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CN112079078B - Full-automatic unordered feeding system of robot based on binocular vision - Google Patents

Full-automatic unordered feeding system of robot based on binocular vision Download PDF

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Publication number
CN112079078B
CN112079078B CN202011276134.8A CN202011276134A CN112079078B CN 112079078 B CN112079078 B CN 112079078B CN 202011276134 A CN202011276134 A CN 202011276134A CN 112079078 B CN112079078 B CN 112079078B
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information
conveyor belt
preset
matrix
materials
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CN112079078A (en
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刘振亭
籍永强
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Shandong Haide Intelligent Technology Co Ltd
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Shandong Haide Intelligent Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors
    • B65G47/32—Applications of transfer devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a full-automatic unordered feeding system of a robot based on binocular vision, which comprises a feeding device, a discharging device, a photographic device, a movable manipulator, a waste collecting box and a central control system, wherein the feeding device is connected with the discharging device; according to the invention, the photographic device is used for detecting the placing density of the materials on the feeding conveyor belt and the position and the space placing direction of a single material, and transmitting related data information to the central control system, and the central control system can control the operation of the movable manipulator, the conveying speed of the feeding conveyor belt and the conveying speed of the discharging conveyor belt according to the received information, so that the stability and the accuracy of the machine in the operation process are ensured, meanwhile, the manual operation is reduced, and the industrial automation degree is improved.

Description

Full-automatic unordered feeding system of robot based on binocular vision
Technical Field
The invention relates to the technical field of robot carrying, in particular to a full-automatic unordered feeding system of a robot based on binocular vision.
Background
The conveying operation is to hold a workpiece with one kind of equipment, and is to move from one processing position to another processing position. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings.
The current robot handling technology is widely applied to assembly line handling tasks, and the industrial automation level is enhanced. However, the current robot handling technique is not intelligent enough yet to carry unordered material, often needs the manual work to put the material, or manual adjustment transport speed, and the industrial automation level is not enough and extravagant manpower.
Disclosure of Invention
Therefore, the invention provides a full-automatic unordered feeding system of a robot based on binocular vision. The problem of manpower waste caused by too low industrial automation level in the prior art is solved.
In order to achieve the purpose, the invention provides a full-automatic unordered feeding system of a robot based on binocular vision, which comprises:
the feeding device at least comprises a feeding conveyor belt which is used for conveying materials to be sequenced;
the blanking device at least comprises a blanking conveyor belt, is arranged at the tail end of the feeding device and is used for conveying the sequenced materials;
the camera device comprises a binocular camera and a blanking monitoring camera, the binocular camera is arranged above the feeding device and used for shooting materials on the feeding device and sending shot image information to a central control system, and the blanking monitoring camera is arranged above the blanking conveying belt and used for detecting the number of the materials on the blanking conveying belt;
the movable manipulator is arranged at the tail end of the feeding device and used for grabbing the materials on the feeding conveyor belt and placing the materials on the discharging conveyor belt;
the defective material collecting box is arranged on one side of the movable manipulator and used for collecting defective materials;
the central control system is electrically connected with the feeding device, the discharging device, the photographing device and the movable manipulator and completes data exchange in real time so as to control the feeding device, the discharging device, the photographing device and the movable manipulator in real time; the central control system comprises:
the touch display screen is used for controlling the feeding system;
the image processing module is used for receiving image information sent by the binocular camera and judging the placing information of the materials on the feeding conveying belt according to the image information, the image processing module determines the placing information and comprises material facing surface information and material real-time three-dimensional coordinate information, and meanwhile, an ith material information matrix Pi (Pi 1, Pi2, Pi 3), i =1, 2. Pi1 represents the orientation information of the surface of the ith material, Pi2 represents the real-time coordinate information of the ith material, Pi3 represents the defect information of the material, and the initial value is equal to 0, and when the material has defects, Pi3 is equal to 1;
the image processing module needs to collect preset material information before use, and the process comprises the following steps:
s1, entering a material information acquisition mode through the operation of the display screen, selecting a standard material, and placing the standard material under the photographic device;
s2, adjusting the orientation of the material, so that the camera device can acquire feature information of six spatial surfaces of the material, so that the image processing module can identify the surface orientation of the material according to the image information of the material, and form a standard material information matrix B (B1, B2, B3, B4, B5, B6), where: b1 represents the bottom surface characteristic information of the standard material, B2 represents the top surface characteristic information of the standard material, B3 represents the front surface characteristic information of the standard material, B4 represents the back surface characteristic information of the standard material, B5 represents the left surface characteristic information of the standard material, and S6 represents the right surface characteristic information of the standard material;
s3, selecting one surface of the material as a preset placing surface, and exiting the material information acquisition mode through the operation of the display screen;
the defect detection module is used for receiving image information sent by the binocular camera, establishing an actual three-dimensional coordinate of the material according to the image information, comparing the actual three-dimensional coordinate of the material with a preset standard three-dimensional coordinate to judge whether the material has an obvious defect, and if the material has the defect, marking the defective material and updating the defect information in the ith material information matrix Pi (Pi 1, Pi2 and Pi 3);
the control module is used for receiving information sent by the image processing module and the defect detection module, controlling the movable manipulator to grab and move the defect materials into the defect material collecting box according to the set material placing direction and information in an ith material information matrix Pi (Pi 1, Pi2 and Pi 3), controlling the movable manipulator to grab the materials to be sorted and adjust the materials to be placed on the blanking conveying belt in order after facing, and simultaneously adjusting the running speed of the conveying belt and the grabbing speed of the manipulator in real time according to the disorder degree of the materials on the feeding conveying belt.
Further, after the image processing module obtains the image information shot by the binocular camera, feature information of each surface of the materials in the image information is extracted, meanwhile, the image processing module selects one piece of surface feature information from the standard material information matrix B (B1, B2, B3, B4, B5, B6) as a preset feature, matches the feature information of each surface of the materials to be sorted with the preset feature, takes the surface matched with the preset feature as a pre-selected surface, and records the orientation of the pre-selected surface into ith material surface orientation information Pi1, wherein: when the surface of a material to be sorted is detected, the top surface of the material to be sorted is preferentially detected, when the characteristic information of the top surface of the material to be sorted is matched with the preset characteristic, subsequent detection is stopped, the top surface of the current material to be sorted is determined to be the preset surface, if the characteristic information of the top surface of the material to be sorted is not matched with the surface characteristic information of the top surface of the preselected material, detection is continued on other surfaces of the material to be detected, so that the orientation of the surface of the current material to be sorted with the preset characteristic is determined, and the surface orientation information of the detected material is recorded into the ith material information matrix Pi (Pi 1, Pi2 and Pi 3).
And further, the control module controls the operation mode of the movable manipulator according to the preset characteristics, so that the top surface of the material placed on the blanking conveying belt through the movable manipulator is the preset surface.
Further, the full-automatic unordered feeding system of the robot based on binocular vision according to the claim 1, characterized in that a material standard outline coordinate set f0 (x, y, z) is preset in the defect detection module, the defect detection module establishes a material actual outline three-dimensional coordinate set f (x, y, z) according to the image information, compares the difference value of the actual outline three-dimensional coordinate set f (x, y, z) with the material standard outline coordinate set f0 (x, y, z) to determine an area with difference, and recording the i-th region difference coordinate set Ci (x, y, z) i =1, 2.. Q formed by the regions, and if the spatial range represented by the i-th region difference coordinate set Ci (x, y, z) exceeds a preset defect comparison threshold value, judging that the object to be sorted is defective.
Further, the preset contrast threshold may be preset to adjust the accuracy of the defect detection module.
Further, a material placement judgment matrix Q0, a feeding conveyor speed adjusting parameter matrix C0, a manipulator running speed matrix V0 and a discharging conveyor running speed matrix W0 are arranged in the control module:
for the material placement judgment matrixes Q0 and Q0 (Q1, Q2, Q3 and Q4), wherein Q1 is a first preset interval, Q2 is a second preset interval, Q3 is a third preset interval, Q4 is a fourth preset interval, and the specific values of the parameters are sequentially increased;
for the feeding conveyor speed adjusting parameter matrix C0, C0(C1, C2, C3, C4), where C1 is a first preset feeding conveyor speed adjusting parameter, C2 is a second preset feeding conveyor speed adjusting parameter, C3 is a third preset feeding conveyor speed adjusting parameter, and C4 is a fourth preset feeding conveyor speed adjusting parameter;
for the manipulator operation speed matrixes V0 and V0(V1, V2, V3 and V4), wherein V1 is a first preset manipulator operation speed, V2 is a second preset manipulator operation speed, V3 is a third preset manipulator operation speed, and V4 is a fourth preset manipulator operation speed, and the specific numerical values of the parameters are sequentially increased;
for the blanking conveyor belt running speed matrixes W0 and W0(W1, W2, W3 and W4), wherein W1 is a first preset blanking conveyor belt running speed, W2 is a second preset blanking conveyor belt running speed, W3 is a third preset blanking conveyor belt running speed, W4 is a fourth preset blanking conveyor belt running speed, and specific numerical values of the parameters are sequentially increased;
the control module determines the number N of the materials on the feeding conveyor belt and the quantity N of the materials with the top surface being a preselected surface, the proportion Q of the materials facing the surface correctly according to the information in the ith material information matrix Pi (Pi 1, Pi2, Pi 3),
Figure DEST_PATH_IMAGE001
after the material correctly-oriented surface proportion Q is determined, the control module compares the correctly-oriented surface proportion Q with the internal parameters of a preset material placement judgment matrix Q0:
when Q is more than 0 and less than or equal to Q1, the control module selects C1 from the C0 matrix, selects V1 from the V0 matrix, selects W1 from the W0 matrix to generate a first operation parameter matrix E1(C1, V1 and W1), the central control system adjusts the operation speed of the feeding conveyor belt to U x C1, adjusts the operation speed of the manipulator to V1 and adjusts the operation speed of the blanking conveyor belt to W1 according to the parameters in E1;
when Q1 is more than or equal to Q2, the control module selects C2 from the C0 matrix, selects V2 from the V0 matrix, selects W2 from the W0 matrix to generate a second operation parameter matrix E2(C2, V2 and W2), and the central control system adjusts the operation speed of the feeding conveyor belt to U × C2, the operation speed of the manipulator to V2 and the operation speed of the blanking conveyor belt to W2 according to the parameters in E2;
when Q2 is more than or equal to Q3, the control module selects C3 from the C0 matrix, selects V3 from the V0 matrix, selects W3 from the W0 matrix to generate a third operation parameter matrix E3(C3, V3 and W3), and the central control system adjusts the operation speed of the feeding conveyor belt to U × C3, the operation speed of the manipulator to V3 and the operation speed of the blanking conveyor belt to W3 according to the parameters in E3;
when Q3 is more than or equal to Q4, the control module selects C4 from the C0 matrix, selects V4 from the V0 matrix, selects W4 from the W0 matrix to generate a fourth operation parameter matrix E4(C4, V4 and W4), and the central control system adjusts the operation speed of the feeding conveyor belt to U × C4, the operation speed of the manipulator to V4 and the operation speed of the blanking conveyor belt to W4 according to the parameters in E4;
and setting a detection period t, and repeating the adjustment of the running speed of the feeding conveyor belt, the running speed of the manipulator and the running speed of the discharging conveyor belt after the time t is finished, and carrying out a new monitoring and adjustment.
Furthermore, a preset blanking conveyor belt placement density matrix Q0, a conveyor belt conveying density difference matrix group F0 and a running speed secondary regulation matrix group C0 are further arranged in the central control system;
for the blanking conveyor belt placement density matrix Q0, (Q1, Q2, Q3, Q4), wherein Q1 is the standard density of the blanking conveyor belt placement density when the control module operates the first operation parameter matrix E1, Q2 is the standard density of the blanking conveyor belt placement density when the control module operates the second operation parameter matrix E2, Q3 is the standard density of the blanking conveyor belt placement density when the control module operates the third operation parameter matrix E3, and Q4 is the standard density of the blanking conveyor belt placement density when the control module operates the fourth operation parameter matrix E4;
for the conveying belt conveying density difference matrix groups F0, F0 (F1, F2, F3, F4), wherein F1 is a conveying belt first density difference matrix when the central control system operates a first operation parameter matrix E1, F2 is a conveying belt second density difference matrix when the central control system operates a second operation parameter matrix E2, F3 is a conveying belt third density difference matrix when the central control system operates a third operation parameter matrix E3, and F4 is a conveying belt fourth density difference matrix when the central control system operates a fourth operation parameter matrix E4;
for a conveyor belt ith density difference matrix Fi, i =1, 2, 3, 4, Fi (Fi 1, Fi2, Fi3, Fi 4), wherein Fi1 is a conveyor belt ith density difference matrix first preset density difference, wherein Fi2 is a conveyor belt ith density difference matrix second preset density difference, wherein Fi3 is a conveyor belt ith density difference matrix third preset density difference, wherein Fi4 is a conveyor belt ith density difference matrix fourth preset density difference;
for the operation speed secondary adjustment matrix groups C0, C0(C1, C2, C3, C4), wherein C1 is the first matrix group of the operation speed secondary adjustment matrix group when the central control system operates the first operation parameter matrix E1, C2 is the second matrix group of the operation speed secondary adjustment matrix group when the central control system operates the second operation parameter matrix E2, C3 is the third matrix group of the operation speed secondary adjustment matrix group when the central control system operates the third operation parameter matrix E3, and C4 is the fourth matrix group of the operation speed secondary adjustment matrix group when the central control system operates the fourth operation parameter matrix E4;
adjusting ith matrix group Ci, Ci (Ci1, Ci2, Ci3, Ci4) for the operation speed secondary, wherein Ci1 is the ith matrix group first adjusting matrix of the operation speed secondary adjusting matrix group, Ci2 is the ith matrix group second adjusting matrix of the operation speed secondary adjusting matrix group, Ci3 is the ith matrix group third adjusting matrix of the operation speed secondary adjusting matrix group, and Ci4 is the ith matrix group fourth adjusting matrix of the operation speed secondary adjusting matrix group;
for Cij and Cij (vij, wij), wherein vij is an adjustment parameter of the operation speed Vi of the ith preset manipulator in Cij, and wij is an adjustment parameter of the operation speed Wi of the ith preset blanking conveyor belt in C11;
the blanking conveyor belt camera detects the number n of the materials of the blanking conveyor belt in real time, calculates the placing density Q,
Figure DEST_PATH_IMAGE002
wherein N0 represents the preset parameter, N represents the quantity of the materials on the blanking conveyor belt, and the control module compares the placing density Q with the parameters in a preset blanking conveyor belt placing density matrix Q0:
when the central control system operates the ith operation parameter matrix Ei and Q is Qi, the central control system does not adjust the operation speed V1 of the manipulator and the operation speed W1 of the blanking conveyor belt;
when the middle control system operates the ith operation parameter matrix Ei and Q is not equal to Qi, the middle control system calculates the material density difference F on the blanking conveying belt, F = Qi-Q, and after calculation, the middle control system compares the F with the numerical value in the ith density difference matrix Fi of the conveying belt:
when F is not more than Fi1, the central control system selects Ci1 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt, reduces the operation speed of the manipulator to V1-V11, and reduces the operation speed of the blanking conveyor belt to W1-W11;
when the F is more than Fi1 and less than or equal to Fi2, the central control system selects Ci2 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt, the operation speed of the manipulator is reduced to Vi-Vi2, and the operation speed of the blanking conveyor belt is reduced to Wi-Wi 2;
when the F is more than Fi2 and less than or equal to Fi3, the central control system selects Ci3 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt, the operation speed of the manipulator is reduced to Vi-Vi3, and the operation speed of the blanking conveyor belt is reduced to Wi-Wi 3;
when the Fi3 is larger than F and is not larger than Fi4, the central control system selects Ci4 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt, the operation speed of the manipulator is reduced to Vi-Vi4, and the operation speed of the blanking conveyor belt is reduced to Wi-Wi 4.
And furthermore, a receiving disc is arranged at the tail end of the feeding conveyor belt, and when the manipulator does not grab the material to the discharging conveyor belt in the appointed grabbing area, the feeding conveyor belt conveys the material to the tail end of the feeding conveyor belt and outputs the material to the receiving disc.
Compared with the prior art, the invention has the beneficial effects that the arrangement density of the materials on the feeding conveyor belt and the position and the space arrangement direction of a single material are detected through the binocular camera, and the related data information is transmitted to the central control system, and the central control system can control the operation of the movable manipulator, the conveying speed of the feeding conveyor belt and the conveying speed of the discharging conveyor belt according to the received data, so that the stability and the reliability of the device in the operation process are improved, the manual operation is reduced, and the industrial automation degree is improved.
Particularly, the automatic material loading and unloading system is provided with the image recognition module, materials on the loading conveyor belt are monitored, the current placing direction of the characteristic materials on the surfaces of the materials is recognized according to the standard material information matrix B (B1, B2, B3, B4, B5 and B6), and the direction of the materials is conveniently adjusted by subsequently controlling the movable manipulator.
Furthermore, a material placement judgment matrix Q0 (Q1, Q2, Q3, Q4), a feeding conveyor belt speed adjustment parameter matrix C0(C1, C2, C3, C4), a manipulator operation speed matrix V0(V1, V2, V3, V4) and a blanking conveyor belt operation speed matrix W0(W1, W2, W3, W4) are arranged in the central control system, the central control system adjusts the feeding conveyor belt operation speed, the manipulator carrying speed and the blanking conveyor belt conveying speed according to the material placement condition of the feeding conveyor belt, the conveyor belt can have higher conveying speed when the conveyor belt material is less or the material is correctly placed and oriented, meanwhile, if the material is correctly placed and oriented, the movable manipulator has no process of adjusting the material direction, the materials to be sorted can be directly moved to the blanking conveyor belt, the moving speed of the movable manipulator is also higher, so that the improvement of the conveying belt speed is beneficial to the improvement of the conveying speed of the whole device, on the contrary, if the material is more or put towards the material that does not satisfy the predetermined condition more, the manipulator need adjust its direction and move with slower, consequently, properly makes the adjustment, prevents that the manipulator material from too much appearing piling up, and the condition that the manipulator can't be moved, has improved feeding system reliability and work efficiency, has further reduced human operation, has increaseed industrial automation level.
Further, the material loading conveyer belt tail end is equipped with the flange, when the manipulator snatchs the material to in the appointed area of snatching when the unloading conveyer belt, the material loading conveyer belt will be carried this material to material loading conveyer belt tail end and with the material output to in the flange holds, reduce material loss, improve economic benefits.
Drawings
Fig. 1 is a schematic structural diagram of a full-automatic unordered feeding system of a robot based on binocular vision.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, a schematic structural diagram of a full-automatic unordered feeding system of a robot based on binocular vision according to the present invention is shown, and the full-automatic unordered feeding system of the robot based on binocular vision according to the present invention includes:
the feeding device at least comprises a feeding conveyor belt 3 which is used for conveying materials to be sequenced;
the blanking device at least comprises a blanking conveyor belt 5 which is arranged at the tail end of the feeding device and is used for conveying the sequenced materials;
the photographic device comprises a binocular camera 2 and a blanking monitoring camera 6, the binocular camera is arranged above the feeding device and used for shooting materials on the feeding device and sending shot image information to the central control system, the blanking monitoring camera 6 is arranged above the blanking conveying belt and used for detecting the number of the materials on the blanking conveying belt
The movable manipulator 4 is arranged at the tail end of the feeding device and is used for grabbing the materials on the feeding conveyor belt 3 and placing the materials on the discharging conveyor belt 5;
a defective material collecting box (not shown in the figure) arranged at one side of the movable manipulator 4 for collecting defective materials;
the central control system is electrically connected with the feeding device, the discharging device, the photographing device and the movable manipulator 4 and completes data exchange in real time so as to control the feeding device, the discharging device, the photographing device and the movable manipulator 4 in real time; the center control system 1 includes:
a touch display screen 8 for operating the feeding system;
the image processing module is used for receiving image information sent by the binocular camera and judging the placing information of the materials on the feeding conveying belt according to the image information, the image processing module determines the placing information and comprises material facing surface information and material real-time three-dimensional coordinate information, and meanwhile, an ith material information matrix Pi (Pi 1, Pi2, Pi 3), i =1, 2. Pi1 represents the orientation information of the surface of the ith material, Pi2 represents the real-time coordinate information of the ith material, Pi3 represents the defect information of the material, and the initial value is equal to 0, and when the material has defects, Pi3 is equal to 1;
the image processing module needs to collect preset material information before use, and the process comprises the following steps:
s1, entering a material information acquisition mode through the operation of the display screen, selecting a standard material, and placing the standard material under the photographic device;
s2, adjusting the orientation of the material, so that the camera device can acquire feature information of six spatial surfaces of the material, so that the image processing module can identify the surface orientation of the material according to the image information of the material, and form a standard material information matrix B (B1, B2, B3, B4, B5, B6), where: b1 represents the bottom surface characteristic information of the standard material, B2 represents the top surface characteristic information of the standard material, B3 represents the front surface characteristic information of the standard material, B4 represents the back surface characteristic information of the standard material, B5 represents the left surface characteristic information of the standard material, and S6 represents the right surface characteristic information of the standard material;
s3, selecting one surface of the material as a preset placing surface, and exiting the material information acquisition mode through the operation of the display screen;
the defect detection module is used for receiving image information sent by the binocular camera, establishing an actual three-dimensional coordinate of the material according to the image information, comparing the actual three-dimensional coordinate of the material with a preset standard three-dimensional coordinate to judge whether the material has an obvious defect, and if the material has the defect, marking the defective material and updating the defect information in the ith material information matrix Pi (Pi 1, Pi2 and Pi 3);
and the control module is used for receiving information sent by the image processing module and the defect detection module, controlling the movable manipulator 4 to grab and move the defect materials into the defect material collecting box according to the set material placing direction and information in an ith material information matrix Pi (Pi 1, Pi2 and Pi 3), controlling the movable manipulator 4 to grab the materials to be sorted and adjust the materials to be placed on the discharging conveyor belt 5 in order after facing, and simultaneously adjusting the conveyor belt running speed and the grabbing speed of the manipulator in real time according to the disorder degree of the materials on the feeding conveyor belt 3.
Specifically, after the image processing module acquires image information shot by the binocular camera 2, feature information of each surface of a material in the image information is extracted, meanwhile, the image processing module selects one piece of surface feature information from the standard material information matrix B (B1, B2, B3, B4, B5, B6) as a preset feature, matches characteristic information of each surface of the material to be sorted with the preset feature, takes a surface matched with the preset feature as a pre-selected surface, and records the orientation of the pre-selected surface into ith material surface orientation information Pi1, wherein: when the surface of a material to be sorted is detected, the top surface of the material to be sorted is preferentially detected, when the characteristic information of the top surface of the material to be sorted is matched with the preset characteristic, subsequent detection is stopped, the top surface of the current material to be sorted is determined to be the preset surface, if the characteristic information of the top surface of the material to be sorted is not matched with the surface characteristic information of the top surface of the preselected material, detection is continued on other surfaces of the material to be detected, so that the orientation of the surface of the current material to be sorted with the preset characteristic is determined, and the surface orientation information of the detected material is recorded into the ith material information matrix Pi (Pi 1, Pi2 and Pi 3).
Specifically, the control module controls the operation mode of the movable manipulator 4 according to the preset characteristic, so that the top surface of the material placed on the discharging conveyor belt 5 by the movable manipulator 4 is the preset surface, for example: the front surface of the material to be detected is a preset surface, the movable manipulator of the control module grabs the left surface and the right surface of the material, the top surface of the material to be detected is a preset surface after the movable manipulator rotates for 90 degrees, and then the material to be detected is placed on the blanking conveying belt.
Specifically, when the control module controls the movable manipulator 4, the manipulator action mode is adjusted according to the real-time coordinates of the current material in the ith material information matrix Pi (Pi 1, Pi2, Pi 3), so that the manipulator can stably grab the material.
In particular to a full-automatic unordered feeding system of a robot based on binocular vision according to claim 1, characterized in that a material standard outline coordinate set f0 (x, y, z) is preset in the defect detection module, the defect detection module establishes a material actual outline three-dimensional coordinate set f (x, y, z) according to the image information, compares the difference value of the actual outline three-dimensional coordinate set f (x, y, z) with the material standard outline coordinate set f0 (x, y, z) to determine an area with difference, and recording the i-th region difference coordinate set Ci (x, y, z) i =1, 2.. Q formed by the regions, and if the spatial range represented by the i-th region difference coordinate set Ci (x, y, z) exceeds a preset defect comparison threshold value, judging that the object to be sorted is defective.
Specifically, the preset contrast threshold may be preset to adjust the accuracy of the defect detection module.
Specifically, a material placement judgment matrix Q0, a feeding conveyor belt 3 speed adjustment parameter matrix C0, a manipulator running speed matrix V0 and a discharging conveyor belt 5 running speed matrix W0 are arranged in the control module:
for the material placement judgment matrixes Q0 and Q0 (Q1, Q2, Q3 and Q4), wherein Q1 is a first preset interval, Q2 is a second preset interval, Q3 is a third preset interval, Q4 is a fourth preset interval, and the specific values of the parameters are sequentially increased;
for the feeding conveyor belt 3 speed adjusting parameter matrix C0, C0(C1, C2, C3, C4), where C1 is a first preset feeding conveyor belt 3 speed adjusting parameter, C2 is a second preset feeding conveyor belt 3 speed adjusting parameter, C3 is a third preset feeding conveyor belt 3 speed adjusting parameter, and C4 is a fourth preset feeding conveyor belt 3 speed adjusting parameter;
for the manipulator operation speed matrixes V0 and V0(V1, V2, V3 and V4), wherein V1 is a first preset manipulator operation speed, V2 is a second preset manipulator operation speed, V3 is a third preset manipulator operation speed, and V4 is a fourth preset manipulator operation speed, and the specific numerical values of the parameters are sequentially increased;
for the operation speed matrixes W0 and W0(W1, W2, W3 and W4) of the blanking conveyor belt 5, wherein W1 is the operation speed of the first preset blanking conveyor belt 5, W2 is the operation speed of the second preset blanking conveyor belt 5, W3 is the operation speed of the third preset blanking conveyor belt 5, and W4 is the operation speed of the fourth preset blanking conveyor belt 5, and the specific numerical values of the parameters are sequentially increased;
the control module determines in real time the number N of items on the loading conveyor 3, and the amount N of items with a top surface of a preselected face, the correct orientation of the items to the face ratio Q,
Figure DEST_PATH_IMAGE003
after the material correctly-oriented surface proportion Q is determined, the control module compares the correctly-oriented surface proportion Q with the internal parameters of a preset material placement judgment matrix Q0:
when Q is more than 0 and less than or equal to Q1, the control module selects C1 from the C0 matrix, selects V1 from the V0 matrix, selects W1 from the W0 matrix to generate a first operation parameter matrix E1(C1, V1 and W1), and the central control system adjusts the operation speed of the feeding conveyor belt 3 to U x C1, the operation speed of the manipulator to V1 and the operation speed of the blanking conveyor belt 5 to W1 according to the parameters in E1;
when Q is more than Q1 and less than or equal to Q2, the control module selects C2 from the C0 matrix, selects V2 from the V0 matrix, selects W2 from the W0 matrix to generate a second operation parameter matrix E2(C2, V2 and W2), and the central control system adjusts the operation speed of the feeding conveyor belt 3 to U C2, the operation speed of the manipulator to V2 and the operation speed of the blanking conveyor belt 5 to W2 according to the parameters in E2;
when Q is more than Q2 and less than or equal to Q3, the control module selects C3 from the C0 matrix, selects V3 from the V0 matrix, selects W3 from the W0 matrix to generate a third operation parameter matrix E3(C3, V3 and W3), and the central control system adjusts the operation speed of the feeding conveyor belt 3 to U C3, the operation speed of the manipulator to V3 and the operation speed of the blanking conveyor belt 5 to W3 according to the parameters in E3;
when Q is more than Q3 and less than or equal to Q4, the control module selects C4 from the C0 matrix, selects V4 from the V0 matrix, selects W4 from the W0 matrix to generate a fourth operation parameter matrix E4(C4, V4 and W4), and the central control system adjusts the operation speed of the feeding conveyor belt 3 to U C4, the operation speed of the manipulator to V4 and the operation speed of the blanking conveyor belt 5 to W4 according to the parameters in E4;
and setting a detection period t, and repeating when the adjustment of the running speed of the feeding conveyor belt 3, the running speed of the manipulator and the running speed of the discharging conveyor belt 5 is completed and the time t passes, and performing a new monitoring and adjustment.
Furthermore, a preset blanking conveyor belt 5 placement density matrix Q0, a conveyor belt conveying density difference matrix group F0 and a running speed secondary regulation matrix group C0 are further arranged in the central control system;
for the placement density matrix Q0, (Q1, Q2, Q3, Q4) of the blanking conveyor belt 5, wherein Q1 is the standard density of the placement density of the blanking conveyor belt 5 when the control module operates the first operation parameter matrix E1, Q2 is the standard density of the placement density of the blanking conveyor belt 5 when the control module operates the second operation parameter matrix E2, Q2 is the standard density of the placement density of the blanking conveyor belt 5 when the control module operates the third operation parameter matrix E3, and Q2 is the standard density of the placement density of the blanking conveyor belt 5 when the control module operates the fourth operation parameter matrix E4;
for the conveying belt conveying density difference matrix groups F0, F0 (F1, F2, F3, F4), wherein F1 is a conveying belt first density difference matrix when the central control system operates a first operation parameter matrix E1, F2 is a conveying belt second density difference matrix when the central control system operates a second operation parameter matrix E2, F3 is a conveying belt third density difference matrix when the central control system operates a third operation parameter matrix E3, and F4 is a conveying belt fourth density difference matrix when the central control system operates a fourth operation parameter matrix E4;
for a conveyor belt ith density difference matrix Fi, i =1, 2, 3, 4, Fi (Fi 1, Fi2, Fi3, Fi 4), wherein Fi1 is a conveyor belt ith density difference matrix first preset density difference, wherein Fi2 is a conveyor belt ith density difference matrix second preset density difference, wherein Fi3 is a conveyor belt ith density difference matrix third preset density difference, wherein Fi4 is a conveyor belt ith density difference matrix fourth preset density difference;
for the operation speed secondary adjustment matrix groups C0, C0(C1, C2, C3, C4), wherein C1 is the first matrix group of the operation speed secondary adjustment matrix group when the central control system operates the first operation parameter matrix E1, C2 is the second matrix group of the operation speed secondary adjustment matrix group when the central control system operates the second operation parameter matrix E2, C3 is the third matrix group of the operation speed secondary adjustment matrix group when the central control system operates the third operation parameter matrix E3, and C4 is the fourth matrix group of the operation speed secondary adjustment matrix group when the central control system operates the fourth operation parameter matrix E4;
adjusting ith matrix group Ci, Ci (Ci1, Ci2, Ci3, Ci4) for the operation speed secondary, wherein Ci1 is the ith matrix group first adjusting matrix of the operation speed secondary adjusting matrix group, Ci2 is the ith matrix group second adjusting matrix of the operation speed secondary adjusting matrix group, Ci3 is the ith matrix group third adjusting matrix of the operation speed secondary adjusting matrix group, and Ci4 is the ith matrix group fourth adjusting matrix of the operation speed secondary adjusting matrix group;
for Cij and Cij (vij, wij), wherein vij is an adjustment parameter of the operation speed Vi of the ith preset manipulator in Cij, and wij is an adjustment parameter of the operation speed Wi of the ith preset blanking conveyor belt 5 in C11;
the camera of the blanking conveyor belt 5 detects the number n of the materials of the blanking conveyor belt 5 in real time, calculates the placing density Q,
Figure DEST_PATH_IMAGE004
wherein N0 represents the preset parameter, N represents the quantity of material on the unloading conveyer belt 5, control module will put density Q and preset unloading conveyer belt 5 and put the contrast of density matrix Q0 internal parameter:
when the central control system operates the ith operation parameter matrix Ei and Q is Qi, the central control system does not adjust the operation speed V1 of the manipulator and the operation speed W1 of the blanking conveyor belt 5;
when the middle control system operates the ith operation parameter matrix Ei and Q is not equal to Qi, the middle control system calculates the material density difference F on the blanking conveyor belt 5, F = Qi-Q, and after calculation, the middle control system compares the F with the value in the ith density difference matrix Fi of the conveyor belt:
when F is not more than Fi1, the central control system selects Ci1 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt 5, the operation speed of the manipulator is reduced to V1-V11, and the operation speed of the blanking conveyor belt 5 is reduced to W1-W11;
when the F is more than Fi1 and less than or equal to Fi2, the central control system selects Ci2 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt 5, the operation speed of the manipulator is reduced to Vi-Vi2, and the operation speed of the blanking conveyor belt 5 is reduced to Wi-Wi 2;
when the F is more than Fi2 and less than or equal to Fi3, the central control system selects Ci3 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt 5, the operation speed of the manipulator is reduced to Vi-Vi3, and the operation speed of the blanking conveyor belt 5 is reduced to Wi-Wi 3;
and when the F is more than Fi3 and less than or equal to Fi4, the central control system selects Ci4 to adjust the operation speed of the manipulator and the operation speed of the blanking conveyor belt 5, the operation speed of the manipulator is reduced to Vi-Vi4, and the operation speed of the blanking conveyor belt 5 is reduced to Wi-Wi 4.
Specifically, the tail end of the feeding conveyor belt 3 is provided with a receiving disc 7, and when the manipulator does not grab the material to the discharging conveyor belt 5 in the designated grabbing area, the feeding conveyor belt 3 conveys the material to the tail end of the feeding conveyor belt 3 and outputs the material to the receiving disc 7.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides a full-automatic unordered feeding system of robot based on binocular vision which characterized in that includes:
the feeding device at least comprises a feeding conveyor belt which is used for conveying materials to be sequenced;
the blanking device comprises a blanking conveyor belt, is arranged at the tail end of the feeding device and is used for conveying the sequenced materials;
the camera device comprises a binocular camera and a blanking monitoring camera, the binocular camera is arranged above the feeding device and used for shooting materials on the feeding device and sending shot image information to a central control system, and the blanking monitoring camera is arranged above the blanking conveying belt and used for detecting the number of the materials on the blanking conveying belt;
the movable manipulator is arranged at the tail end of the feeding device and used for grabbing the materials on the feeding conveyor belt and placing the materials on the discharging conveyor belt;
the defective material collecting box is arranged on one side of the movable manipulator and used for collecting defective materials;
the central control system is electrically connected with the feeding device, the discharging device, the photographing device and the movable manipulator and completes data exchange in real time so as to control the feeding device, the discharging device, the photographing device and the movable manipulator in real time; the central control system comprises:
the touch display screen is used for controlling the feeding system;
the image processing module is used for receiving image information sent by the binocular camera and judging the placing information of the materials on the feeding conveying belt according to the image information, the image processing module determines the placing information and comprises material facing surface information and material real-time three-dimensional coordinate information, and meanwhile, an ith material information matrix Pi (Pi 1, Pi2, Pi 3), i =1, 2. Pi1 represents the i-th material surface orientation information, Pi2 represents the i-th material real-time coordinate information, Pi3 represents the material defect information, the initial value of which is equal to 0, and Pi3 is equal to 1 when the material has defects;
the image processing module needs to collect preset material information before use, and the process comprises the following steps:
s1, entering a material information acquisition mode through the operation of the display screen, selecting a standard material, and placing the standard material under the photographic device;
s2, adjusting the orientation of the material, enabling the camera device to collect characteristic information of six spatial surfaces of the material, enabling the image processing module to identify the surface orientation of the material through the image information of the material, and forming a standard material information matrix B (B1, B2, B3, B4, B5, B6), wherein: b1 represents the bottom surface characteristic information of the standard material, B2 represents the top surface characteristic information of the standard material, B3 represents the front surface characteristic information of the standard material, B4 represents the back surface characteristic information of the standard material, B5 represents the left surface characteristic information of the standard material, and B6 represents the right surface characteristic information of the standard material;
s3, selecting one surface of the material as a preset placing surface, and exiting the material information acquisition mode through the operation of the display screen;
the defect detection module is used for receiving image information sent by the binocular camera, establishing an actual three-dimensional coordinate of the material according to the image information, comparing the actual three-dimensional coordinate of the material with a preset standard three-dimensional coordinate to judge whether the material has an obvious defect, and if the material has the defect, marking the defective material and updating the defect information in the ith material information matrix Pi (Pi 1, Pi2 and Pi 3);
the control module is used for receiving information sent by the image processing module and the defect detection module, controlling the movable manipulator to grab and move the defect materials into the defect material collecting box according to the set material placing direction and information in an ith material information matrix Pi (Pi 1, Pi2 and Pi 3), controlling the movable manipulator to grab the materials to be sorted and adjust the materials to be placed on the blanking conveying belt in order after facing, and simultaneously adjusting the running speed of the conveying belt and the grabbing speed of the manipulator in real time according to the disorder degree of the materials on the feeding conveying belt.
2. The binocular vision based full-automatic unordered feeding system of the robot of claim 1, wherein the image processing module extracts feature information of each surface of the materials in the image information after acquiring the image information shot by the binocular camera, and simultaneously, the image processing module selects one surface feature information from the standard material information matrix B (B1, B2, B3, B4, B5, B6) as a preset feature, matches the feature information of each surface of the materials to be sorted with the preset feature, and uses the surface matched with the preset feature as a pre-selected surface, and records the orientation of the pre-selected surface into the ith material surface orientation information Pi1, when detecting the surface of the materials to be sorted, preferentially detects the top surface of the materials to be sorted, when the feature information of the top surface of the materials to be sorted is matched with the preset feature, stopping subsequent detection, determining that the top surface of the current material to be sorted is a preset surface, if the characteristic information of the top surface of the material to be sorted is not matched with the surface characteristic information of the top surface of the preselected material placed towards the top surface, continuing to detect other surfaces of the material to be detected so as to determine the orientation of the surface of the current material to be sorted with the preset characteristic, and recording the surface orientation information of the detected material into the ith material information matrix Pi (Pi 1, Pi2, Pi 3).
3. The binocular vision based full-automatic unordered feeding system of robot of claim 2, wherein the operation mode of the movable manipulator is controlled according to the preset characteristics, so that the top surface of the material placed on the discharging conveyor belt through the movable manipulator is the preset surface.
4. The binocular vision based full-automatic unordered feeding system of the robot of claim 1, characterized in that a material standard outline coordinate set f0 (x, y, z) is preset in the defect detection module, the defect detection module establishes a material actual outline three-dimensional coordinate set f (x, y, z) according to the image information, compares the difference value of the actual outline three-dimensional coordinate set f (x, y, z) with the material standard outline coordinate set f0 (x, y, z) to determine an area with difference, and recording the i-th region difference coordinate set Ci (x, y, z) i =1, 2.. Q formed by the regions, and if the spatial range represented by the i-th region difference coordinate set Ci (x, y, z) exceeds a preset defect comparison threshold, judging that the object to be sorted has a defect.
5. The binocular vision based full-automatic unordered feeding system of robot of claim 4, wherein the preset defect comparison threshold value is preset to adjust the precision of the defect detection module.
6. The binocular vision based full-automatic unordered feeding system of robot of claim 1, wherein a receiving disc is arranged at the tail end of the feeding conveyor belt, and when the manipulator does not grab a material to the discharging conveyor belt in a designated grabbing area, the feeding conveyor belt conveys the material to the tail end of the feeding conveyor belt and outputs the material to the receiving disc.
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