Logistics grabbing visual guidance robot unstacking and stacking system and method

Abstract

The invention provides a logistics grabbing visual guidance robot unstacking and stacking system and method.The system comprises an article assembly line and further comprises M logistics grabbing robots arranged beside unstacking and stacking of the article assembly line, an mth grabbing device is arranged at the mounting tail end of the mth logistics grabbing robot, and the mth grabbing device is arranged at the mounting tail end of the mth logistics grabbing robot; the control end of the mth logistics grabbing robot is connected with the logistics grabbing robot control end of the mth controller, and the control end of the mth grabber is connected with the grabber control end of the mth controller; the system further comprises a control platform and N shooting devices. The image data end of the nth shooting device is connected with the image data end of the nth shooting device of the control platform. The data end of the mth controller is connected with the data end of the mth controller of the control platform; the control platform controls the unstacking and stacking robot to achieve unstacking and stacking according to image data shot by the shooting device. According to the logistics line grabbing device, objects on a logistics line can be grabbed, and the grabbing size of the grabber on the objects is adjusted.

Description

Technical Field

[0001] The present invention relates to the field of image vision technology, and particularly to a logistics grasping vision-guided robot palletizing and depalletizing system and method. Background Art

[0002] In the field of logistics automation, palletizing and depalletizing operations are one of the core tasks in warehousing, sorting, transportation and other links. Traditional manual palletizing and depalletizing have problems such as low efficiency, high labor intensity, and high costs. With the development of vision technology, vision-guided robot palletizing and depalletizing systems have emerged as the times require and become an important technical direction to solve the pain points in the logistics industry. Summary of the Invention

[0003] The present invention aims to at least solve the technical problems existing in the prior art, and particularly innovatively provides a logistics grasping vision-guided robot palletizing and depalletizing system and method.

[0004] To achieve the above object of the present invention, the present invention provides a logistics grasping vision-guided robot palletizing and depalletizing system, including an article assembly line, and further including M logistics grasping robots arranged beside the palletizing and depalletizing of the article assembly line, namely the 1st logistics grasping robot, the 2nd logistics grasping robot, the 3rd logistics grasping robot,..., the Mth logistics grasping robot, where M is a positive integer greater than or equal to 1; a mth gripper is arranged at the installation end of the mth logistics grasping robot, the control end of the mth logistics grasping robot is connected to the logistics grasping robot control end of the mth controller, and the control end of the mth gripper is connected to the gripper control end of the mth controller; where m is a positive integer less than or equal to M;

[0005] It further includes a control platform and N cameras, namely the 1st camera, the 2nd camera, the 3rd camera,..., the Nth camera; N is a positive integer greater than or equal to 1; the image data end of the nth camera is connected to the nth camera image data end of the control platform;

[0006] The data end of the mth controller is connected to the mth controller data end of the control platform;

[0007] The control platform controls the palletizing and depalletizing robot to achieve palletizing and depalletizing according to the image data captured by the camera.

[0008] In a preferred embodiment of the present invention, the model of the logistics grasping robot is ABB large industrial robot IRB 6700-150;

[0009] The camera is a 1080P full high definition ultra-wide angle camera.

[0010] In a preferred embodiment of the present invention, when M is 1, there is 1 logistics grabbing robot set beside the item assembly line's unstacking and stacking area, which is the 1st logistics grabbing robot;

[0011] The control end of the 1st logistics grabbing robot is connected to the logistics grabbing robot control end of the 1st controller, and the control end of the 1st gripper is connected to the gripper control end of the 1st controller;

[0012] The data end of the 1st controller is connected to the 1st controller data end of the control platform;

[0013] When M is 2, there are 2 logistics grabbing robots set beside the item assembly line's unstacking and stacking area, which are the 1st logistics grabbing robot and the 2nd logistics grabbing robot respectively;

[0014] The control end of the 1st logistics grabbing robot is connected to the logistics grabbing robot control end of the 1st controller, and the control end of the 1st gripper is connected to the gripper control end of the 1st controller; The control end of the 2nd logistics grabbing robot is connected to the logistics grabbing robot control end of the 2nd controller, and the control end of the 2nd gripper is connected to the gripper control end of the 2nd controller;

[0015] The data end of the 1st controller is connected to the 1st controller data end of the control platform, and the data end of the 2nd controller is connected to the 2nd controller data end of the control platform;

[0016] When M is 3, there are 3 logistics grabbing robots set beside the item assembly line's unstacking and stacking area, which are the 1st logistics grabbing robot, the 2nd logistics grabbing robot and the 3rd logistics grabbing robot respectively; The control end of the 1st logistics grabbing robot is connected to the logistics grabbing robot control end of the 1st controller, and the control end of the 1st gripper is connected to the gripper control end of the 1st controller;

[0017] The control end of the 2nd logistics grabbing robot is connected to the logistics grabbing robot control end of the 2nd controller, and the control end of the 2nd gripper is connected to the gripper control end of the 2nd controller; The control end of the 3rd logistics grabbing robot is connected to the logistics grabbing robot control end of the 3rd controller, and the control end of the 3rd gripper is connected to the gripper control end of the 3rd controller;

[0018] The data end of the 1st controller is connected to the 1st controller data end of the control platform, the data end of the 2nd controller is connected to the 2nd controller data end of the control platform, and the data end of the 3rd controller is connected to the 3rd controller data end of the control platform;

[0019] ……;

[0020] When M is K, there are K logistics grasping robots set beside the item assembly line for depalletizing, namely the 1st logistics grasping robot, the 2nd logistics grasping robot, the 3rd logistics grasping robot, ……, the Kth logistics grasping robot; the control end of the 1st logistics grasping robot is connected to the logistics grasping robot control end of the 1st controller, and the control end of the 1st gripper is connected to the gripper control end of the 1st controller; the control end of the 2nd logistics grasping robot is connected to the logistics grasping robot control end of the 2nd controller, and the control end of the 2nd gripper is connected to the gripper control end of the 2nd controller; the control end of the 3rd logistics grasping robot is connected to the logistics grasping robot control end of the 3rd controller, and the control end of the 3rd gripper is connected to the gripper control end of the 3rd controller; ……; the control end of the Kth logistics grasping robot is connected to the logistics grasping robot control end of the Kth controller, and the control end of the Kth gripper is connected to the gripper control end of the Kth controller;

[0021] The data end of the 1st controller is connected to the 1st controller data end of the control platform, the data end of the 2nd controller is connected to the 2nd controller data end of the control platform, the data end of the 3rd controller is connected to the 3rd controller data end of the control platform, ……, the data end of the Kth controller is connected to the Kth controller data end of the control platform; K is the number of logistics grasping robots set beside the item assembly line for depalletizing;

[0022] When N is 1, there is 1 camera at this time, which is the 1st camera; the image data end of the 1st camera is connected to the 1st camera image data end of the control platform;

[0023] When N is 2, there are 2 cameras at this time, namely the 1st camera and the 2nd camera; the image data end of the 1st camera is connected to the 1st camera image data end of the control platform, and the image data end of the 2nd camera is connected to the 2nd camera image data end of the control platform;

[0024] When N is 3, there are 3 cameras at this time, namely the 1st camera, the 2nd camera and the 3rd camera; the image data end of the 1st camera is connected to the 1st camera image data end of the control platform, the image data end of the 2nd camera is connected to the 2nd camera image data end of the control platform, and the image data end of the 3rd camera is connected to the 3rd camera image data end of the control platform;

[0025] ……;

[0026] When N is Q, there is 1 camera at this time, namely the 1st camera, the 2nd camera, the 3rd camera, ……, the Qth camera; the image data terminal of the 1st camera is connected to the image data terminal of the 1st camera of the control platform, the image data terminal of the 2nd camera is connected to the image data terminal of the 2nd camera of the control platform, the image data terminal of the 3rd camera is connected to the image data terminal of the 3rd camera of the control platform, ……, the image data terminal of the Qth camera is connected to the image data terminal of the Qth camera of the control platform; Q is the number of cameras.

[0027] The present invention also discloses a method for a logistics grasping vision-guided robot to disassemble and stack, including the following steps:

[0028] S0, let the camera serial number j = 1;

[0029] S1, the control platform acquires the image data captured by the jth camera;

[0030] S2, the control platform processes the image data captured by the jth camera to determine whether the item to be grasped is within the preset position range:

[0031] If the item to be grasped is within the preset position range, then proceed to the next step;

[0032] If the item to be grasped is not within the preset position range, then wait until the item to be grasped is within the preset position range, and execute step S2 or S4;

[0033] S3, acquire the size of the item to be grasped on the item conveyor; the control platform sends control signals to the jth logistics grasping robot and the jth gripper to control the jth logistics grasping robot and the jth gripper to grasp the item; proceed to the next step;

[0034] S4, judge the relationship between j and N:

[0035] If j ≥ N, then j = 1; execute step S1;

[0036] If j < N, then j = j + 1, and execute step S1.

[0037] In a preferred embodiment of the present invention, the method for the control platform to process the image data captured by the jth camera in step S2 to determine whether the item to be grasped is within the preset position range includes the following steps:

[0038] S21, the control platform processes the image data captured by the jth camera into non-color image data;

[0039] S22, determine whether the item to be grasped exists within the preset position range in the image captured by the jth camera.

[0040] In a preferred embodiment of the present invention, the method of processing the image data captured by the j-th camera into non-color image data in step S21 is as follows:

[0041]

[0042] where R(x,y) j is the red pixel value of the image data captured by the j-th camera at (x,y);

[0043] G(x,y) j is the green pixel value of the image data captured by the j-th camera at (x,y);

[0044] B(x,y) j is the blue pixel value of the image data captured by the j-th camera at (x,y);

[0045] r, g, and b are the color weights of the red, green, and blue pixel values respectively, and their values are non-negative integers not greater than 1; at the same time, r + g + b = 1;

[0046] is the pixel value at (x,y) after processing the image data captured by the j-th camera into non-color image data;

[0047] In step S22, the method of determining whether the item to be grasped exists in the preset position range in the image captured by the j-th camera is as follows:

[0048]

[0049] U j = 1 indicates that the item to be grasped exists in the preset position range in the image captured by the j-th camera;

[0050] U j = 0 indicates that the item to be grasped does not exist in the preset position range in the image captured by the j-th camera;

[0051] is the preset item existence threshold;

[0052] existing j is the calculated value of the existence of the item to be grasped in the image captured by the j-th camera;

[0053]

[0054] is the pixel value at (x,y) after processing the image data captured by the j-th camera into non-color image data;

[0055] RGB(x,y)0 is the non-color reference image when there is no item;

[0056] x=1, 2, 3,...,X; y=1, 2, 3,..., Y;

[0057] X is the number of pixels in the width of the captured image, and Y is the number of pixels in the height of the captured image.

[0058] In a preferred embodiment of the present invention, in step S3, the control platform sends a control signal to the j-th logistics grabbing robot and the j-th grabber, and the method of controlling the j-th logistics grabbing robot and the j-th grabber to grab an item includes:

[0059] The controller sends a grab size of L to the j-th grabber. j +δ, the j-th gripper receives the size L j After +δ, the grasping size of the j-th grasper becomes L j +δ, δ is the size error, δ is 3.5cm~5.5cm.

[0060] In a preferred embodiment of the present invention, the method for determining the size of the object to be grasped in step S23 is:

[0061]

[0062] L j is the size of the object to be grasped;

[0063] (x front,j ,y front,j ) is the leftmost pixel coordinate of the grasping point of the object to be grasped;

[0064] (x end,j ,y end,j ) is the rightmost pixel coordinate of the grasping point of the object to be grasped;

[0065] d is the side length of each pixel, d=h / Y=w / X,

[0066] w and h are the width and height of the image respectively;

[0067] τ is the conversion coefficient;

[0068]

[0069] τ is the conversion coefficient;

[0070] L actual is the actual length of the measuring body;

[0071] (x front,tag ,y front,tag ) is the pixel coordinate of the left end point of the measurement volume;

[0072] (x end,tag ,yend,tag ) are the coordinates of the pixel points at the right end of the measurement body;

[0073] Obtain:

[0074]

[0075] L j which is the size of the item to be grasped.

[0076] The present invention also discloses a computer system, including:

[0077] A processor;

[0078] A memory for storing instructions executable by the processor;

[0079] wherein, when the processor is configured to execute the executable instructions, the logistics grasping vision-guided robot depalletizing method described above is implemented.

[0080] The present invention also discloses a computer-readable storage medium, including:

[0081] A memory having a computer program stored thereon;

[0082] A processor for executing the program in the memory to implement the logistics grasping vision-guided robot depalletizing method.

[0083] In summary, due to the adoption of the above technical solution, the present invention can grasp the items on the logistics line and adjust the grasping size of the gripper for the items.

[0084] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] The above and / or additional aspects and advantages of the present invention will become apparent and be easily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0086] Figure 1 is a flowchart of the present invention.

[0087] Figure 2 is a schematic installation diagram of the depalletizing robot of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0088] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0089] The present invention discloses a vision-guided robot palletizing and depalletizing system for logistics grasping, which includes an article assembly line, and further includes M logistics grasping robots arranged beside the palletizing and depalletizing of the article assembly line, namely the 1st logistics grasping robot, the 2nd logistics grasping robot, the 3rd logistics grasping robot, ……, the Mth logistics grasping robot, where M is a positive integer greater than or equal to 1; at the installation end of the mth logistics grasping robot, there is an mth gripper, the control end of the mth logistics grasping robot is connected to the logistics grasping robot control end of the mth controller, and the control end of the mth gripper is connected to the gripper control end of the mth controller; m is a positive integer less than or equal to M, and at this time:

[0090] The control end of the 1st logistics grasping robot is connected to the logistics grasping robot control end of the 1st controller, and the control end of the 1st gripper is connected to the gripper control end of the 1st controller; the control end of the 2nd logistics grasping robot is connected to the logistics grasping robot control end of the 2nd controller, and the control end of the 2nd gripper is connected to the gripper control end of the 2nd controller; the control end of the 3rd logistics grasping robot is connected to the logistics grasping robot control end of the 3rd controller, and the control end of the 3rd gripper is connected to the gripper control end of the 3rd controller; ……; the control end of the Mth logistics grasping robot is connected to the logistics grasping robot control end of the Mth controller, and the control end of the Mth gripper is connected to the gripper control end of the Mth controller;

[0091] It further includes a control platform and N cameras, namely the 1st camera, the 2nd camera, the 3rd camera, ……, the Nth camera; N is a positive integer greater than or equal to 1; the image data end of the nth camera is connected to the nth camera image data end of the control platform; at this time:

[0092] The image data end of the 1st camera is connected to the 1st camera image data end of the control platform, the image data end of the 2nd camera is connected to the 2nd camera image data end of the control platform, the image data end of the 3rd camera is connected to the 3rd camera image data end of the control platform, ……, the image data end of the Nth camera is connected to the Nth camera image data end of the control platform; preferably, the number of cameras is the same as the number of palletizing and depalletizing robots, that is, M cameras, and the ath camera can capture the field of view within the action range of the ath palletizing and depalletizing robot, that is, one camera corresponds to one palletizing and depalletizing robot, where a is a positive integer less than or equal to M; at this time, the 1st camera can capture the field of view within the action range of the 1st palletizing and depalletizing robot, the 2nd camera can capture the field of view within the action range of the 2nd palletizing and depalletizing robot, the 3rd camera can capture the field of view within the action range of the 3rd palletizing and depalletizing robot, the ath camera can capture the field of view within the action range of the ath palletizing and depalletizing robot, ……, the ath camera can capture the field of view within the action range of the ath palletizing and depalletizing robot;

[0093] The data terminal of the Mth controller is connected to the data terminal of the Mth controller of the control platform; at this time:

[0094] The data terminal of the 1st controller is connected to the data terminal of the 1st controller of the control platform, the data terminal of the 2nd controller is connected to the data terminal of the 2nd controller of the control platform, the data terminal of the 3rd controller is connected to the data terminal of the 3rd controller of the control platform,..., the data terminal of the Mth controller is connected to the data terminal of the Mth controller of the control platform;

[0095] The control platform controls the depalletizing robot to realize depalletizing according to the image data captured by the camera. Among them, the mth logistics grasping robot and the mth gripper arranged at the installation end of the mth logistics grasping robot form the mth depalletizing robot. At this time, there are:

[0096] The 1st depalletizing robot composed of the 1st logistics grasping robot and the 1st gripper arranged at the installation end of the 1st logistics grasping robot; the 2nd depalletizing robot composed of the 2nd logistics grasping robot and the 2nd gripper arranged at the installation end of the 2nd logistics grasping robot; the 3rd depalletizing robot composed of the 3rd logistics grasping robot and the 3rd gripper arranged at the installation end of the 3rd logistics grasping robot;...; the Mth depalletizing robot composed of the Mth logistics grasping robot and the Mth gripper arranged at the installation end of the Mth logistics grasping robot.

[0097] In a preferred embodiment of the present invention, the model of the logistics grasping robot is ABB large industrial robot IRB 6700-150;

[0098] The camera is a 1080P full high-definition ultra-wide-angle camera.

[0099] In a preferred embodiment of the present invention, when M is 1, at this time, 1 logistics grasping robot is arranged beside the depalletizing of the article assembly line, as Figure 2 shown, it is the 1st logistics grasping robot;

[0100] The control end of the 1st logistics grasping robot is connected to the logistics grasping robot control end of the 1st controller, and the control end of the 1st gripper is connected to the gripper control end of the 1st controller;

[0101] The data terminal of the 1st controller is connected to the data terminal of the 1st controller of the control platform;

[0102] When M is 2, at this time, 2 logistics grasping robots are arranged beside the depalletizing of the article assembly line, which are the 1st logistics grasping robot and the 2nd logistics grasping robot respectively;

[0103] The control end of the first logistics grabbing robot is connected to the logistics grabbing robot control end of the first controller, and the control end of the first gripper is connected to the gripper control end of the first controller; the control end of the second logistics grabbing robot is connected to the logistics grabbing robot control end of the second controller, and the control end of the second gripper is connected to the gripper control end of the second controller;

[0104] The data end of the first controller is connected to the first controller data end of the control platform, and the data end of the second controller is connected to the second controller data end of the control platform;

[0105] When M is 3, there are 3 logistics grabbing robots set beside the item assembly line for palletizing and depalletizing, namely the first logistics grabbing robot, the second logistics grabbing robot, and the third logistics grabbing robot; the control end of the first logistics grabbing robot is connected to the logistics grabbing robot control end of the first controller, and the control end of the first gripper is connected to the gripper control end of the first controller;

[0106] The control end of the second logistics grabbing robot is connected to the logistics grabbing robot control end of the second controller, and the control end of the second gripper is connected to the gripper control end of the second controller; the control end of the third logistics grabbing robot is connected to the logistics grabbing robot control end of the third controller, and the control end of the third gripper is connected to the gripper control end of the third controller;

[0107] The data end of the first controller is connected to the first controller data end of the control platform, the data end of the second controller is connected to the second controller data end of the control platform, and the data end of the third controller is connected to the third controller data end of the control platform;

[0108] ……;

[0109] When M is K, there are K logistics grabbing robots set beside the item assembly line for palletizing and depalletizing, namely the first logistics grabbing robot, the second logistics grabbing robot, the third logistics grabbing robot, ……, the Kth logistics grabbing robot; the control end of the first logistics grabbing robot is connected to the logistics grabbing robot control end of the first controller, and the control end of the first gripper is connected to the gripper control end of the first controller; the control end of the second logistics grabbing robot is connected to the logistics grabbing robot control end of the second controller, and the control end of the second gripper is connected to the gripper control end of the second controller; the control end of the third logistics grabbing robot is connected to the logistics grabbing robot control end of the third controller, and the control end of the third gripper is connected to the gripper control end of the third controller; ……; the control end of the Kth logistics grabbing robot is connected to the logistics grabbing robot control end of the Kth controller, and the control end of the Kth gripper is connected to the gripper control end of the Kth controller;

[0110] The data terminal of the first controller is connected to the data terminal of the first controller of the control platform, the data terminal of the second controller is connected to the data terminal of the second controller of the control platform, the data terminal of the third controller is connected to the data terminal of the third controller of the control platform, ……, the data terminal of the Kth controller is connected to the data terminal of the Kth controller of the control platform; K is the number of logistics grabbing robots set beside the item assembly line for palletizing and depalletizing;

[0111] When N is 1, there is 1 camera at this time, which is the first camera; the image data terminal of the first camera is connected to the image data terminal of the first camera of the control platform;

[0112] When N is 2, there are 2 cameras at this time, which are the first camera and the second camera respectively; the image data terminal of the first camera is connected to the image data terminal of the first camera of the control platform, and the image data terminal of the second camera is connected to the image data terminal of the second camera of the control platform;

[0113] When N is 3, there are 3 cameras at this time, which are the first camera, the second camera and the third camera respectively; the image data terminal of the first camera is connected to the image data terminal of the first camera of the control platform, the image data terminal of the second camera is connected to the image data terminal of the second camera of the control platform, and the image data terminal of the third camera is connected to the image data terminal of the third camera of the control platform;

[0114] ……;

[0115] When N is Q, there are Q cameras at this time, which are the first camera, the second camera, the third camera, ……, the Qth camera respectively; the image data terminal of the first camera is connected to the image data terminal of the first camera of the control platform, the image data terminal of the second camera is connected to the image data terminal of the second camera of the control platform, the image data terminal of the third camera is connected to the image data terminal of the third camera of the control platform, ……, the image data terminal of the Qth camera is connected to the image data terminal of the Qth camera of the control platform; Q is the number of cameras.

[0116] The present invention discloses a method for palletizing and depalletizing a logistics grabbing vision-guided robot, as Figure 1 shown, including the following steps:

[0117] S0, let the camera serial number j = 1;

[0118] S1, the control platform acquires the image data captured by the jth camera;

[0119] S2, the control platform processes the image data captured by the jth camera to determine whether the item to be grabbed is within the preset position range:

[0120] If the item to be grabbed is within the preset position range, then proceed to the next step;

[0121] If the item to be grabbed is not within the preset position range, wait until the item to be grabbed is within the preset position range, and execute step S2 or S4;

[0122] S3. Obtain the size of the item to be grabbed on the item conveyor line; the control platform sends control signals to the j-th logistics grabbing robot and the j-th gripper to control the j-th logistics grabbing robot and the j-th gripper to grab the item; execute the next step;

[0123] S4. Judge the relationship between j and N:

[0124] If j≥N, then j = 1; execute step S1;

[0125] If j<N, then j = j + 1, and execute step S1.

[0126] In a preferred embodiment of the present invention, in step S2, the method for the control platform to perform image data processing on the image data captured by the j-th camera to judge whether the item to be grabbed is within the preset position range includes the following steps:

[0127] S21. The control platform processes the image data captured by the j-th camera into non-color image data;

[0128] S22. Determine whether the item to be grabbed exists within the preset position range in the image captured by the j-th camera.

[0129] In a preferred embodiment of the present invention, the method for processing the image data captured by the j-th camera into non-color image data in step S21 is as follows:

[0130]

[0131] where R(x, y) j is the red pixel value of the image data captured by the j-th camera at (x, y);

[0132] G(x, y) j is the green pixel value of the image data captured by the j-th camera at (x, y);

[0133] B(x, y) j is the blue pixel value of the image data captured by the j-th camera at (x, y);

[0134] r, g, and b are respectively the color weights of the red, green, and blue pixel values, and their values are non-negative integers not greater than 1; meanwhile, r + g + b = 1;

[0135] is the pixel value at (x, y) after processing the image data captured by the j-th camera into non-color image data;

[0136] The method for determining whether the item to be grasped exists within the preset position range in the image captured by the j-th camera in step S22 is as follows:

[0137]

[0138] U j = 1 indicates that the item to be grasped exists within the preset position range in the image captured by the j-th camera;

[0139] U j = 0 indicates that the item to be grasped does not exist within the preset position range in the image captured by the j-th camera;

[0140] is the preset item existence threshold;

[0141] existing j is the calculated value of the existence of the item to be grasped in the image captured by the j-th camera;

[0142]

[0143] is the pixel value at (x, y) after processing the image data captured by the j-th camera into non-color image data;

[0144] RGB(x, y)0 is the non-color reference image when there is no item;

[0145] x = 1, 2, 3,..., X; y = 1, 2, 3,..., Y;

[0146] X is the number of pixel points in the width of the captured image, and Y is the number of pixel points in the height of the captured image.

[0147] In a preferred embodiment of the present invention, the method for controlling the platform to send control signals to the j-th logistics grasping robot and the j-th gripper to control the j-th logistics grasping robot and the j-th gripper to grasp the item in step S3 includes:

[0148] The controller sends a grasping size of L j + δ to the j-th gripper. After the j-th gripper receives the size L j + δ, the grasping size of the j-th gripper becomes L j + δ, where δ is the size error, and δ is 3.5 cm to 5.5 cm.

[0149] In a preferred embodiment of the present invention, the method for determining the size of the item to be grasped in step S23 is as follows:

[0150]

[0151] L j is the size of the item to be grasped;

[0152] (x front,j , y front,j ) is the coordinate of the leftmost pixel point of the grasping force application point of the item to be grasped;

[0153] (x end,j , y end,j ) is the coordinate of the rightmost pixel point of the grasping force application point of the item to be grasped;

[0154] d is the side length of each pixel point, d = h / Y = w / X,

[0155] w and h are the width and height of the image size respectively;

[0156] τ is the conversion coefficient;

[0157]

[0158] τ is the conversion coefficient;

[0159] L actual is the actual length of the measuring body;

[0160] (x front,tag , y front,tag ) is the coordinate of the left end pixel point of the measuring body;

[0161] (x end,tag , y end,tag ) is the coordinate of the right end pixel point of the measuring body;

[0162] Obtain:

[0163]

[0164] L j is the size of the item to be grasped.

[0165] The present invention also discloses a computer system, including:

[0166] A processor;

[0167] A memory for storing processor-executable instructions;

[0168] Wherein, the processor is configured to implement the logistics grasping vision-guided robot palletizing and depalletizing method when executing the executable instructions.

[0169] The present invention also discloses a computer-readable storage medium, including:

[0170] A memory, on which a computer program is stored;

[0171] A processor for executing the program in the memory to implement the logistics grabbing vision-guided robot depalletizing method described above.

[0172] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vision-guided robot palletizing and depalletizing system for logistics grabbing, including an item assembly line, and further including M logistics grabbing robots arranged beside the palletizing and depalletizing of the item assembly line, namely the 1st logistics grabbing robot, the 2nd logistics grabbing robot, the 3rd logistics grabbing robot,..., the Mth logistics grabbing robot, where M is a positive integer greater than or equal to 1; characterized in that, At the installation end of the m-th logistics grabbing robot, there is an m-th grabber. The control end of the m-th logistics grabbing robot is connected to the logistics grabbing robot control end of the m-th controller, and the control end of the m-th grabber is connected to the grabber control end of the m-th controller; where m is a positive integer less than or equal to M. It further includes a control platform and N cameras, namely the 1st camera, the 2nd camera, the 3rd camera, ……, the Nth camera; N is a positive integer greater than or equal to 1; the image data end of the n-th camera is connected to the n-th camera image data end of the control platform. The data end of the m-th controller is connected to the m-th controller data end of the control platform. The control platform controls the palletizing and depalletizing robot to perform palletizing and depalletizing according to the image data captured by the cameras.

2. The logistics grasping vision-guided robot palletizing and depalletizing system according to claim 1, wherein The model of the logistics grabbing robot is ABB large industrial robot IRB 6700-150. The camera is a 1080P full high-definition ultra-wide-angle camera.

3. The logistics grasping vision-guided robot palletizing and depalletizing system according to claim 1, wherein When M is 1, there is 1 logistics grabbing robot beside the palletizing and depalletizing of the item assembly line, which is the 1st logistics grabbing robot. The control end of the 1st logistics grabbing robot is connected to the logistics grabbing robot control end of the 1st controller, and the control end of the 1st grabber is connected to the grabber control end of the 1st controller. The data end of the 1st controller is connected to the 1st controller data end of the control platform. When M is 2, there are 2 logistics grabbing robots beside the palletizing and depalletizing of the item assembly line, namely the 1st logistics grabbing robot and the 2nd logistics grabbing robot. The control end of the 1st logistics grabbing robot is connected to the logistics grabbing robot control end of the 1st controller, and the control end of the 1st grabber is connected to the grabber control end of the 1st controller; the control end of the 2nd logistics grabbing robot is connected to the logistics grabbing robot control end of the 2nd controller, and the control end of the 2nd grabber is connected to the grabber control end of the 2nd controller. The data end of the 1st controller is connected to the 1st controller data end of the control platform, and the data end of the 2nd controller is connected to the 2nd controller data end of the control platform. When M is 3, there are 3 logistics grabbing robots beside the palletizing and depalletizing of the item assembly line, namely the 1st logistics grabbing robot, the 2nd logistics grabbing robot and the 3rd logistics grabbing robot; the control end of the 1st logistics grabbing robot is connected to the logistics grabbing robot control end of the 1st controller, and the control end of the 1st grabber is connected to the grabber control end of the 1st controller. The control end of the 2nd logistics grabbing robot is connected to the logistics grabbing robot control end of the 2nd controller, and the control end of the 2nd grabber is connected to the grabber control end of the 2nd controller; the control end of the 3rd logistics grabbing robot is connected to the logistics grabbing robot control end of the 3rd controller, and the control end of the 3rd grabber is connected to the grabber control end of the 3rd controller. The data end of the 1st controller is connected to the 1st controller data end of the control platform, the data end of the 2nd controller is connected to the 2nd controller data end of the control platform, and the data end of the 3rd controller is connected to the 3rd controller data end of the control platform. ……； When M is K, there are K logistics grasping robots set beside the unpacking and palletizing of the item assembly line, namely the 1st logistics grasping robot, the 2nd logistics grasping robot, the 3rd logistics grasping robot, ……, the Kth logistics grasping robot; the control end of the 1st logistics grasping robot is connected to the logistics grasping robot control end of the 1st controller, and the control end of the 1st gripper is connected to the gripper control end of the 1st controller; the control end of the 2nd logistics grasping robot is connected to the logistics grasping robot control end of the 2nd controller, and the control end of the 2nd gripper is connected to the gripper control end of the 2nd controller; the control end of the 3rd logistics grasping robot is connected to the logistics grasping robot control end of the 3rd controller, and the control end of the 3rd gripper is connected to the gripper control end of the 3rd controller; ……; the control end of the Kth logistics grasping robot is connected to the logistics grasping robot control end of the Kth controller, and the control end of the Kth gripper is connected to the gripper control end of the Kth controller; The data end of the 1st controller is connected to the 1st controller data end of the control platform, the data end of the 2nd controller is connected to the 2nd controller data end of the control platform, the data end of the 3rd controller is connected to the 3rd controller data end of the control platform, ……, the data end of the Kth controller is connected to the Kth controller data end of the control platform; K is the number of logistics grasping robots set beside the unpacking and palletizing of the item assembly line; When N is 1, there is 1 camera at this time, which is the 1st camera; the image data end of the 1st camera is connected to the 1st camera image data end of the control platform; When N is 2, there are 2 cameras at this time, namely the 1st camera and the 2nd camera; the image data end of the 1st camera is connected to the 1st camera image data end of the control platform, and the image data end of the 2nd camera is connected to the 2nd camera image data end of the control platform; When N is 3, there are 3 cameras at this time, namely the 1st camera, the 2nd camera and the 3rd camera; the image data end of the 1st camera is connected to the 1st camera image data end of the control platform, the image data end of the 2nd camera is connected to the 2nd camera image data end of the control platform, and the image data end of the 3rd camera is connected to the 3rd camera image data end of the control platform; ……； When N is Q, there are Q cameras at this time, namely the 1st camera, the 2nd camera, the 3rd camera, ……, the Qth camera; the image data end of the 1st camera is connected to the 1st camera image data end of the control platform, the image data end of the 2nd camera is connected to the 2nd camera image data end of the control platform, the image data end of the 3rd camera is connected to the 3rd camera image data end of the control platform, ……, the image data end of the Qth camera is connected to the Qth camera image data end of the control platform; Q is the number of cameras.

4. A method for a logistics grasping vision-guided robot to disassemble and stack pallets, characterized in that, It includes the following steps: S0, let the camera serial number j = 1; S1, the control platform acquires the image data captured by the jth camera; S2, the control platform processes the image data captured by the jth camera to determine whether the item to be grasped is within the preset position range: If the item to be grasped is within the preset position range, proceed to the next step; If the item to be grasped is not within the preset position range, wait until the item to be grasped is within the preset position range, and execute step S2 or S4; S3. Obtain the size of the item to be grasped on the item conveyor line; the control platform sends control signals to the j-th logistics grasping robot and the j-th gripper to control the j-th logistics grasping robot and the j-th gripper to grasp the item; proceed to the next step; S4. Judge the relationship between j and N: If j≥N, then j = 1; execute step S1; If j<N, then j = j + 1, and execute step S1.

5. The method for unpacking and palletizing by a logistics grasping vision-guided robot according to claim 4, wherein, In step S2, the method for the control platform to perform image data processing on the image data captured by the j-th camera to judge whether the item to be grasped is within the preset position range includes the following steps: S21. The control platform processes the image data captured by the j-th camera into non-color image data; S22. Determine whether the item to be grasped exists within the preset position range in the image captured by the j-th camera.

6. The method for unpacking and palletizing by a logistics grasping vision-guided robot according to claim 5, wherein The method for processing the image data captured by the j-th camera into non-color image data in step S21 is: where R(x, y) j is the red pixel value at (x, y) of the image data captured by the j-th imager; G(x, y) j is the green pixel value at (x, y) of the image data captured by the j-th camera; B(x, y) j is the blue pixel value at (x, y) of the image data captured by the j-th imager; r, g, and b are the color weights of the red, green, and blue pixel values respectively, and their values are non-negative integers not greater than 1; at the same time, r + g + b = 1; It is the pixel value at (x, y) after processing the image data captured by the j-th imager into non-color image data; The method for determining whether the item to be grasped exists within the preset position range in the image captured by the j-th camera in step S22 is: U j = 1 indicates that the item to be grasped exists within the preset position range in the image captured by the j-th imager; U j = 0 indicates that the item to be grasped does not exist within the preset position range in the image captured by the j-th camera; is a preset article presence threshold; existing j is the calculated value of the item to be grasped existing in the image captured by the j-th imager; It is the pixel value at (x, y) after processing the image data captured by the j-th camera into non-color image data; RGB(x,y)0 is the non-color reference image when there is no item; x = 1, 2, 3, ……, X; y = 1, 2, 3, ……, Y; X is the number of pixel points on the width of the captured image, and Y is the number of pixel points on the height of the captured image.

7. The method for unpacking and palletizing by a logistics grabbing vision-guided robot according to claim 4, characterized in that, In step S3, the method for the control platform to send control signals to the j-th logistics grasping robot and the j-th gripper to control the j-th logistics grasping robot and the j-th gripper to grasp the item includes: The controller sends a grasping size of L to the j-th gripper j +δ, and after the j-th gripper receives the size L j +δ, the grasping size of the j-th gripper becomes L j +δ, where δ is the dimensional error and δ ranges from 3.5 cm to 5.5 cm.

8. The method for palletizing and depalletizing by a logistics grasping vision-guided robot according to claim 3, wherein The method for determining the size of the item to be grasped in step S23 is: L j is the size of the item to be grasped; (x front,j , y front,j ) is the coordinate of the leftmost pixel point of the grasping force point of the item to be grasped; (x end,j , y end,j ) is the coordinate of the rightmost pixel point of the grasping force point of the item to be grasped; d is the side length of each pixel point, d = h / Y = w / X, w and h are the width and height of the image size respectively; τ is the conversion coefficient; τ is the conversion coefficient; L actual For measuring the actual length of the body (x front,tag , y front,tag ) is the coordinate of the pixel point at the left end of the measurement body; (x end,tag , y end,tag ) are the coordinates of the pixel points at the right end of the measurement body; Obtain: L j Namely, it is the size of the item to be grabbed.

9. A computer system, characterized in that, Include: Processor; A memory for storing instructions executable by the processor; Wherein, when the processor is configured to execute the executable instructions, it implements the logistics grasping vision-guided robot palletizing and depalletizing method according to any one of claims 4 to 8.

10. A computer-readable storage medium, characterized in that, Include: A memory with a computer program stored thereon; A processor for executing the program in the memory to implement the logistics grasping vision-guided robot palletizing and depalletizing method according to any one of claims 4 to 8.

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