An automated sorting device based on machine vision

Abstract

The utility model provides a kind of automatic sorting device based on machine vision, including first conveyor belt mechanism, which is provided with protective box, at least one group of sorting robot and first industrial camera are oppositely arranged in protective box relative to first conveyor belt mechanism, at least one group of second conveyor belt mechanism for conveying sorting out article by sorting robot is arranged beside first conveyor belt mechanism, third conveyor belt mechanism is arranged relative to the front end of first conveyor belt mechanism, mounting block is fixedly installed on third conveyor belt mechanism, control equipment is arranged on third conveyor belt mechanism, second industrial camera is fixedly installed on mounting block and is arranged towards third conveyor belt mechanism, blowing assembly and push assembly are respectively arranged on mounting block, second industrial camera and push assembly are respectively used to identify sundries on third conveyor belt mechanism and push sundries away to outside.This kind of automatic sorting device based on machine vision can avoid impurities mixing into subsequent sorting process, ensure the cleanliness and accuracy of the to-be-sorted article, and avoid damage to the sorting robot.

Description

Technical Field

[0001] This utility model relates to the field of industrial sorting, and more specifically, to an automated sorting device based on machine vision. Background Technology

[0002] With rapid economic development and constantly changing consumption patterns, industries such as logistics and manufacturing are facing increasing challenges. In the logistics and warehousing sector, in order to meet consumers' demand for fast, accurate, and efficient logistics services, enterprises need to improve the automation and intelligence level of logistics and warehousing. In the manufacturing industry, with the increase in product types and the expansion of production scale, more efficient sorting methods are also needed to ensure smooth production processes and product quality. Sorting equipment is usually used for sorting operations. However, most existing automated sorting equipment is placed directly on the ground. After long-term use, a large amount of dust and debris will accumulate at the bottom of the equipment, and it cannot be cleaned without moving the equipment.

[0003] To address the aforementioned issues, most existing automated sorting devices are placed directly on the ground. After prolonged use, a large amount of dust and debris accumulates at the bottom of the device, making cleaning impossible without moving it. Extensive research revealed a machine vision-based automated sorting device with patent publication number CN214022057U, belonging to the industrial sorting field. This device is equipped with rollers; when the device needs to be moved, the rollers contact the ground, allowing the entire device to be moved directly. This facilitates changing work locations and makes it easier to clean the debris accumulated underneath the device.

[0004] However, the aforementioned automated sorting device based on machine vision still has some problems. For example, when the conveyor device transports items for a long time, smaller debris and waste inevitably accumulate or fall onto the conveyor. When these debris accumulates on the conveyor and passes through the vision sorting device, the vision recognition system may make incorrect judgments, potentially damaging the vision sorting device. To address these problems, this invention proposes an automated sorting device based on machine vision. Utility Model Content

[0005] The present invention aims to solve the technical problems mentioned in the background art and provide an automated sorting device based on machine vision.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automated sorting device based on machine vision, comprising: a first conveyor belt mechanism with a protective box thereon; at least one set of sorting robots and a first industrial camera are arranged inside the protective box relative to the first conveyor belt mechanism; and at least one set of second conveyor belt mechanisms for conveying items sorted out by the sorting robots are arranged next to the first conveyor belt mechanism. A third conveyor belt mechanism is disposed at the front end relative to the first conveyor belt mechanism. A mounting block is fixedly installed on the third conveyor belt mechanism. A control device is provided on the third conveyor belt mechanism. A second industrial camera is fixedly installed on the mounting block and faces the third conveyor belt mechanism. A blowing component and a pushing component are respectively provided on the mounting block at the front and back. The second industrial camera and the pushing component are used to identify debris on the third conveyor belt mechanism and push the debris away to the outside.

[0007] A further preferred embodiment: the blowing assembly includes a fan, a motor, an air outlet duct, and an air outlet tube fixedly mounted on the mounting block. The air outlet tube is oriented towards and parallel to the third conveyor belt mechanism. The fan is driven by the motor. The air outlet tube and the fan are connected through the air outlet duct. The motor is signal-connected to the control device.

[0008] A further preferred embodiment: a support frame is fixedly installed on the mounting block, the air outlet is fixedly installed on the mounting block through the support frame, and two guide rods are fixedly installed on the third conveyor belt mechanism.

[0009] A further preferred embodiment: the pushing assembly includes a cylinder fixedly mounted on the mounting block and a pushing plate disposed at the telescopic end of the cylinder, the pushing plate being disposed perpendicularly on the third conveyor belt mechanism, and the cylinder being signal-connected to the control device.

[0010] A further preferred embodiment: a fixing frame is fixedly installed at the bottom of the mounting block, and a cleaning plate is rotatably mounted on the fixing frame relative to the third conveyor belt mechanism via a third rotating shaft. Multiple bristles that can fit against the bottom conveyor belt of the third conveyor belt mechanism are fixedly installed on the cleaning plate. A driving component for driving the cleaning plate to rotate is provided on the mounting block.

[0011] A further preferred embodiment: A mounting frame is fixedly installed on the telescopic end of the cylinder. Two movable rods are movably mounted through the mounting frame. The first end of the movable rod is fixedly connected to the push plate, and a pressure plate is fixedly installed on the second end of the movable rod. A spring is sleeved on the movable rod to abut against the mounting frame and the push plate. A pressure sensor is fixedly installed in the mounting frame relative to the pressure plate. The pressure sensor is signal-connected to the control device.

[0012] A further preferred embodiment: the driving component includes: A first rotating shaft is rotatably mounted on the mounting block. A first bevel gear is sleeved and fixedly mounted on the first rotating shaft. The first rotating shaft is connected to the drive shaft of the motor via a first belt transmission mechanism. The second rotating shaft is rotatably mounted on the mounting block. A second bevel gear that meshes with the first bevel gear is sleeved and fixedly mounted on the second rotating shaft. The second rotating shaft and the third rotating shaft are connected by a second belt drive mechanism.

[0013] A further preferred embodiment: a rubber pad is fixedly installed at the end of the push plate opposite to the cylinder. Beneficial effects

[0014] 1. By setting up a blowing component, a pushing component, and a second industrial camera, the second industrial camera and the cleaning components (blowing and pushing) work together to remove debris in advance, preventing impurities from entering the subsequent sorting process, ensuring the cleanliness and accuracy of the items to be sorted, avoiding damage to the sorting robot, and ensuring the normal operation of the device; 2. By setting up a cleaning plate and a drive assembly, the cleaning plate is driven to rotate around the third rotating shaft. The bristles on the cleaning plate are in contact with the bottom conveyor belt of the third conveyor belt mechanism. During the rotation, the bristles can sweep away the debris on the conveyor belt, preventing the debris from accumulating on the conveyor belt and affecting the normal operation of the conveyor belt, thus further improving the cleaning effect of the device. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0016] Figure 2 This is a front view of the present invention.

[0017] Figure 3 This is a schematic diagram of the internal structure of the protective box of this utility model.

[0018] Figure 4 This utility model Figure 3 A structural schematic diagram of the front view.

[0019] Figure 5 This is a schematic diagram of the structure of the third conveyor belt mechanism of this utility model.

[0020] Figure 6 This utility model Figure 5 A magnified structural diagram of point A in the middle.

[0021] Figure 7 This utility model Figure 5 A structural diagram from another perspective.

[0022] Figure 8 This is a schematic diagram of the structure of the drive component of this utility model.

[0023] Figure 9 This utility model Figure 8 Side view.

[0024] Figure 10 This is a schematic diagram of the pressure sensor of this utility model.

[0025] Figure 1-10 Components: 1. Protective box; 2. First conveyor belt mechanism; 3. Second conveyor belt mechanism; 4. Sorting robot; 5. Third conveyor belt mechanism; 6. Guide rod; 7. Drive assembly; 71. First belt drive mechanism; 72. First rotating shaft; 73. First bevel gear; 74. Second bevel gear; 75. Second belt drive mechanism; 76. Second rotating shaft; 8. Blowing assembly; 81. Air outlet; 82. Air outlet duct; 83. Fan; 84. Motor; 9. Push assembly; 91. Cylinder; 92. Push plate; 10. First industrial camera; 11. Mounting block; 12. Support frame; 13. Mounting frame; 14. Second industrial camera; 15. Cleaning plate; 16. Fixing frame; 17. Brush bristles; 18. Third rotating shaft; 19. Rubber pad; 20. Pressure sensor; 21. Movable rod; 22. Spring; 23. Pressure plate; 24. Control equipment. Detailed Implementation

[0026] The following will refer to the appendix in the embodiments of this utility model. Figures 1-10 The technical solutions in the embodiments of this utility model will be clearly and completely described.

[0027] Please see Figure 1-10 In this embodiment of the present invention, an automated sorting device based on machine vision includes a first conveyor belt mechanism 2, on which a protective box 1 is provided. Inside the protective box 1, relative to the first conveyor belt mechanism 2, at least one set of sorting robots 4 and a first industrial camera 10 are provided. Next to the first conveyor belt mechanism 2, at least one set of second conveyor belt mechanisms 3 for conveying items sorted out by the sorting robots 4 is provided. A third conveyor belt mechanism 5 is provided, which is arranged relative to the front end of the first conveyor belt mechanism 2. A mounting block 11 is fixedly installed on the third conveyor belt mechanism 5. A control device 24 is provided on the third conveyor belt mechanism 5. A second industrial camera 14 is fixedly installed on the mounting block 11 facing the third conveyor belt mechanism 5. A blowing component 8 and a pushing component 9 are respectively provided on the mounting block 11 at the front and back. The second industrial camera 14 and the pushing component 9 are respectively used to identify debris on the third conveyor belt mechanism 5 and push the debris away to the outside.

[0028] Specifically, in operation, the items to be sorted first enter the third conveyor belt mechanism 5 and are conveyed towards the first conveyor belt. At this time, the control device 24 controls the blowing assembly 8 to start, and the blowing assembly 8 continuously blows air onto the conveyor belt of the third conveyor belt mechanism 5 to blow away lighter materials such as dust (the air pressure blown out by the blowing assembly 8 is not enough to move the items on the third conveyor belt mechanism 5). At the same time, the second industrial camera 14 on the mounting block 11 takes real-time pictures of the items and other debris on the conveyor belt and transmits the image information to the control device 24. The control device 24 uses an image recognition algorithm to determine whether there are debris (such as dust, debris, defective small parts, etc.). If debris that has not been blown away by the blowing assembly 8 is detected, the control device 24 starts the pushing assembly 9 to push it away from the outside of the conveyor belt. Subsequently, the items on the third conveyor belt mechanism 5 continue to be conveyed and finally enter the first conveyor belt mechanism 2. The pre-processed items enter the first conveyor belt mechanism 2 and are sent into the protective box 1. The first industrial camera 10 in the protective box 1 takes high-precision pictures of the items (such as identifying the item category, model, appearance characteristics, etc.) and transmits the identification data to the control device 24. The control device 24 instructs the sorting robot 4 to move according to the identification results of the first industrial camera 10, sorting the items from the first conveyor belt mechanism 2 to the corresponding second conveyor belt mechanism 3 on the side. The second conveyor belt mechanism 3 transports similar items to the designated area. The overall mechanism operation steps are simple. The protective box 1 plays a protective role. Through the cooperation of the second industrial camera 14 and the cleaning components (blowing and pushing) blower component 8 and pusher component 9, the debris is removed in advance to prevent impurities from being mixed into the subsequent sorting process, ensuring the cleanliness and accuracy of the items to be sorted, preventing damage to the sorting robot 4, and ensuring the normal operation of the device.

[0029] It should be noted that in this embodiment, the first conveyor belt mechanism 2, the second conveyor belt mechanism 3, the sorting robot 4, and the first industrial camera 10 are all controlled by the control device 24, which is the prior art. The third conveyor belt mechanism 5 is signal-connected to the control device 24. At the same time, the protective box 1 is equipped with two sets of sorting robots 4, which are triangular gripper sorting robots. There are three sets of first industrial cameras 10, which are arranged at intervals along the two sets of sorting robots 4. Two sets of second conveyor belt mechanisms 3 are arranged opposite each other on both sides of the first conveyor belt mechanism 2. Of course, this is not limited in other embodiments. Secondly, the third conveyor belt mechanism 5 is arranged adjacent to the first conveyor belt mechanism 2 so that the items of the third conveyor belt mechanism 5 can be conveyed to the first conveyor belt mechanism 2. Further, the blowing assembly 8 and the pushing assembly 9 are arranged opposite each other on the mounting block 11 along the second industrial camera 14. The blowing assembly 8 is located at the front end of the mounting block 11, and the pushing assembly 9 is located at the rear end (the front and rear ends are defined based on the conveying direction of the third conveyor belt mechanism 5). The end of the third conveyor belt mechanism 5 is arranged adjacent to the front end of the first conveyor belt mechanism 2.

[0030] In this embodiment of the utility model, such as Figures 1 to 6 As shown, the air blowing assembly 8 includes a fan 83, a motor 84, an air outlet duct 82, and an air outlet tube 81, which are fixedly mounted on the mounting block 11. The air outlet tube 81 is arranged facing and parallel to the third conveyor belt mechanism 5. The fan 83 is driven by the motor 84. The air outlet tube 81 and the fan 83 are connected through the air outlet duct 82. The motor 84 is signal-connected to the control device 24. Specifically, the motor 84 drives the fan 83 to operate. The airflow generated by the fan 83 is delivered to the air outlet tube 81 through the air outlet duct 82, and then blown out from the air outlet tube 81 towards the third conveyor belt mechanism 5. There is a gap between the air outlet tube and the third conveyor belt mechanism 5. The air outlet of the air outlet tube 81 is arranged facing the third conveyor belt mechanism 5.

[0031] In this embodiment of the utility model, such as Figures 1 to 6 As shown, a support frame 12 is fixedly installed on the mounting block 11, and the air outlet 81 is fixedly installed on the mounting block 11 through the support frame 12. Two guide rods 6 are fixedly installed on the third conveyor belt mechanism 5. Specifically, the height of the guide rods 6 is lower than the height of the items on the third conveyor belt mechanism 5, so as to guide the items and prevent the items from shifting when passing through the blowing component 8 and the pushing component 9.

[0032] In this embodiment of the utility model, such as Figure 6 As shown, the pushing assembly 9 includes a cylinder 91 fixedly mounted on the mounting block 11 and a push plate 92 disposed at the telescopic end of the cylinder 91. The push plate 92 is disposed perpendicularly on the third conveyor belt mechanism 5. The cylinder 91 is signal-connected to the control device 24.

[0033] In this embodiment of the utility model, such as Figures 6 to 10As shown, a fixing frame 16 is fixedly installed at the bottom of the mounting block 11. A cleaning plate 15 is rotatably mounted on the fixing frame 16 relative to the third conveyor belt mechanism 5 via a third rotating shaft 18. Multiple bristles 17 that can fit against the bottom conveyor belt of the third conveyor belt mechanism 5 are fixedly mounted on the cleaning plate 15. A drive assembly 7 for driving the cleaning plate 15 to rotate is provided on the mounting block 11. The drive assembly 7 includes a first rotating shaft 72, which is rotatably mounted on the mounting block 11. A first bevel gear 73 is sleeved and fixedly mounted on the first rotating shaft 72. The first rotating shaft 72 is connected to the drive shaft of the motor 84 through a first belt drive mechanism 71. A second rotating shaft 76 is rotatably mounted on the mounting block 11. A second bevel gear 74 that meshes with the first bevel gear 73 is sleeved and fixedly mounted on the second rotating shaft 76. The second rotating shaft 76 is connected to the third rotating shaft 18 via a third rotating shaft 18. The second belt drive mechanism 75 is connected to the cleaning plate 15, which has a disc-shaped structure. When the blower assembly 8 is running continuously, the motor 84 drives the shaft to rotate the first rotating shaft 72 through the first belt drive mechanism 71. The first bevel gear 73 on the first rotating shaft 72 meshes with the second bevel gear 74 on the second rotating shaft 76, thereby driving the second rotating shaft 76 to rotate. The second rotating shaft 76 then drives the third rotating shaft 18 to rotate through the second belt drive mechanism 75, which in turn drives the cleaning plate 15 to rotate. The bristles 17 on the cleaning plate 15 are in contact with the bottom conveyor belt of the third conveyor belt mechanism 5. During rotation, the bristles 17 can sweep away debris on the conveyor belt and clean the bottom conveyor belt of the third conveyor belt mechanism 5, preventing stubborn stains from accumulating on the conveyor belt and affecting its normal operation, thus further improving the cleaning effect of the device.

[0034] In this embodiment of the utility model, such as Figure 9 and Figure 10As shown, a mounting frame 13 is fixedly installed on the telescopic end of cylinder 91. Two movable rods 21 are movably mounted through the mounting frame 13. The first end of the movable rod 21 is fixedly connected to the push plate 92, and the second end of the movable rod 21 is fixedly mounted with a pressure plate 23. A spring 22 is sleeved on the movable rod 21, which abuts against the mounting frame 13 and the push plate 92. A pressure sensor 20 is fixedly installed inside the mounting frame 13 relative to the pressure plate 23. The pressure sensor 20 is connected to the control device 24. A rubber pad 19 is fixedly installed on the end of the push plate 92 away from cylinder 91. Specifically, the pressure sensor 20 is connected to the control device 24. When cylinder 91... When the push plate 92 contacts the debris on the third conveyor belt mechanism 5, if the debris is heavy, the spring 22 is compressed. The pressure sensor 20 can detect the pressure change of the spring 22. At this time, the pressure sensor 20 is activated and stops the operation of the cylinder 91. At the same time, it can trigger the external alarm device (not shown in the figure). The advantage of this is that if the push plate 92 pushes the item on the third conveyor belt mechanism 5, the push plate 92 can drive the movable rod 21 to apply pressure to the pressure sensor 20 and trigger the external alarm setting, thus preventing the push plate 92 from pushing the item on the third conveyor belt mechanism 5 to the outside and ensuring the normal operation of the device.

[0035] Working principle: During operation, the items to be sorted first enter the third conveyor belt mechanism 5 and are conveyed towards the first conveyor belt. At this time, the control device 24 controls the blowing assembly 8 to start, and the motor 84 drives the fan 83 to operate. The airflow generated by the fan 83 is delivered to the air outlet duct 81 through the air outlet duct 82, and then blown out from the air outlet duct 81. The blowing assembly 8 continuously blows air onto the conveyor belt of the third conveyor belt mechanism 5, blowing away lighter materials such as dust from the conveyor belt (the air pressure blown out by the blowing assembly 8 is not enough to move the items on the third conveyor belt mechanism 5). At the same time, while the blowing assembly 8 is running continuously, the motor 84 drives the shaft through the first belt. The transmission mechanism 71 drives the first rotating shaft 72 to rotate. The first bevel gear 73 on the first rotating shaft 72 meshes with the second bevel gear 74 on the second rotating shaft 76, thereby driving the second rotating shaft 76 to rotate. The second rotating shaft 76 then drives the third rotating shaft 18 to rotate through the second belt transmission mechanism 75, which in turn drives the cleaning plate 15 to rotate. The bristles 17 on the cleaning plate 15 are in contact with the bottom conveyor belt of the third conveyor belt mechanism 5. During rotation, the bristles 17 can sweep away debris on the conveyor belt, thus cleaning the bottom conveyor belt of the third conveyor belt mechanism 5. Subsequently, the second industrial camera 14 on the mounting block 11 takes real-time pictures of the items on the conveyor belt and other objects. The system transmits image information to control device 24. Control device 24 uses an image recognition algorithm to determine the presence of debris (such as dust, debris, or defective small parts). If debris not blown away by the blowing component 8 is detected, control device 24 activates the pushing component 9 to push it away from the outside of the conveyor belt. Subsequently, the items on the third conveyor belt mechanism 5 continue to be conveyed and eventually enter the first conveyor belt mechanism 2. The pre-processed items enter the first conveyor belt mechanism 2 and are sent into the protective box 1. The first industrial camera 10 inside the protective box 1 takes high-precision pictures of the items (such as identifying item type, model, and appearance characteristics) and transmits the identification data to the control device 24. The control device 24, based on the recognition result of the first industrial camera 10, instructs the sorting robot 4 to sort items from the first conveyor belt mechanism 2 to the corresponding second conveyor belt mechanism 3 on the side. The second conveyor belt mechanism 3 then transports similar items to the designated area. The overall mechanism has simple operation steps. The protective box 1 plays a protective role. Through the cooperation of the second industrial camera 14 and the cleaning components (blowing and pushing) blower component 8 and pusher component 9, debris is removed in advance to prevent impurities from entering the subsequent sorting process, ensuring the cleanliness and accuracy of the items to be sorted, preventing damage to the sorting robot 4, and ensuring the normal operation of the device.

Claims

1. An automated sorting device based on machine vision, characterized in that, include: A first conveyor belt mechanism (2) is provided with a protective box (1). Inside the protective box (1), opposite to the first conveyor belt mechanism (2), there is at least one set of sorting robots (4) and a first industrial camera (10). Next to the first conveyor belt mechanism (2), there is at least one set of second conveyor belt mechanisms (3) for transporting the items sorted out by the sorting robots (4). The third conveyor belt mechanism (5) is positioned relative to the front end of the first conveyor belt mechanism (2). A mounting block (11) is fixedly installed on the third conveyor belt mechanism (5). A control device (24) is provided on the third conveyor belt mechanism (5). A second industrial camera (14) is fixedly installed on the mounting block (11) facing the third conveyor belt mechanism (5). A blowing assembly (8) and a pushing assembly (9) are respectively provided on the mounting block (11) at the front and back. The second industrial camera (14) and the pushing assembly (9) are respectively used to identify debris on the third conveyor belt mechanism (5) and push the debris away to the outside.

2. The automated sorting device based on machine vision according to claim 1, characterized in that: The blower assembly (8) includes a fan (83), a motor (84), an air outlet duct (82), and an air outlet tube (81) fixedly mounted on the mounting block (11). The air outlet tube (81) is oriented towards and parallel to the third conveyor belt mechanism (5). The fan (83) is driven by the motor (84). The air outlet tube (81) and the fan (83) are connected through the air outlet duct (82). The motor (84) is signal-connected to the control device (24).

3. The automated sorting device based on machine vision according to claim 2, characterized in that: A support frame (12) is fixedly installed on the mounting block (11), and the air outlet (81) is fixedly installed on the mounting block (11) through the support frame (12). Two guide rods (6) are fixedly installed on the third conveyor belt mechanism (5).

4. The automated sorting device based on machine vision according to claim 2, characterized in that: The pushing assembly (9) includes a cylinder (91) fixedly mounted on the mounting block (11) and a push plate (92) disposed at the telescopic end of the cylinder (91). The push plate (92) is disposed perpendicularly on the third conveyor belt mechanism (5). The cylinder (91) is signal connected to the control device (24).

5. The automated sorting device based on machine vision according to claim 2, characterized in that: The mounting block (11) has a fixed frame (16) fixedly mounted on its bottom. The fixed frame (16) has a cleaning plate (15) that rotates relative to the third conveyor belt mechanism (5) via a third rotating shaft (18). The cleaning plate (15) has multiple bristles (17) that can fit against the bottom conveyor belt of the third conveyor belt mechanism (5). The mounting block (11) has a drive assembly (7) for driving the cleaning plate (15) to rotate.

6. The automated sorting device based on machine vision according to claim 4, characterized in that: A mounting frame (13) is fixedly installed on the telescopic end of the cylinder (91). Two movable rods (21) are movably mounted through the mounting frame (13). The first end of the movable rod (21) is fixedly connected to the push plate (92). A pressure plate (23) is fixedly installed on the second end of the movable rod (21). A spring (22) is sleeved on the movable rod (21) and abuts against the mounting frame (13) and the push plate (92). A pressure sensor (20) is fixedly installed inside the mounting frame (13) relative to the pressure plate (23). The pressure sensor (20) is signal connected to the control device (24).

7. The automated sorting device based on machine vision according to claim 5, characterized in that: The driving component (7) includes: The first rotating shaft (72) is rotatably mounted on the mounting block (11). A first bevel gear (73) is sleeved and fixedly mounted on the first rotating shaft (72). The first rotating shaft (72) is connected to the drive shaft of the motor (84) through a first belt drive mechanism (71). The second rotating shaft (76) is rotatably mounted on the mounting block (11). A second bevel gear (74) that meshes with the first bevel gear (73) is sleeved and fixedly mounted on the second rotating shaft (76). The second rotating shaft (76) and the third rotating shaft (18) are connected by a second belt drive mechanism (75).

8. The automated sorting device based on machine vision according to claim 6, characterized in that: A rubber pad (19) is fixedly installed on one end of the push plate (92) away from the cylinder (91).

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