Intelligent warehouse classification system based on Halcon

Abstract

The utility model discloses an intelligent warehouse classification system based on Halcon. The intelligent warehouse classification system comprises a control unit, a feeding unit, a color identification unit and a discharging unit. The control unit comprises a first control unit, a second control unit and a third control unit; the feeding unit comprises a feeding mechanical arm, a conveying belt, a motor, an encoder and a photoelectric sensor which are connected with the first control unit. The color recognition unit comprises an upper computer and an image acquisition device, and the upper computer is in communication connection with the second control unit through a serial port; the discharging unit comprises a discharging mechanical arm and a warehousing system; the third control unit is connected with the discharging mechanical arm, and each storage location of the storage system is provided with a detection module which is connected with the third control unit. According to the utility model, the movement of mechanical equipment is not needed, and efficient transfer and classified storage based on cargo colors within a certain distance are realized.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing classification, in particular to an intelligent warehouse classification system based on Halcon. Background Art

[0002] With the development of automation, the transportation of goods in the logistics field tends to be intelligent and automated. Currently, in the field of cargo transportation, there is an actual demand for cargo transportation, classification and storage according to color.

[0003] While existing sorting robots can identify goods by capturing images and performing image segmentation, they require complex image processing and recognition algorithms. These are generally limited to complex scenarios and environments requiring a high level of intelligence. These intelligent devices, with their complex algorithms and high cost, are often used for life-service applications, such as hotel delivery robots, and are not suitable for cargo transfer within factory environments. Existing intelligent devices that mechanically grasp goods either rely on complex algorithms for precise grasping or rely on a single robotic arm for single-point grasping and placement, failing to transport goods over a certain distance or place them in a designated area. Utility Model Content

[0004] To solve the above problems, the present invention provides an intelligent warehouse classification system based on Halcon. The specific technical solutions are as follows:

[0005] The system includes a control unit, a feeding unit, a color recognition unit and a discharge unit;

[0006] The control unit includes a first control unit, a second control unit and a third control unit;

[0007] The feeding unit includes a feeding robot arm, a conveyor belt, a motor, an encoder and a photoelectric sensor; the conveyor belt is connected to the driving output of the motor, and the first control unit is connected to the feeding robot arm, the motor, the encoder and the photoelectric sensor respectively;

[0008] The color recognition unit includes a host computer and an image acquisition device, and the host computer is connected to the second control unit via serial communication;

[0009] The unloading unit includes a unloading robot arm and a storage system; the third control unit is connected to the unloading robot arm, and each storage location of the storage system is provided with a detection module, and the detection module is connected to the third control unit.

[0010] Furthermore, the control unit adopts a PLC control unit;

[0011] The first control unit is connected to the feeding robot arm through a level conversion module; the third control unit is connected to the unloading robot arm through DSQC652;

[0012] The motor is a 24V DC motor, and the first control unit is connected to the motor drive through an intermediate relay.

[0013] Furthermore, the photoelectric sensor includes a first photoelectric sensor and a second photoelectric sensor, which are respectively arranged at the starting conveying end and the ending conveying end of the conveyor belt.

[0014] Furthermore, the feeding unit also includes a laser displacement sensor, and the laser displacement sensor is signal-connected to the first control unit.

[0015] Furthermore, the second control unit communicates with the host computer via a serial port via a CM1241 module.

[0016] Furthermore, the feeding unit and the color recognition unit are respectively provided with a touch screen, and the touch screen is respectively connected to the first control unit and the second control unit.

[0017] Furthermore, the touch screen adopts MCGS touch screen.

[0018] Furthermore, the detection module is a third photoelectric sensor, and the third photoelectric sensor is connected to the third control unit through a signal input module.

[0019] Furthermore, the detection module is an RFID receiving end, and the goods are provided with an RFID transmitting end.

[0020] Furthermore, the feeding robotic arm and the unloading robotic arm are both six-degree-of-freedom robotic arms.

[0021] The beneficial effects of the utility model are as follows:

[0022] The utility model realizes the grabbing, transportation and discharge of goods at a certain distance through the feeding robot arm, conveyor belt and discharge robot arm. There is no need to move the grabbing equipment, which avoids the complexity of control. It only needs to control the robot arm to perform the specified mechanical operation according to the interaction of electrical signals. At the same time, the feeding and conveying conditions of the goods are detected by photoelectric sensors, so that the feeding robot arm and the discharge robot arm can work together to ensure the efficiency of cargo classification and transportation. The signal interaction is realized by the PLC control unit, and the PLC control unit is connected with the discharge robot arm signal through DSQC652. The color of the goods can be recognized by the software deployed on the host computer, and the discharge robot arm can be controlled to grab the goods to the corresponding warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the control architecture of the feeding unit.

[0024] Figure 2 Schematic diagram of the control architecture of the color recognition unit.

[0025] Figure 3 It is a schematic diagram of the control architecture of the unloading unit. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in a variety of different configurations. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] In the description of the embodiments of the present invention, it should be noted that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the utility model product is conventionally placed when in use, or the orientations or positional relationships conventionally understood by those skilled in the art, or the orientations or positional relationships in which the utility model product is conventionally placed when in use. These are merely for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used only to distinguish descriptions and should not be understood as indicating or implying relative importance.

[0028] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0029] Example 1

[0030] Example 1 of the present utility model discloses an intelligent warehouse classification system based on Halcon, which is as follows:

[0031] The system includes a control unit, a feeding unit, a color recognition unit and a discharge unit;

[0032] The control unit includes a first control unit, a second control unit and a third control unit;

[0033] In this embodiment, the control unit adopts a PLC control unit;

[0034] Specifically, the PLC model is 1214DC / DC / DC.

[0035] like Figure 1 As shown, the feeding unit includes a feeding robot arm, a conveyor belt, a motor, an encoder, a photoelectric sensor and a touch screen; the conveyor belt is connected to the drive output of the motor, and the first control unit is connected to the feeding robot arm, the motor, the encoder and the photoelectric sensor respectively;

[0036] The motor is a 24V DC motor, which is connected to the first control unit via an intermediate relay and a photoelectric coupler, wherein the photoelectric coupler is PC817.

[0037] In this embodiment, the first control unit is controlled and connected to the feeding robot arm through a level conversion module.

[0038] In this embodiment, there are two photoelectric sensors, which are denoted as a first photoelectric sensor and a second photoelectric sensor, which are respectively arranged at the starting conveying end and the ending conveying end of the conveyor belt.

[0039] In this embodiment, the feeding unit further includes a laser displacement sensor, and the laser displacement sensor is signal-connected to the first control unit.

[0040] Specifically, the feeding robot arm adopts a six-degree-of-freedom robot arm, which is driven according to the control signal of the first control, and is used to grab the material and place it on the conveyor belt;

[0041] The first photoelectric sensor is used to detect whether the material has arrived. If the first control unit receives the electrical signal of the first photoelectric sensor, that is, detects the arrival of the material, the first control unit drives the motor to control the movement of the conveyor belt; the second photoelectric sensor is used to detect whether the goods have arrived at the material picking point. If the first control unit receives the electrical signal of the second photoelectric sensor, that is, detects that the material has been delivered to the material picking point, the first control unit drives the motor to control the conveyor belt to stop moving.

[0042] The first control unit controls PC817 through the Q0.0 terminal, which in turn controls the intermediate relay to achieve control of the 24V DC motor. By using a PLC to control the optocoupler PC817, and then controlling the relay through the optocoupler, effective signal isolation is achieved.

[0043] The laser displacement sensor is used to detect the distance of an object. The output signal is a current signal. Through the current-to-voltage conversion module, a 0-5V voltage signal is output and input into the analog input channel of the PLC.

[0044] The touch screen adopts MCGS touch screen, which communicates with PLC through the network port to monitor the status of each sensor.

[0045] like Figure 2 As shown, the color recognition unit includes a host computer, an image acquisition device and a touch screen, and the host computer is connected to the second control unit via serial communication;

[0046] Specifically, the image acquisition device includes a camera, a light source and a lens, and the camera is used to capture images of the goods; the host computer is a computer device, which is equipped with HALCON software, and the four colors of red, green, blue and yellow are recognized through the software.

[0047] In this embodiment, the second control unit communicates with the host computer via the CM1241 module.

[0048] The computer sends information to the second control unit for color recognition, and then sends a control signal to the third control unit to control the unloading robot arm to grab the goods;

[0049] The second control unit distributes the goods to corresponding storage locations based on the color of the goods according to the received signal (the first layer of the storage location is red materials, the second layer is green materials, the third layer is blue materials, and the fourth layer is yellow materials).

[0050] Specifically, the touch screen in the color recognition unit adopts an MCGS touch screen, which is used to display the image, color and storage location information of the goods.

[0051] like Figure 3 As shown, the unloading unit includes an unloading robot arm and a storage system; the third control unit is connected to the unloading robot arm, and each storage location of the storage system is provided with a detection module, and the detection module is connected to the third control unit;

[0052] The unloading robot arm adopts a six-degree-of-freedom robot arm to store the goods in the corresponding storage location;

[0053] In this embodiment, the third control unit is connected to the unloading robot arm signal through DSQC652, and the third control unit is connected to the unloading robot arm control through the network port;

[0054] Specifically, the initial position of the unloading robot arm, the arrival at the unloading point, and the control cylinder status are transmitted to the PLC through DSQC652. The PLC sends the position information of the robot arm's movement through the network port to complete the information interaction and control the unloading robot arm to grab the goods and place them in the corresponding warehouse.

[0055] In this embodiment, the detection module is a third photoelectric sensor, and the third photoelectric sensor is connected to the third control unit through a signal input module;

[0056] Specifically, the warehouse corresponding to the warehousing system has a length, width and height of 100 cm, 20 cm and 100 cm respectively, with a total of 16 storage locations. Each storage location is installed with a third photoelectric sensor, that is, a total of 16 third photoelectric sensors are installed to facilitate the PLC to power on and detect the status of each storage location. After the material is discharged, the storage location information is output based on the touch screen according to the electrical signal of the third photoelectric sensor.

[0057] Example 2

[0058] Example 1 of the present utility model discloses an intelligent warehouse classification system based on Halcon, which is as follows:

[0059] The system includes a control unit, a feeding unit, a color recognition unit and a discharge unit;

[0060] The control unit includes a first control unit, a second control unit and a third control unit;

[0061] In this embodiment, the control unit adopts a PLC control unit;

[0062] Specifically, the PLC model is 1214DC / DC / DC.

[0063] like Figure 1 As shown, the feeding unit includes a feeding robot arm, a conveyor belt, a motor, an encoder, a photoelectric sensor and a touch screen; the conveyor belt is connected to the drive output of the motor, and the first control unit is connected to the feeding robot arm, the motor, the encoder and the photoelectric sensor respectively;

[0064] The motor is a 24V DC motor, which is connected to the first control unit via an intermediate relay and a photoelectric coupler, wherein the photoelectric coupler is PC817.

[0065] In this embodiment, the first control unit is controlled and connected to the feeding robot arm through a level conversion module.

[0066] In this embodiment, there are two photoelectric sensors, which are denoted as a first photoelectric sensor and a second photoelectric sensor, which are respectively arranged at the starting conveying end and the ending conveying end of the conveyor belt.

[0067] In this embodiment, the feeding unit further includes a laser displacement sensor, and the laser displacement sensor is signal-connected to the first control unit.

[0068] Specifically, the feeding robot arm adopts a six-degree-of-freedom robot arm, which is driven according to the control signal of the first control, and is used to grab the material and place it on the conveyor belt;

[0069] The first photoelectric sensor is used to detect whether the material has arrived. If the first control unit receives the electrical signal of the first photoelectric sensor, that is, detects the arrival of the material, the first control unit drives the motor to control the movement of the conveyor belt; the second photoelectric sensor is used to detect whether the goods have arrived at the material picking point. If the first control unit receives the electrical signal of the second photoelectric sensor, that is, detects that the material has been delivered to the material picking point, the first control unit drives the motor to control the conveyor belt to stop moving.

[0070] The first control unit controls PC817 through the Q0.0 terminal, which in turn controls the intermediate relay to achieve control of the 24V DC motor. By using a PLC to control the optocoupler PC817, and then controlling the relay through the optocoupler, effective signal isolation is achieved.

[0071] The laser displacement sensor is used to detect the distance of an object. The output signal is a current signal. Through the current-to-voltage conversion module, a 0-5V voltage signal is output and input into the analog input channel of the PLC.

[0072] The touch screen adopts MCGS touch screen, which communicates with PLC through the network port to monitor the status of each sensor.

[0073] like Figure 2 As shown, the color recognition unit includes a host computer, an image acquisition device and a touch screen, and the host computer is connected to the second control unit via serial communication;

[0074] Specifically, the image acquisition device includes a camera, a light source and a lens, and the camera is used to capture images of the goods; the host computer is a computer device, which is equipped with HALCON software, and the four colors of red, green, blue and yellow are recognized through the software.

[0075] In this embodiment, the second control unit communicates with the host computer via the CM1241 module.

[0076] The computer sends information to the second control unit for color recognition, and then sends a control signal to the third control unit to control the unloading robot arm to grab the goods;

[0077] The second control unit distributes the goods to corresponding storage locations based on the color of the goods according to the received signal (the first layer of the storage location is red materials, the second layer is green materials, the third layer is blue materials, and the fourth layer is yellow materials).

[0078] Specifically, the touch screen in the color recognition unit adopts an MCGS touch screen, which is used to display the image, color and storage location information of the goods.

[0079] like Figure 3 As shown, the unloading unit includes an unloading robot arm and a storage system; the third control unit is connected to the unloading robot arm, and each storage location of the storage system is provided with a detection module, and the detection module is connected to the third control unit;

[0080] The unloading robot arm adopts a six-degree-of-freedom robot arm to store the goods in the corresponding storage location;

[0081] In this embodiment, the third control unit is connected to the unloading robot arm signal through DSQC652, and the third control unit is connected to the unloading robot arm control through the network port;

[0082] Specifically, the initial position of the unloading robot arm, the arrival at the unloading point, and the control cylinder status are transmitted to the PLC through DSQC652. The PLC sends the position information of the robot arm's movement through the network port to complete the information interaction and control the unloading robot arm to grab the goods and place them in the corresponding warehouse.

[0083] In this embodiment, the detection module is an RFID receiver, and the goods are provided with an RFID transmitter, and the exchange of storage location information is achieved through RFID;

[0084] Specifically, the warehouse corresponding to the warehousing system has a length, width and height of 100cm, 20cm and 100cm respectively, with a total of 16 storage locations. Each storage location is equipped with an RFID receiver, that is, a total of 16 RFID receivers are installed. After the material is discharged, the storage location information is obtained according to the RFID receiving signal and output through the touch screen.

[0085] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An intelligent warehouse classification system based on Halcon, characterized in that: The system includes a control unit, a feeding unit, a color recognition unit and a discharging unit; The control unit includes a first control unit, a second control unit and a third control unit; The feeding unit includes a feeding robot arm, a conveyor belt, a motor, an encoder and a photoelectric sensor; the conveyor belt is connected to the driving output of the motor, and the first control unit is respectively connected to the feeding robot arm, the motor, the encoder and the photoelectric sensor; The color recognition unit includes a host computer and an image acquisition device, and the host computer is connected to the second control unit via serial communication; The material discharging unit includes a material discharging robot arm and a storage system; the third control unit is connected to the material discharging robot arm, and each storage location of the storage system is provided with a detection module, and the detection module is connected to the third control unit.

2. The Halcon-based intelligent warehouse classification system according to claim 1 is characterized in that: The control unit adopts a PLC control unit; The first control unit is connected to the feeding robot arm control via a level conversion module; the third control unit is connected to the unloading robot arm control via DSQC652; The motor is a 24V DC motor, and the first control unit is connected to the motor drive through an intermediate relay.

3. The Halcon-based intelligent warehouse classification system according to claim 1 is characterized in that: The photoelectric sensor comprises a first photoelectric sensor and a second photoelectric sensor, which are respectively arranged at the starting conveying end and the ending conveying end of the conveyor belt.

4. The Halcon-based intelligent warehouse classification system according to claim 1 is characterized in that: The feeding unit further comprises a laser displacement sensor, and the laser displacement sensor is signal-connected to the first control unit.

5. The Halcon-based intelligent warehouse classification system according to claim 1 is characterized in that: The second control unit communicates with the host computer via the CM1241 module.

6. The Halcon-based intelligent warehouse classification system according to claim 1 is characterized in that: The feeding unit and the color recognition unit are further provided with touch screens respectively, and the touch screens are connected to the first control unit and the second control unit respectively.

7. The Halcon-based intelligent warehouse classification system according to claim 6 is characterized in that: The touch screen adopts MCGS touch screen.

8. The Halcon-based intelligent warehouse classification system according to claim 1 is characterized in that: The detection module is a third photoelectric sensor, and the third photoelectric sensor is connected to the third control unit through a signal input module.

9. The Halcon-based intelligent warehouse classification system according to claim 1, characterized in that: The detection module is an RFID receiving end, and the goods are provided with an RFID transmitting end.

10. The Halcon-based intelligent warehouse classification system according to any one of claims 1 to 9, characterized in that: The feeding robot arm and the unloading robot arm both adopt six-degree-of-freedom robot arms.

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