WO2024021402A1 - Procédé de prélèvement de matériau et de déchargement de marchandises basé sur un positionnement visuel, et appareil associé - Google Patents

Procédé de prélèvement de matériau et de déchargement de marchandises basé sur un positionnement visuel, et appareil associé Download PDF

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Publication number
WO2024021402A1
WO2024021402A1 PCT/CN2022/134577 CN2022134577W WO2024021402A1 WO 2024021402 A1 WO2024021402 A1 WO 2024021402A1 CN 2022134577 W CN2022134577 W CN 2022134577W WO 2024021402 A1 WO2024021402 A1 WO 2024021402A1
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WO
WIPO (PCT)
Prior art keywords
target object
positioning
picking
work area
robot arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/134577
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English (en)
Chinese (zh)
Inventor
袁利才
曹志军
廉毅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Robohorn Hood Intelligent Equipment Co Ltd
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Shenzhen Robohorn Hood Intelligent Equipment Co Ltd
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Publication date
Application filed by Shenzhen Robohorn Hood Intelligent Equipment Co Ltd filed Critical Shenzhen Robohorn Hood Intelligent Equipment Co Ltd
Publication of WO2024021402A1 publication Critical patent/WO2024021402A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B65G65/00—Loading or unloading
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers 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
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • 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

Definitions

  • the invention relates to the field of logistics production technology, and in particular to a visual positioning-based material picking and unloading method and its device.
  • the present invention provides a visual positioning-based retrieval and unloading method and a device thereof, aiming to solve the existing problems of low visual positioning accuracy and unfavorable unloading operation for efficient operations.
  • the invention provides a visual positioning-based picking and unloading method, which includes the following steps:
  • the robot arm carries the precise positioning vision device and moves to a single work area to obtain image data of the target object in the work area;
  • the robot arm moves to the precise location of the target object, picks up the target object, and unloads it.
  • step S1 specifically includes:
  • step S2 specifically includes:
  • Fusion of 3D imaging point cloud data and 2D image data identifies the 3D position distribution of a single target item, divides the work area according to specified rules, calculates and outputs the three-dimensional coordinates of the geometric center of a single work area, and uses this as the robot arm's location The rough positioning position of the material.
  • the specified rules for dividing the work area include:
  • step S3 specifically includes:
  • the picking end of the robot arm moves to the geometric center coordinates of the target object in a single work area and maintains the set photographing distance from the target object.
  • the 3D structure A light camera captures an image of the target.
  • step S4 specifically includes:
  • the 3D structured light camera identifies the precise contour and relative distance of the target object, and calculates and outputs the precise three-dimensional coordinates of the material taken.
  • step S5 specifically includes:
  • the conveyor belt swings to the position of the target object to be picked up.
  • the picking end of the robot arm grabs the target object and drags it to the conveyor belt.
  • the conveyor belt transports the target object and completes unloading.
  • step S1 before executing step S1, it also includes:
  • the visual calibration content includes: the coordinate system origins of the radar and the robot arm are unified; the directions of the X/Y/Z/ ⁇ axes in the coordinate system are unified; and the radar , the actual mapping relationship between the robot arm coordinates and the space is unified.
  • Visual training for the built-in programs of coarse positioning vision equipment and fine positioning vision equipment input a large amount of picture data to learn to recognize the outline of the target object.
  • the picture data includes a single category of target object pictures or multiple categories of target object pictures.
  • a visual positioning-based picking and unloading method is performed, including
  • Rough positioning vision equipment is used to roughly position and image targets within the field of view and divide the work area
  • Precision positioning vision equipment used for precise positioning and imaging of targets in the work area
  • the robot arm is equipped with a picking end, moves to the vicinity of the target object to be picked based on the results of rough positioning, acquires the target object and performs a dragging action based on the results of fine positioning;
  • the conveyor belt swings to the location of the target object to be retrieved based on the precise positioning results, receives the target object dragged out by the robot arm, and transports the target object for unloading.
  • Figure 1 is a flow chart of the visual positioning-based picking and unloading method of the present invention
  • Figure 2 is a schematic diagram of the target in the field of view in visual positioning according to the present invention.
  • Figure 3 is a structural diagram of the material picking and unloading device of the present invention.
  • Figure 4 is a structural side view of the material picking and unloading device of the present invention.
  • a visual positioning-based picking and unloading method of the present invention is implemented as follows:
  • Perform visual training on the built-in programs of the coarse positioning vision device 6 and the fine positioning vision device 7 input a large amount of picture data to learn to recognize the outline of the target object.
  • the picture data includes a single category of target images or multiple categories of target images.
  • the visual positioning program learns to identify the outline of a certain type or categories of target items, so that the coarse positioning vision device 6 and the fine positioning vision device 7 can more quickly identify the corresponding item data when collecting image data. , and quickly obtain the spatial position coordinates and contour of the object to feed back to the robot arm 3 and the conveyor belt 2 to perform the swing operation.
  • the visual calibration content includes: the coordinate system origins of the radar and the robot arm 3 are unified; the directions of the X/Y/Z/ ⁇ axes in the coordinate system are unified. ; And the actual mapping relationship between the radar, robot arm 3 coordinates and space is unified.
  • the radar and robot arm 3 will be visually calibrated in advance to achieve unified coordinates to avoid deviations between the position data obtained by the radar and the true position of the robot arm 3, which will affect the accurate picking of materials by the robot arm 3.
  • Step S1 specifically includes:
  • 3D imaging is formed by scanning the target object with the radar in the coarse positioning vision device 6;
  • Step S2 specifically includes: fusing the point cloud data of the radar 3D imaging and the 2D image data of the 2D camera, identifying the 3D position distribution of a single target item, dividing the work area according to specified rules, and calculating and outputting the 3D geometric center of the single work area.
  • the coordinates are used as the rough positioning position for the robot arm 3 to pick up materials.
  • Similarity matching is performed between Xa and Ya in the radar 3D low-precision point cloud data coordinates (Xa, Ya, Za) and the high-precision coordinates Xb and Yb in the 2D camera. After matching, a corresponding relationship is established, and data replacement and fusion are performed. Finally Obtain high-precision X, Y and low-precision Z combined data: (Xb, Yb, Za). This method can greatly improve the shortcomings of poor accuracy of 3D radar and only two-dimensional data of 2D cameras, and obtain high-precision three-dimensional data.
  • the specified rules for dividing the work area include: dividing it into a work area according to a single item; dividing it into a work area according to a group of multiple items; or dividing it into a work area according to the set area size.
  • the rules for dividing work areas are not limited to these three methods, and can also be changed according to actual operation needs to meet diverse material retrieval needs.
  • the robot arm 3 carries the precision positioning vision device 7 and moves to a single work area to obtain image data of the target object in the work area.
  • the picking end 4 of the robot arm 3 moves to a position at a certain distance from the rough positioning coordinate value. This distance value can be set in advance. This position is the photographing position of the 3D structured light camera.
  • Step S3 specifically includes: setting the photographing distance between the 3D structured light camera in the precision positioning vision device 7 and the target object, moving the material picking end 4 of the robot arm 3 to the geometric center coordinates of the target object in a single work area, and keeping it in contact with the target object.
  • the 3D structured light camera captures the image of the target object.
  • the 3D structured light camera takes pictures because of its high accuracy in all directions. It can identify the precise outline and distance of the target item and output more accurate three-dimensional coordinates of the material.
  • Step S4 specifically includes: the 3D structured light camera identifies the precise contour and relative distance of the target object, and calculates and outputs the precise three-dimensional coordinates of the material taken.
  • the characteristics of radar and 2D cameras can be used to collect image data from a large field of view to a designated work area; the characteristics of 3D structured light cameras: small field of view, high accuracy, can be used to determine certain
  • the target object in the work area is operated to obtain the specific outline and precise position coordinates of the object.
  • the robot arm 3 moves to the precise position of the target object, picks up the target object, and unloads it.
  • Step S5 specifically includes:
  • the conveyor belt 2 swings to the position where the target object is to be picked up.
  • the picking end 4 of the robot arm 3 picks up the target object and drags it to the conveyor belt 2.
  • the conveyor belt 2 transports the target object and completes unloading.
  • the position of the material receiving end of the conveyor belt 2 can be flush with the bottom of the goods or slightly lower than the bottom of the goods.
  • the robot arm 3 only needs to overcome the friction between the goods to pull the goods out and drop them onto the conveyor belt 2. Compared with the traditional method, it needs to be lifted and moved.
  • the repositioning method and the dragging method of picking up materials reduce the moving distance of the robot arm 3, save the time for picking up materials, and also significantly increase the weight of the goods to be transported.
  • a visual positioning-based picking and unloading device of the present invention is used to execute the picking and unloading method in the embodiment.
  • the picking and unloading device includes:
  • the coarse positioning vision device 6 is used to perform coarse positioning and imaging of targets within the field of view and divide the work area; the coarse positioning vision device 6 includes a radar that scans and forms 3D imaging and a 2D camera that acquires 2D images.
  • the precise positioning vision equipment 7 is used for precise positioning and imaging of targets in the work area; the precision positioning vision equipment 7 includes a 3D structured light camera.
  • the robot arm 3 is provided with a material picking end 4, moves to the vicinity of the target object to be picked up according to the results of rough positioning, grabs the target object according to the results of fine positioning, and performs a dragging action;
  • the robot arm 3 is preferably a multi-axis robot, which picks up materials End 4 is preferably a suction cup structure with a suction head, and the suction cup is connected to the end of the multi-axis robot.
  • the material picking end 4 is not limited to a suction cup structure, and may also be a clamp structure, or other material picking carriers that play a role in grabbing goods.
  • the conveyor belt 2 swings to the location of the target object to be retrieved based on the precise positioning results, receives the target object dragged out by the robot arm 3, and transports the target object for unloading.
  • Equipment base 1, radar and 2D camera can be connected to the equipment base 1 through brackets to collect images of targets in the field of view from a high place.
  • the pan/tilt of the robot arm 3 is connected to the equipment base 1, with the pan/tilt as the center. Swing and grab the designated target through the suction cup structure.
  • the 3D structured light camera is connected to the pickup end 4 of the robot arm 3 to collect image data of the target object from the perspective of the pickup end 4 and obtain the specific outline and specific position coordinates of the target object, thereby completing the precise positioning of the robot arm 3 Reclaimer.
  • One end of the conveyor belt 2 is hinged on the equipment base 1, and the other end of the conveyor belt 2 completes the lifting and swinging under the action of the telescopic power device.
  • One end of the telescopic power device is fixed on the equipment base 1, and the other end is connected to the conveyor belt 2.
  • the feed end of the conveyor belt 2 is located within the swing range of the machine arm 3, so that the conveyor belt 2 can be docked with the pickup end 4 of the machine arm 3 to complete the unloading operation.
  • the telescopic power device drives the material-receiving end of the conveyor belt 2 to lift or lower to the target goods.
  • the material-receiving end of the conveyor belt 2 will be flush with or slightly lower than the bottom of the goods, so that the machine
  • the arm 3 only needs to drive the suction cup structure to drag the target goods out of the palletized goods onto the conveyor belt 2, which reduces the moving distance of the robot arm 3, and the dragging method only needs to overcome the friction between the goods, not the friction between the goods.
  • the gravity of the cargo itself allows the robot arm 3 to grab and drag cargo with a larger volume or weight, thereby meeting the unloading operations in more situations.
  • the picking and unloading device also includes a moving mechanism 5, which is connected to the bottom of the equipment frame.
  • the moving mechanism 5 is a moving part of the whole machine.
  • the moving mechanism 5 can be automatically controlled through a program or manually. This makes the movement of the entire machine more controllable and flexible.

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

Abstract

La présente invention concerne un procédé de prélèvement de matériau et de déchargement de marchandises basé sur un positionnement visuel, et un appareil associé, qui se rapportent aux domaines techniques de la logistique et de la production. Le procédé comprend les étapes suivantes consistant à : S1, acquérir des données d'image d'un objet cible dans une plage de champ de vision au moyen d'un dispositif de vision à positionnement grossier (6) ; S2, effectuer un calcul sur les données d'image de l'objet cible et effectuer une division pour obtenir des zones de travail, puis calculer les coordonnées du centre géométrique de l'objet cible à l'intérieur d'une zone de travail unique ; S3, un bras robotisé (3) portant un dispositif de vision à positionnement fin (7) et se déplaçant vers une zone de travail unique, et acquérir des données d'image de l'objet cible dans la zone de travail ; S4, calculer le contour et la position de l'objet cible dans la zone de travail, et fournir les coordonnées géométriques de l'objet cible ; et S5, le bras robotisé (3) se déplaçant vers la position précise de l'objet cible pour retirer l'objet cible et effectuer un déchargement de marchandises. Un bras robotisé (3) est guidé au moyen d'un positionnement visuel pour effectuer automatiquement un prélèvement de matériau précis, et au moyen de l'utilisation combinée d'un dispositif de vision à positionnement grossier (6) et d'un dispositif de vision à positionnement fin (7), les fonctions d'identification automatique d'un objet cible dans un grand champ de vision et de réalisation d'un positionnement fin peuvent être obtenues.
PCT/CN2022/134577 2022-07-28 2022-11-28 Procédé de prélèvement de matériau et de déchargement de marchandises basé sur un positionnement visuel, et appareil associé Ceased WO2024021402A1 (fr)

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CN202210898572.0 2022-07-28
CN202210898572.0A CN115159149B (zh) 2022-07-28 2022-07-28 一种基于视觉定位的取料卸货方法及其装置

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