CN120246695A - Automatic palletizing control system based on visual positioning - Google Patents
Automatic palletizing control system based on visual positioning Download PDFInfo
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- CN120246695A CN120246695A CN202510492684.XA CN202510492684A CN120246695A CN 120246695 A CN120246695 A CN 120246695A CN 202510492684 A CN202510492684 A CN 202510492684A CN 120246695 A CN120246695 A CN 120246695A
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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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
- 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
- B65G2203/0216—Codes or marks on the article
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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
- 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
- B65G2203/041—Camera
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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Abstract
本申请公开了基于视觉定位的自动码垛控制系统，包括多模态视觉定位模块、模型建立模块、动态路径规划模块、机械臂执行模块、误差校正模块以及储存模块；所述多模态视觉定位模块包含RGB相机、传感器及激光雷达，用于实时获取货物以及码垛区的三维空间信息；所述多模态视觉定位模块安装于码垛区的一侧；所述模型建立模块用于将码垛区、货物位置、机械臂的位置建立在三维空间内，在本系统使用的时候，能够对码垛区的位置以及码垛区是否能够码入新的货物的信息进行获取，然后通过三轴协作机械臂能够实现空间内任意位置的移动，增加了本系统的使用范围，通过动态路径规划模块与误差校正模块能够准确无误地将货物运送到码垛区的位置。
The present application discloses an automatic palletizing control system based on visual positioning, comprising a multimodal visual positioning module, a model building module, a dynamic path planning module, a robotic arm execution module, an error correction module and a storage module; the multimodal visual positioning module comprises an RGB camera, a sensor and a laser radar, and is used to obtain three-dimensional spatial information of goods and a palletizing area in real time; the multimodal visual positioning module is installed on one side of the palletizing area; the model building module is used to establish the palletizing area, the position of the goods and the position of the robotic arm in a three-dimensional space. When the system is used, the position of the palletizing area and the information on whether the palletizing area can be coded with new goods can be obtained, and then the three-axis collaborative robotic arm can be used to realize movement to any position in the space, thereby increasing the scope of use of the system, and the goods can be accurately transported to the position of the palletizing area through the dynamic path planning module and the error correction module.
Description
Technical Field
The application relates to the technical field of palletizing control systems, in particular to an automatic palletizing control system based on visual positioning.
Background
The current automatic stacking system mostly adopts a preset program to control the operation of a mechanical arm, relies on a basic sensor (such as a single RGB camera or a photoelectric switch) to perform rough positioning, and completes stacking tasks through fixed path planning. Part of schemes introduce a simple visual recognition technology, and cargo positioning is realized through edge detection or template matching, but the data dimension is single (for example, only depends on two-dimensional images), and the motion path of the mechanical arm depends on manual teaching or off-line programming and lacks dynamic adjustment capability.
For example, in the chinese patent application of application number CN202010407384.4, an automatic palletizing system is disclosed, comprising a robot adapted to grasp a logistics package, a package conveyor adapted to convey the logistics package to a predetermined unloading position, a two-dimensional camera for identifying the logistics package located at the predetermined unloading position to guide the robot to grasp the logistics package, a tray conveyor adapted to convey a tray for loading the logistics package to a predetermined loading position, and a three-dimensional camera for identifying the tray located at the predetermined loading position to guide the robot to place the grasped logistics package onto the tray. According to the automatic stacking system, stacking operation of the logistics packaging boxes can be automatically achieved, labor cost is saved, and stacking efficiency of the logistics packaging boxes is greatly improved.
In the face of complex and various field working conditions, the palletizing system in the prior art obviously cannot meet the use requirements of users, and therefore, the application provides an automatic palletizing control system based on visual positioning.
Disclosure of Invention
Therefore, the application provides an automatic stacking control system based on visual positioning to solve the problems existing in the prior art.
In order to achieve the above object, the present application provides the following technical solutions:
In a first aspect, an automatic stacking control system based on visual positioning includes a multi-mode visual positioning module, a model building module, a dynamic path planning module, a mechanical arm executing module, an error correction module and a storage module;
The multi-mode visual positioning module comprises an RGB camera, a sensor and a laser radar and is used for acquiring three-dimensional space information of goods and a stacking area in real time;
The model building module is used for building the stacking area, the goods position and the position of the mechanical arm in a three-dimensional space;
The dynamic path planning module is deployed in a path optimization engine of the industrial controller, and generates a grabbing path and a stacking path which are collision-free and optimal in energy consumption according to the cargo position, the target stacking position and the mechanical arm position;
The mechanical arm execution module comprises a triaxial cooperation mechanical arm, a self-adaptive clamp and a force feedback unit, wherein the triaxial cooperation mechanical arm is used for enabling the mechanical arm to move in the front-back, left-right and up-down directions, the self-adaptive clamp supports the rapid switching of a vacuum chuck and an electric clamping jaw and adapts to the grabbing of cargoes with different materials;
The error correction module is used for comparing the real-time data of the multi-mode visual positioning module with the stacking position on the stacking area and dynamically compensating the joint error of the mechanical arm, the size deviation of goods and the interference of environmental vibration;
the storage module is used for storing the grabbing paths and the stacking paths generated by the dynamic path planning module.
Preferably, the storing module stores the grabbing paths and the stacking paths in a partitioning manner, stores the effective grabbing paths and the ineffective grabbing paths in the grabbing paths in a partitioning manner, stores the effective stacking paths and the ineffective stacking paths in the stacking paths in a partitioning manner, and stores the effective grabbing paths, the cargo position information corresponding to the effective stacking paths, the stacking area position information and the mechanical arm position information synchronously.
Preferably, when planning the grabbing path and stacking path of the goods, the dynamic path planning module compares the goods position information, the stacking area position information and the mechanical arm position information acquired by the multi-mode visual positioning module with the storage information in the storage module, and when the effective grabbing path, the goods position information corresponding to the effective stacking path, the stacking area position information and the mechanical arm position information stored in the storage module are the same as the acquired goods position information, the stacking area position information and the mechanical arm position, the effective grabbing path and/or the effective stacking path are directly acquired.
Preferably, when the invalid grabbing path is stored, the invalid grabbing path which can grab the goods smoothly after calibration is marked as an invalid grabbing path I, the other invalid grabbing paths are invalid grabbing paths II, and the calibration parameters of the invalid grabbing path I, the goods position and the information of the mechanical arm position are stored;
When the invalid stacking path is stored, the invalid stacking path which can smoothly stack the cargoes after the calibration is marked as an invalid stacking path I, the other invalid stacking paths are invalid stacking paths II, and the calibration parameters of the invalid stacking path I, the position of the mechanical arm and the information of the stacking area are stored.
Preferably, when the error correction module corrects the mechanical arm, the position information of the mechanical arm, the cargo position and the stacking area is compared with the position of the mechanical arm, the cargo position and the stacking area in the first invalid grabbing path and the first invalid stacking path in the storage module, and when the compared information is the same, the corresponding correction parameters are directly adjusted.
Preferably, the system further comprises a man-machine interaction module, wherein the man-machine interaction module can display the position of the palletizing area, the information of whether the palletizing area can receive goods, the position information of the mechanical arm, the information of whether the mechanical arm is in a working state and the positions of the goods.
Preferably, the system further comprises a scram module, wherein the scram module is connected with the mechanical arm execution module, and the scram module can stop the mechanical arm execution module.
Compared with the prior art, the application has at least the following beneficial effects:
When the system is used, the position of the stacking area and the information of whether the stacking area can be used for stacking new cargoes or not can be acquired, then the movement of any position in space can be realized through the three-axis cooperation mechanical arm, the application range of the system is enlarged, and cargoes can be accurately conveyed to the position of the stacking area through the dynamic path planning module and the error correction module.
Drawings
In order to more intuitively illustrate the prior art and the application, exemplary drawings are presented below. It should be understood that the specific shapes and configurations shown in the drawings are not generally considered to be limiting conditions in implementing the present application, and that, for example, those skilled in the art will be able to make conventional adjustments or further optimization of the addition/subtraction/attribution division, specific shapes, positional relationships, connection manners, dimensional proportion relationships, etc. of certain units (components) based on the technical concepts and exemplary drawings disclosed in the present application.
FIG. 1 is a block diagram of an automatic palletizing control system based on visual positioning provided by the application;
Fig. 2 is a schematic structural diagram of an automatic stacking control system based on visual positioning.
Detailed Description
The application will be further described in detail by means of specific embodiments with reference to the accompanying drawings.
1-2, An automatic stacking control system based on visual positioning comprises a multi-mode visual positioning module, a model building module, a dynamic path planning module, a mechanical arm executing module, an error correction module and a storage module;
the multi-mode visual positioning module comprises an RGB camera, a sensor and a laser radar and is used for acquiring three-dimensional space information of goods, a mechanical arm and a stacking area in real time, and is arranged on one side of the stacking area, and the positions of the goods, the mechanical arm and the stacking area are different each time, so that the three-dimensional space information of the goods, the mechanical arm and the stacking area needs to be acquired before the goods are stacked, further the follow-up planning of a grabbing path and a stacking path can be facilitated, and the positions of the goods, the mechanical arm and the stacking area can be accurately acquired through the cooperation of the RGB camera, the sensor and the laser radar;
The model building module is used for building the positions of the stacking area, the goods position and the mechanical arm in the same three-dimensional space, namely, the space is equivalent to simulating a real space environment, and building the relative positions of the stacking area, the goods position and the mechanical arm in the three-dimensional space, and when planning the grabbing path and the stacking path, a three-dimensional coordinate system can be built based on the three-dimensional space, so that the grabbing path and the stacking path are more scalar when planned, and the grabbing path and the stacking path are ensured to be more accurate;
The dynamic path planning module is deployed in a path optimization engine of the industrial controller, and generates a grabbing path and a stacking path which are free of collision and optimal in energy consumption according to the position of goods, a target stacking position and the position of the mechanical arm, so that invalid movement of the mechanical arm can be reduced when the mechanical arm moves, and stacking operation can be completed quickly;
The mechanical arm executing module comprises a three-axis cooperative mechanical arm, a self-adaptive clamp and a force feedback unit, wherein the three-axis cooperative mechanical arm is used for enabling the mechanical arm to move in the front-back, left-right and up-down directions and is matched with the dynamic path planning module to generate a grabbing path and a stacking path which are free of collision and optimal in energy consumption, so that the mechanical arm can be ensured to move to any position;
the error correction module is used for comparing real-time data of the multi-mode visual positioning module with stacking positions on a stacking area and dynamically compensating joint errors of the mechanical arm, size deviation of goods and environmental vibration interference so as to ensure that the mechanical arm can accurately grasp and stack the goods;
the storage module is used for storing the grabbing paths and the stacking paths generated by the dynamic path planning module.
When the system is used, the position of the stacking area and the information of whether the stacking area can be used for stacking new cargoes or not can be acquired, then the movement of any position in space can be realized through the three-axis cooperation mechanical arm, the application range of the system is enlarged, and cargoes can be accurately conveyed to the position of the stacking area through the dynamic path planning module and the error correction module.
The grabbing paths and the stacking paths in the storage module are stored in a partitioning mode, the effective grabbing paths and the ineffective grabbing paths in the grabbing paths are stored in a partitioning mode, the effective stacking paths and the ineffective stacking paths in the stacking paths are stored in a partitioning mode, the effective grabbing paths and the effective stacking paths are stored, the effective grabbing paths and the effective stacking paths can be directly called for use when later grabbing operation and stacking operation occur, so that the stacking operation is accelerated, and cargo position information, stacking area position information and mechanical arm position information corresponding to the effective grabbing paths and the effective stacking paths are synchronously stored.
In order to reduce calculation of the dynamic path planning module and accelerate the planning speed of a route, the dynamic path planning module is provided with the following technical scheme that when planning a grabbing path and a stacking path of goods, the dynamic path planning module compares the goods position information, stacking area position information and mechanical arm position information acquired by the multi-mode visual positioning module with storage information in the storage module, and when the goods position information, stacking area position information and mechanical arm position information corresponding to the effective grabbing path and the effective stacking path stored in the storage module are identical to the acquired goods position information, stacking area position information and mechanical arm position, the effective grabbing path and/or the effective stacking path are directly acquired, so that the path generation efficiency can be effectively accelerated, and invalid calculation is avoided.
When the scheme is implemented, when the acquired position information of the goods is consistent with the position information of the mechanical arm and the information in the storage module, the corresponding effective grabbing paths are called, the mechanical arm grabs according to the effective grabbing paths, and when the acquired position information of the stacking area is consistent with the position information of the mechanical arm and the information in the storage module, the corresponding effective stacking paths are called, and the mechanical arm stacks the goods according to the effective stacking paths.
In order to reduce the calculation of the error correction module and accelerate the response time of error calibration, the following technical scheme is provided:
when the invalid grabbing paths are stored, marking the invalid grabbing paths which can grab the goods smoothly after calibration as first invalid grabbing paths, and the other invalid grabbing paths as second invalid grabbing paths, and storing the calibration parameters of the first invalid grabbing paths, the positions of the goods and the positions of the mechanical arms;
When the invalid stacking path is stored, the invalid stacking path which can smoothly stack the cargoes after the calibration is marked as an invalid stacking path I, the other invalid stacking paths are invalid stacking paths II, and the calibration parameters of the invalid stacking path I, the position of the mechanical arm and the information of the stacking area are stored.
When the error correction module corrects the mechanical arm, the position of the goods and the position of the stacking area are compared with the position of the mechanical arm, the position of the goods and the position of the stacking area in the first invalid grabbing path and the position of the mechanical arm in the first invalid stacking path in the storage module, when the compared information is the same, the corresponding calibration parameters are directly adjusted, the mechanical arm is calibrated according to the adjusted calibration parameters, and therefore the accuracy of grabbing and stacking routes is guaranteed.
The system comprises a stacking area, a mechanical arm, a man-machine interaction module, a control module and a control module, wherein the stacking area is provided with a plurality of storage units, the storage units are connected with the storage units, the control module is connected with the control module, and the control module is connected with the control module. When the system is implemented, a worker can grasp the running state (data in all aspects) of the system through the man-machine interaction module so as to grasp the running condition among all the components.
The system comprises a mechanical arm executing module, a mechanical arm stopping module, a stopping module and a stopping module, wherein the stopping module is connected with the mechanical arm executing module, the stopping module can be used for stopping the operation of the system when a dangerous condition occurs (for example, when an obstacle occurs in front of the mechanical arm and the mechanical arm is about to collide with the obstacle or goods are damaged and the stacking operation cannot be continued or the system fails, and the like), and the stopping module can be used for stopping the operation of the system so as to ensure the safety of the device.
Any combination of the features of the above embodiments may be used (as long as there is no contradiction between the combinations of the features), and for brevity of description, all of the possible combinations of the features of the above embodiments are not described, and all of the embodiments not explicitly described are also to be considered as being within the scope of the description.
Claims (7)
1. The automatic stacking control system based on visual positioning is characterized by comprising a multi-mode visual positioning module, a model building module, a dynamic path planning module, a mechanical arm executing module, an error correction module and a storage module;
The multi-mode visual positioning module comprises an RGB camera, a sensor and a laser radar and is used for acquiring three-dimensional space information of goods and a stacking area in real time;
The model building module is used for building the stacking area, the goods position and the position of the mechanical arm in a three-dimensional space;
The dynamic path planning module is deployed in a path optimization engine of the industrial controller, and generates a grabbing path and a stacking path which are collision-free and optimal in energy consumption according to the cargo position, the target stacking position and the mechanical arm position;
The mechanical arm execution module comprises a triaxial cooperation mechanical arm, a self-adaptive clamp and a force feedback unit, wherein the triaxial cooperation mechanical arm is used for enabling the mechanical arm to move in the front-back, left-right and up-down directions, the self-adaptive clamp supports the rapid switching of a vacuum chuck and an electric clamping jaw and adapts to the grabbing of cargoes with different materials;
The error correction module is used for comparing the real-time data of the multi-mode visual positioning module with the stacking position on the stacking area and dynamically compensating the joint error of the mechanical arm, the size deviation of goods and the interference of environmental vibration;
the storage module is used for storing the grabbing paths and the stacking paths generated by the dynamic path planning module.
2. The vision positioning-based automatic palletizing control system according to claim 1, wherein the grabbing paths and the stacking paths in the storage module are stored in a partitioning manner, the effective grabbing paths and the ineffective grabbing paths in the grabbing paths are stored in a partitioning manner, the effective stacking paths and the ineffective stacking paths in the stacking paths are stored in a partitioning manner, and cargo position information, palletizing area position information and mechanical arm position information corresponding to the effective grabbing paths and the effective stacking paths are stored synchronously.
3. The automatic stacking control system based on visual positioning according to claim 2, wherein the dynamic path planning module is configured to compare the cargo position information, the stacking area position information and the mechanical arm position information acquired by the multi-mode visual positioning module with the storage information in the storage module when planning the grabbing path and the stacking path of the cargo, and directly retrieve the effective grabbing path and/or the effective stacking path when the cargo position information, the stacking area position information and the mechanical arm position information corresponding to the effective grabbing path and the effective stacking path stored in the storage module are the same as the acquired cargo position information, the stacking area position information and the mechanical arm position.
4. The automatic stacking control system based on visual positioning according to claim 2, wherein when the invalid grabbing paths are stored, the invalid grabbing paths which can grab goods smoothly after calibration are marked as invalid grabbing paths one, the other invalid grabbing paths are invalid grabbing paths two, and calibration parameters of the invalid grabbing paths one, goods positions and information of mechanical arm positions are stored;
When the invalid stacking path is stored, the invalid stacking path which can smoothly stack the cargoes after the calibration is marked as an invalid stacking path I, the other invalid stacking paths are invalid stacking paths II, and the calibration parameters of the invalid stacking path I, the position of the mechanical arm and the information of the stacking area are stored.
5. The vision positioning-based automatic stacking control system according to claim 4, wherein the error correction module compares the information of the position of the mechanical arm, the position of the goods and the position of the stacking area with the information of the position of the mechanical arm, the position of the goods and the position of the stacking area in the first invalid grabbing path and the first invalid stacking path in the storage module when the calibration of the mechanical arm is performed, and directly invokes the corresponding calibration parameters when the compared information is the same.
6. The automatic palletizing control system based on visual positioning according to claim 1, further comprising a man-machine interaction module, wherein the man-machine interaction module can display the position of the palletizing area, the information of whether the palletizing area can receive goods, the position information of the mechanical arm, the information of whether the mechanical arm is in a working state and the positions of the goods.
7. The vision positioning-based automatic palletizing control system of claim 1, further comprising a scram module connected to the robotic arm execution module, wherein the scram module is capable of stopping the robotic arm execution module.
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| CN202510492684.XA CN120246695A (en) | 2025-04-18 | 2025-04-18 | Automatic palletizing control system based on visual positioning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120742825A (en) * | 2025-08-15 | 2025-10-03 | 珠海诚锋电子科技有限公司 | MES cooperative scheduling method and system based on PLC and visual positioning |
| CN120864254A (en) * | 2025-08-12 | 2025-10-31 | 安徽礌鸿智能装备有限公司 | Flexible stacking system for multi-variety bending finished products |
| CN121158528A (en) * | 2025-11-20 | 2025-12-19 | 湖南慧泳新材料有限公司 | Automatic building material stacking system based on industrial robot |
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2025
- 2025-04-18 CN CN202510492684.XA patent/CN120246695A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120864254A (en) * | 2025-08-12 | 2025-10-31 | 安徽礌鸿智能装备有限公司 | Flexible stacking system for multi-variety bending finished products |
| CN120864254B (en) * | 2025-08-12 | 2026-04-07 | 安徽礌鸿智能装备有限公司 | Flexible stacking system for multi-variety bending finished products |
| CN120742825A (en) * | 2025-08-15 | 2025-10-03 | 珠海诚锋电子科技有限公司 | MES cooperative scheduling method and system based on PLC and visual positioning |
| CN121158528A (en) * | 2025-11-20 | 2025-12-19 | 湖南慧泳新材料有限公司 | Automatic building material stacking system based on industrial robot |
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