an orientation adjustment component 5 and a gripping mechanism 2, that is, the present application does not need to sort the plates manually, and because the present application can accurately and quickly identify the plates according to the first image information, compared with the prior art, the present application can effectively improve the sorting efficiency and sorting accuracy of the plates. In addition, since the present application will control the gripping mechanism 2 to place the plates in the corresponding placement area of ​​the shelf 3 only when the actual orientation of the plates is consistent with the preset orientation, the present application can effectively avoid the situation where the plates placed on the shelf 3 protrude from their corresponding placement area due to the inconsistency between the actual orientation of the plates and the preset orientation, thereby effectively avoiding the situation where the subsequent plate placement is affected due to the plates placed on the shelf 3 protruding from their corresponding placement area.

[0042] In some preferred embodiments, the shelf 3 includes a plurality of storage spaces, each storage space includes a plurality of storage layers differentiated based on stacked plates, each storage layer includes a plurality of placement areas, and the allocation of the placement areas is performed before the plates are sorted. The allocation process of the placement areas includes: A1. Select the bottom storage layer in a storage space that has not been allocated a placement area, and select the first produced plate as the plate to be allocated according to the production sequence of the plates. The plate to be allocated is the plate that needs to be allocated a placement area; A2, generating a circumscribed rectangle according to a preset distance and a preset contour corresponding to the plate to be allocated; A3, analyzing whether the blank area in the selected storage layer can accommodate the circumscribed rectangle, if so, executing step A4, if not, executing step A5; A4. Position allocation is performed on the circumscribed rectangle in the blank area to obtain the placement area corresponding to the plate, and then the area where the placement area is located in the blank area is removed; A5, analyzing whether the currently selected storage layer is the highest layer in the corresponding storage space, if so, executing step A6, if not, executing step A7; A6, selecting the lowest storage layer in the storage space where no placement area has been allocated, and returning to step A4; A7, select the previous storage layer of the current storage layer, and return to step A4; A8. Select the next produced plate as the plate to be allocated according to the production sequence of the plates, and return to step A1 until the allocation of the last plate is completed or there is no storage space that has not been allocated for the placement area.

[0043] The storage space of this embodiment includes multiple storage layers that are distinguished based on stacked plates. The multiple storage layers in the same storage space are arranged in the vertical direction, that is, the number of storage layers contained in the same storage space is equal to the maximum number of layers of plates stacked in the storage space in the vertical direction. Therefore, this embodiment is equivalent to stacking multiple layers of plates in one storage space. Since the relevant personnel will design the plates before the production of the plates, the preset contour of step A2 is predetermined information, and the preset contour can reflect the outer contour of the plates to be sorted. The specific process of step A2 can be: generating a minimum bounding rectangle based on the preset contour corresponding to the plates to be allocated; generating a bounding rectangle based on the minimum bounding rectangle and the preset distance, the bounding rectangle is located outside the minimum bounding rectangle and the distance between it and the minimum bounding rectangle is equal to the preset distance, that is, the bounding rectangle is equivalent to the equidistant entity of the minimum bounding rectangle. It should be understood that this embodiment can avoid the collision of adjacent plates and damage to the plates due to errors in the operation of the gripping mechanism 2 by setting the preset distance. Step A3 can determine whether the blank area in the selected storage layer can accommodate the bounding rectangle based on the existing rectangle collision detection algorithm. Step A4 can allocate the position of the circumscribed rectangle in the blank area based on the existing position allocation algorithm to obtain the placement area corresponding to the plate. The size of the circumscribed rectangle is the same as the size of the placement area. Since only one plate can be placed in the same area in the same storage layer, after obtaining the placement area, step A4 needs to remove the area where the placement area is located in the blank area to avoid the situation where the area corresponding to the placement area is repeatedly selected. After completing the removal of the area where the placement area is located in the blank area, this embodiment will execute step A8 to re-determine the plate to be allocated and return to step A1. It should be understood that when the circumscribed rectangle is allocated, the circumscribed rectangle does not protrude from the storage layer. It should be understood that the same storage space is only used to store plates of the same order. Since this embodiment allocates the placement area according to the production order of the plates, this embodiment is equivalent to sorting the plates according to the production order of the plates. It should also be understood that since this embodiment allocates the position of the circumscribed rectangle to the storage layers in the same storage space in a bottom-to-top order, there are only blank areas in the storage layer selected in step A7 that is located above the currently selected storage layer. Preferably, when there are only blank areas in the storage layer, this embodiment allocates the circumscribed rectangle corresponding to the plate to be allocated at the lower right corner of the storage layer. It should be understood that the area where the placement area is located in the blank area removed in step A4 is the area where the plate to which the placement area allocation has been completed is located, so the area where the placement area is located in the blank area removed in step A4 is equivalent to the allocated area.

[0044] In some preferred embodiments, step A4 comprises: A41. Perform multiple random placement assignments on the circumscribed rectangle in the blank area to obtain multiple preliminary placement areas, where the preliminary placement areas are subsets of areas in the blank area and are shaped like circumscribed rectangles; A42, based on the minimization principle, rectangularly divide the areas in the blank area except the preliminary placement area, so that each preliminary placement area corresponds to a plurality of rectangular areas; A43, selecting a preliminary placement area with the least number of rectangular areas from the multiple preliminary placement areas as the placement area; A44. Remove the area where the placement area is located in the blank area.

[0045] Step A41 is equivalent to exploring multiple feasible plate placement schemes by performing multiple random placement position assignments on the circumscribed rectangles in the blank area. The minimization principle of step A42 is to minimize the number of rectangular areas obtained by rectangularly dividing the area in the blank area except the preliminary placement area. The number of rectangular divisions performed on the area in the blank area except the preliminary placement area in step A42 is the same as the number of preliminary placement areas obtained in step A41, that is, this embodiment is equivalent to performing rectangular division on all plate placement schemes. Step A43 is equivalent to screening out the preliminary placement area with the least number of corresponding rectangular areas from multiple preliminary placement areas as the final placement area, that is, this embodiment is equivalent to first generating multiple feasible plate placement schemes, and then finding the optimal solution from the multiple plate placement schemes. It should be understood that if the number of preliminary placement areas screened out based on the principle of minimizing the number of rectangular areas is multiple, then this embodiment screens out the final placement area from the screened preliminary placement areas for a second time based on the principle of maximizing the size of a single rectangular area. Since this embodiment first generates multiple feasible plate placement schemes by performing multiple random placement position allocations on the circumscribed rectangle in the blank area, and then finds the optimal solution from the multiple plate placement schemes, and the size of the preliminary placement area is a fixed value, the fewer the number of rectangular areas corresponding to the preliminary placement area, the larger the maximum size of a single rectangular area in the blank area except the preliminary placement area, so this embodiment can effectively increase the size of the circumscribed rectangle that can be accommodated in the final remaining blank area, thereby effectively improving the space utilization rate of the shelf 3. Figure 8 and Fig.10 For example, Figure 8 The blank area except the initial placement area in the region is divided into three rectangular areas. Fig.10 The blank area except the initial placement area in the region will be divided into two rectangular areas. Figure 8 The number of rectangular areas is greater than Fig.10 The number of rectangular regions, so this example will choose Fig.10 The preliminary placement area is used as the placement area.

[0046] In some preferred embodiments, step A41 includes: A411, performing multiple random placement position allocations on the circumscribed rectangle in the blank area to obtain multiple preliminary placement areas, wherein at least one edge of the preliminary placement area is perpendicular to an edge of the blank area; A412. Make the distance between the edge of the initial placement area and the edge of the blank area 0.

[0047] After obtaining multiple preliminary placement areas, this embodiment first sets the distance between the edge of the preliminary placement area and the edge of the blank area to 0, and then divides the blank area except the preliminary placement area and screens the preliminary placement area. Therefore, this embodiment can make the placement area finally screened close to the edge of the blank area, thereby further increasing the size of the circumscribed rectangle that can be accommodated in other areas of the blank area except the area where the placement area is located, so as to increase the size of the circumscribed rectangle that can be accommodated in the remaining blank area, thereby further improving the space utilization rate of the shelf 3.

[0048] In some preferred embodiments, the orientation adjustment component 5 includes a rotating component 51 and a clamping component 52, the rotating component 51 is slidably mounted on the conveying component 1, the clamping component 52 is mounted on the rotating component 51, the rotating component 51 is used to drive the clamping component 52 to rotate, and the controller 6 controls the orientation adjustment component 5 to adjust the actual orientation of the plate to the same as the preset orientation when the actual orientation of the plate is different from the preset orientation. The process includes: B1. Obtaining the center line of the plate according to the first image information based on the bounding box method; B2. Control the rotating assembly 51 to drive the clamping assembly 52 to rotate according to the center line of the plate, so that the center line of the clamping assembly 52 is aligned with the center line of the plate; B3. Control the clamping assembly 52 to clamp the plate, and then control the rotating assembly 51 to drive the clamping assembly 52 to rotate to adjust the orientation of the plate until the actual orientation of the plate is the same as the preset orientation.

[0049] The bounding box method of step B1 is an existing algorithm, which can mark the position and range of the plate in the first image information and obtain the center line of the plate according to the position and range of the plate, and the center line of the plate is a straight line passing through the center of the plate. The center line of the clamping assembly 52 of step B2 is preferably a straight line passing through the center of the clamping assembly 52 and parallel to the clamping direction of the clamping assembly 52. ​​After the clamping assembly 52 clamps the plate, the clamping assembly 52 will not move relative to the plate, that is, the relationship between the center line of the clamping assembly 52 and the center line of the plate will not change, so step B3 can synchronously adjust the orientation of the clamping assembly 52 and the plate by controlling the rotating assembly 51 to drive the clamping assembly 52 to rotate. Because before adjusting the orientation of the plate, this embodiment first aligns the center line of the clamping assembly 52 with the center line of the plate (the center line of the clamping assembly 52 is parallel to the center line of the plate) by using the rotating assembly 51 to drive the clamping assembly 52 to rotate, this embodiment can effectively improve the clamping accuracy of the clamping assembly 52, thereby effectively avoiding the situation where the plate is accidentally offset during the process of adjusting its orientation due to insufficient clamping accuracy of the clamping assembly 52. ​​It should be understood that when the rotating assembly 51 drives the clamping assembly 52 to rotate, the rotating assembly 51 will rotate relative to the conveying assembly 1.

[0050] In some preferred embodiments, the rotating assembly 51 includes two rotating motors, the clamping assembly 52 includes two telescopic cylinder groups, the two rotating motors are slidably mounted on both sides of the conveying assembly 1, the two telescopic cylinder groups are mounted on the piston ends of the two rotating motors, and each telescopic cylinder group includes a plurality of telescopic cylinders. This embodiment is equivalent to making the clamping assembly 52 have a plurality of clamping ends and making the orientation adjustment assembly 5 clamp the plate from both sides of the plate. Preferably, a pressure sensor 7 is installed at the piston end of each telescopic cylinder, and the controller 6 is also used to control the telescopic cylinder corresponding to the pressure information to stop working when the pressure information collected by the pressure sensor 7 reaches a preset pressure, so as to avoid damage to the plate due to excessive force applied to the plate by the telescopic cylinder.

[0051] In some preferred embodiments, an identification code bound to a preset plate parameter is posted on the plate, the plate sorting system further includes a removal mechanism 8, the removal mechanism 8 is installed on one side of the conveying component 1, and the controller 6 further includes the steps performed before step B1: B4. Acquire actual plate parameters according to the first image information, and acquire preset plate parameters corresponding to the plate according to the identification code in the first image information; B5. Analyze whether the plate is qualified according to the actual plate parameters and the preset plate parameters. If so, execute step B1; if not, execute step B6; B6. The unqualified sheet is moved to the side of the conveying assembly 1 close to the removal mechanism 8 through the cooperation of the rotating assembly 51 and the clamping assembly 52, and then the removal mechanism 8 is controlled to remove the unqualified sheet from the conveying assembly 1.

[0052] The identification code of this embodiment is preferably a QR code. It should be understood that since the identification code is posted on the plate, and the first image information is an image of the plate on the conveying component 1, that is, the first image information also includes the identification code, so this embodiment can use the existing identification code recognition technology to identify the identification code in the first image information to obtain the preset plate parameters bound thereto, and the preset plate parameters preferably include the shape of the plate and the size of the plate, and the preset plate parameters are equivalent to the expected parameters of the plate. Step B4 can use the existing visual recognition technology to obtain the actual parameters of the plate according to the first image information, and the actual parameters of the plate are the actual parameters of the plate, so step B5 can analyze whether the plate is qualified by comparing the actual parameters of the plate with the preset plate parameters. The removal mechanism 8 of this embodiment preferably includes a placement table 81, a rotating telescopic cylinder 82, a first adsorption component 83 and a second image acquisition component 84. The rotating telescopic cylinder 82 and the second image acquisition component 84 are both installed on the placement table 81, the first adsorption component 83 is installed on the piston end of the rotating telescopic cylinder 82, and the second image acquisition component 84 is used to collect second image information containing unqualified plates placed on the conveying component 1 (plates whose actual parameters are different from preset plate parameters or the difference between the actual parameters of the plate and the preset plate parameters exceeds the preset range). The controller 6 of this embodiment can transfer the unqualified plates from the conveying component 1 to the placement table 81 according to the second image information through the cooperation of the rotating telescopic cylinder 82 and the first adsorption component 83, so as to control the removal mechanism 8 to remove the unqualified plates from the conveying component 1. Since steps B4-B6 are executed before step B1, that is, this embodiment is equivalent to first detecting whether the plate is qualified. If the plate is unqualified, the unqualified plate is removed from the conveyor line through the cooperation of the rotating component 51, the clamping component 52 and the removal mechanism 8. If the plate is qualified, the subsequent plate orientation adjustment and plate placement steps are continued. Therefore, this embodiment is equivalent to placing only qualified plates on the shelf 3. Therefore, this embodiment can avoid the situation where the subsequent plate sorting is affected due to the unqualified plates being placed on the shelf 3.

[0053] In some preferred embodiments, the controller 6 is also used to control the gripping mechanism 2 to grip the auxiliary pad 9 and fill the placement area corresponding to the unqualified plate with the gripped auxiliary pad 9 when analyzing the existence of unqualified plates. The present application places the plates on the shelf 3 in sequence according to the production order of the plates. Since the above embodiment uses the removal mechanism 8 to remove the unqualified plates from the conveying assembly 1, the above embodiment may cause the plates located above the placement area corresponding to the unqualified plates to fail to be placed smoothly. However, this embodiment can make the plates located above the placement area corresponding to the unqualified plates be placed smoothly by filling the placement area corresponding to the unqualified plates with the auxiliary pad 9. Therefore, this embodiment can effectively avoid the situation where the placement of the plates located above the unqualified plates is affected due to the fact that the plates are not placed in the placement area corresponding to the unqualified plates.

[0054] In some preferred embodiments, the process in which the controller 6 controls the grabbing mechanism 2 to grab the auxiliary pad 9 and fills the placement area corresponding to the unqualified plate with the grabbed auxiliary pad 9 includes: Dividing the placement area corresponding to the unqualified plate into regions based on the preset divided area sizes to obtain a plurality of first filling regions; The grabbing mechanism 2 is controlled to grab the auxiliary pads 9 , and the centers of the first filling areas are filled with the grabbed auxiliary pads 9 .

[0055] The preset divided area size of this embodiment is preferably a square with a side length of 10 cm. Since this embodiment is equivalent to filling only one auxiliary pad 9 in each first filling area, this embodiment can effectively reduce the number of auxiliary pads 9 required to fill the placement area corresponding to the unqualified plates, thereby effectively improving the filling efficiency of the auxiliary pads 9, and then effectively improving the plate sorting efficiency of the plate sorting system. Preferably, during the plate sorting process and before switching the storage layer, this embodiment first analyzes whether the remaining blank area in the current storage layer can accommodate the second filling area with the size of the preset divided area. If so, the grasping mechanism 2 is controlled to grasp the auxiliary pad 9, and the grasped auxiliary pad 9 is used to fill the center of each second filling area respectively. Therefore, this embodiment can effectively avoid the situation where the subsequent plate placement is affected due to the excessive size of the remaining blank area in the current storage layer.

[0056] In some preferred embodiments, there are multiple gripping mechanisms 2, and shelves 3 are provided on both sides of each gripping mechanism 2. Since there are multiple gripping mechanisms 2 in this embodiment, and shelves 3 are provided on both sides of each gripping mechanism 2, when one of the gripping mechanisms 2 places a plate on its corresponding shelf 3, this embodiment can use other gripping mechanisms 2 to place other plates on their corresponding shelves 3, that is, this embodiment can realize the loading of multiple plates at the same time, so this embodiment can effectively improve the utilization rate of the conveying component 1 and the efficiency of plate sorting.

[0057] In some preferred embodiments, the gripping mechanism 2 includes a frame 21, a multi-axis moving mechanism 22, a second adsorption component 23 and a third image acquisition component (not shown in the figure), the multi-axis moving mechanism 22 and the third image acquisition component are both installed on the frame 21, the second adsorption component 23 is installed on the multi-axis moving mechanism 22, and the third image acquisition component is used to collect third image information of the plate on the conveying component 1. The controller 6 controls the gripping mechanism 2 to place the plate into the placement area corresponding to the shelf 3. The process includes: controlling the multi-axis moving mechanism 22 to move the second adsorption component 23 to contact the plate according to the third image information; controlling the second adsorption component 23 to adsorb the plate; controlling the multi-axis moving mechanism 22 to move the adsorbed plate to the placement area corresponding to the shelf 3, and then controlling the second adsorption component 23 to release the adsorption of the plate. The multi-axis moving mechanism 22 of this embodiment can drive the second adsorption component 23 to rise and fall or move horizontally. Preferably, a mechanical travel limit switch 11 for limiting the sliding position of the multi-axis moving mechanism 22 is also installed on the frame 21 of this embodiment to avoid damage to the multi-axis moving mechanism 22 due to collision between the multi-axis moving mechanism 22 and the frame 21 or the shelf 3.

[0058] In some preferred embodiments, the second adsorption component 23 includes a negative pressure generating component and a plurality of adsorption groups, all of which are connected to the negative pressure generating component, and each adsorption group includes an adsorption unit and an on-off switching component, and the on-off switching component is used to switch the corresponding adsorption unit between the two states of being connected and disconnected with the negative pressure generating component. Preferably, the controller 6 of this embodiment is also used to determine the target adsorption group from the plurality of adsorption groups according to the projection of the plate on the second adsorption component 23, and then control the on-off switching component of the target adsorption group to connect its corresponding adsorption unit with the negative pressure generating component, that is, this embodiment is equivalent to using only part of the adsorption units to adsorb the plate, thereby effectively reducing energy consumption and reducing the load of the negative pressure generating component. More preferably, a volume collection component for collecting volume information is provided on the second adsorption component 23, and the controller 6 is also used to generate an alarm message when the volume information is greater than or equal to a preset volume (preferably 100 decibels). Since the volume information is greater than or equal to the preset volume, it is usually caused by factors such as air leakage in the second adsorption component 23, blockage in the second adsorption component 23, or excessive working vacuum of the negative pressure generating component, and these factors will cause the negative pressure generating component to overload. Therefore, when the volume information is greater than or equal to the preset volume, this embodiment needs to generate an alarm message to remind relevant personnel to inspect the second adsorption component 23.

[0059] In some preferred embodiments, the plate sorting system further comprises an auxiliary pad providing mechanism 10, which is disposed on one side of the conveying assembly 1. The auxiliary pad providing mechanism 10 is used to place the auxiliary pad 9 on the conveying assembly 1 when the auxiliary pad 9 needs to be filled. The structure of the auxiliary pad providing mechanism 10 of this embodiment is preferably the same as the structure of the removal mechanism 8 of the above-mentioned embodiment.

[0060] From the above, it can be seen that the plate sorting system provided by the present application can realize automatic sorting of plates through the cooperation of the conveying component 1, the first image acquisition component 4, the orientation adjustment component 5 and the grasping mechanism 2, that is, the present application does not need to sort the plates manually, and because the present application can accurately and quickly identify the plates according to the first image information, compared with the prior art, the present application can effectively improve the sorting efficiency and sorting accuracy of the plates.

[0061] Second, as Fig.11 As shown, the present application also provides a plate sorting method, which is applied in the plate sorting system provided in the first aspect above, and the plate sorting method comprises the following steps: S1, obtaining the actual orientation of the plate according to the first image information, and controlling the orientation adjustment component 5 to adjust the actual orientation of the plate to be the same as the preset orientation when the actual orientation of the plate is different from the preset orientation; S2. When the actual orientation of the plate is the same as the preset orientation, the conveying assembly 1 is controlled to convey the plate to the bottom of the grabbing mechanism 2, and then the grabbing mechanism 2 is controlled to place the plate into the corresponding placement area of ​​the shelf 3.

[0062] A plate sorting method provided in the present application is applied in the plate sorting system provided in the first aspect above. The principle of the plate sorting method provided in this embodiment is the same as the principle of the plate sorting system provided in the first aspect above, and will not be discussed in detail here.

[0063] From the above, it can be seen that the plate sorting system and method provided by the present application can realize automatic sorting of plates through the cooperation of the conveying component 1, the first image acquisition component 4, the orientation adjustment component 5 and the grasping mechanism 2, that is, the present application does not need to sort the plates manually, and because the present application can accurately and quickly identify the plates according to the first image information, compared with the prior art, the present application can effectively improve the sorting efficiency and sorting accuracy of the plates.

[0064] In the embodiments provided in the present application, it should be understood that, herein, relational terms such as first and second, etc. are merely 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.

[0065] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A plate sorting system, characterized in that: The plate sorting system comprises: A conveying assembly, used for conveying plates; A grabbing mechanism is arranged above the conveying assembly, and is used to grab the plate on the conveying assembly and drive the grabbed plate to rise or fall or move horizontally. There are shelves on both sides of the grabbing mechanism, and a plurality of placement areas are allocated on the shelves, and each placement area is used to place a plate; A first image acquisition component is disposed on the conveying component and is used to acquire first image information of a plate on the conveying component; An orientation adjustment component, installed on the conveying component, for adjusting the orientation of the plate placed on the conveying component; The controller is used to obtain the actual orientation of the plate according to the first image information, and to control the orientation adjustment component to adjust the actual orientation of the plate to be the same as the preset orientation when the actual orientation of the plate is different from the preset orientation, and is also used to control the conveying component to convey the plate to the bottom of the gripping mechanism when the actual orientation of the plate is the same as the preset orientation, and then control the gripping mechanism to place the plate into the placement area corresponding to the shelf.

2. The sheet material sorting system according to claim 1, characterized in that: The shelf includes a plurality of storage spaces, each of which includes a plurality of storage layers differentiated by stacking the plates, each of which includes a plurality of placement areas, and the allocation of the placement areas is performed before the plates are sorted. The allocation process of the placement areas includes: A1. Select the bottom storage layer in a storage space that has not been allocated a placement area, and select the first produced plate as the plate to be allocated according to the production sequence of the plates, wherein the plate to be allocated is the plate that needs to be allocated a placement area; A2, generating a circumscribed rectangle according to a preset distance and a preset contour corresponding to the sheet to be distributed; A3, analyzing whether the blank area in the selected storage layer can accommodate the circumscribed rectangle, if so, executing step A4, if not, executing step A5; A4, allocating the position of the circumscribed rectangle in the blank area to obtain a placement area corresponding to the plate, and then removing the area where the placement area is located in the blank area; A5, analyzing whether the currently selected storage layer is the highest layer in the corresponding storage space, if yes, executing step A6, if no, executing step A7; A6, selecting the lowest storage layer in the storage space that has not been allocated a placement area, and returning to step A4; A7, select the previous storage layer of the current storage layer, and return to step A4; A8. Select the next produced plate as the plate to be allocated according to the production sequence of the plates, and return to step A1 until the allocation of the last plate is completed or there is no storage space that has not been allocated a placement area.

3. The sheet material sorting system according to claim 2, characterized in that: Step A4 includes: A41, performing multiple random placement position allocations on the circumscribed rectangle in the blank area to obtain multiple preliminary placement areas, where the preliminary placement areas are area subsets in the blank area and are shaped like circumscribed rectangles; A42, dividing the areas in the blank area except the preliminary placement area into rectangles based on the minimization principle, so that each of the preliminary placement areas corresponds to a plurality of rectangular areas; A43, selecting a preliminary placement area with the least number of rectangular areas from the plurality of preliminary placement areas as a placement area; A44. Remove the area in the blank area where the placement area is located.

4. The sheet material sorting system according to claim 3, characterized in that: Step A41 includes: A411, performing multiple random placement position allocations on the circumscribed rectangle in the blank area to obtain multiple preliminary placement areas, wherein at least one edge of the preliminary placement area is perpendicular to an edge of the blank area; A412. Set the distance between the edge of the preliminary placement area and an edge of the blank area to 0.

5. The sheet material sorting system according to claim 1, characterized in that: The orientation adjustment component includes a rotating component and a clamping component, the rotating component is slidably mounted on the conveying component, the clamping component is mounted on the rotating component, the rotating component is used to drive the clamping component to rotate, and the controller controls the orientation adjustment component to adjust the actual orientation of the plate to the same as the preset orientation when the actual orientation of the plate is different from the preset orientation. The process includes: B1. Obtaining the center line of the plate according to the first image information based on the bounding box method; B2. Controlling the rotating assembly to drive the clamping assembly to rotate according to the center line of the plate, so that the center line of the clamping assembly is aligned with the center line of the plate; B3. Control the clamping assembly to clamp the plate, and then control the rotating assembly to drive the clamping assembly to rotate, so as to adjust the orientation of the plate until the actual orientation of the plate is the same as the preset orientation.

6. The sheet material sorting system according to claim 5, characterized in that: The plate is posted with an identification code bound to a preset plate parameter. The plate sorting system further includes a removal mechanism installed on one side of the conveying assembly. The controller further includes a step performed before step B1: B4. Acquire actual plate parameters according to the first image information, and acquire preset plate parameters corresponding to the plate according to the identification code in the first image information; B5. Analyze whether the plate is qualified according to the actual plate parameters and the preset plate parameters. If so, execute step B1; if not, execute step B6; B6. The unqualified sheet material is moved to the side of the conveying assembly close to the removal mechanism through the cooperation of the rotating assembly and the clamping assembly, and then the removal mechanism is controlled to remove the unqualified sheet material from the conveying assembly.

7. The sheet material sorting system according to claim 6, characterized in that: The controller is also used to control the grasping mechanism to grasp the auxiliary pad and fill the placement area corresponding to the unqualified plate with the grasped auxiliary pad when analyzing the existence of unqualified plate.

8. The sheet material sorting system according to claim 7, characterized in that: The process of the controller controlling the grabbing mechanism to grab the auxiliary pad and using the grabbed auxiliary pad to fill the placement area corresponding to the unqualified plate includes: Dividing the placement area corresponding to the unqualified plate into regions based on a preset divided area size to obtain a plurality of first filling regions; The grabbing mechanism is controlled to grab the auxiliary pads, and the centers of the first filling areas are filled with the grabbed auxiliary pads.

9. The sheet material sorting system according to claim 1, characterized in that: There are multiple grabbing mechanisms, and the shelves are arranged on both sides of each grabbing mechanism.

10. A plate sorting method, characterized in that: The plate sorting method is applied in the plate sorting system according to any one of claims 1 to 9, and the plate sorting method comprises the following steps: S1. Acquire the actual orientation of the plate according to the first image information, and control the orientation adjustment component to adjust the actual orientation of the plate to be the same as the preset orientation when the actual orientation of the plate is different from the preset orientation; S2. When the actual orientation of the plate is the same as the preset orientation, control the conveying assembly to convey the plate to below the gripping mechanism, and then control the gripping mechanism to place the plate into a placement area corresponding to the shelf.

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