CN110841927A - Sorting device, system and method and electronic equipment - Google Patents
Sorting device, system and method and electronic equipment Download PDFInfo
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- CN110841927A CN110841927A CN201911116328.9A CN201911116328A CN110841927A CN 110841927 A CN110841927 A CN 110841927A CN 201911116328 A CN201911116328 A CN 201911116328A CN 110841927 A CN110841927 A CN 110841927A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The invention discloses a sorting device, which is applied to a conveying device and comprises an industrial robot, a control system, a vision system, an industrial camera and an encoder, wherein: the control system integration comprises an encoder, wherein the encoder is used for counting the displacement of the conveying device and acquiring the numerical value of the encoder in real time by the control system; the industrial camera is triggered by the control system to shoot, and the shot image is acquired by the vision system; the vision system identifies the position and the type of a target object in the shot image and sends the position and the type to the control system; and the industrial robot sorts the target object according to the instruction of the control system. The invention uses the conveyor belt to move a fixed distance each time to carry out hardware triggering industrial camera photographing, simultaneously cancels the use of a synchronous switch, and calculates the proper tracking starting point for each sorting according to the real-time position of the target object, thereby quickening the sorting efficiency of the industrial robot.
Description
Technical Field
The invention relates to the field of automation, in particular to a sorting device, a sorting system, a sorting method and electronic equipment.
Background
Intelligent manufacturing is the core of the national 2025 strategy and is also a necessary trend and requirement for industry upgrade. One of the key cores in smart manufacturing is the automation and intelligence of industrial production.
Currently, industrial robots are widely used in automatic production lines, mainly for performing various operations on objects on a conveyor belt, such as handling, processing, and inspection.
The sorting belongs to one of the carrying scenes, the existing sorting mode mostly uses fixed frequency sorting, the current sorting mode starts to track by taking the same position as a starting point by means of a synchronous switch, and the target objects are sorted at fixed frequency.
At present, the sorting technology cannot effectively solve the problems of various sorts of sorted species and complex scenes with the characteristics that the position of the sorted species entering a conveyor belt cannot be predicted and the like. And because the restriction of prior art, the conveyer belt operation is comparatively slow, and the position between the target object is sparse relatively, and industrial robot always waits for the object to arrive and sorts again, and this greatly reduced letter sorting efficiency, productivity effect is than low.
Therefore, how to identify multiple targets and other complex scenes and efficiently sort articles is a problem which is the first solution at present.
Disclosure of Invention
The invention discloses a sorting device, which is applied to a conveying device and comprises an industrial robot, a control system, a vision system, an industrial camera and an encoder, wherein:
the control system integration comprises an encoder, wherein the encoder is used for counting the displacement of the conveying device and acquiring the numerical value of the encoder in real time by the control system;
the industrial camera is triggered by the control system to shoot, and the shot image is acquired by the vision system;
the vision system identifies the position and the type of a target object in the shot image and sends the position and the type to the control system;
and the industrial robot sorts the target object according to the instruction of the control system.
The invention also discloses a sorting system, which comprises the sorting device, the conveying device and a plurality of sorting collectors, wherein the sorting device is used for sorting the objects on the conveying device and placing the objects into the corresponding sorting collectors in a classified manner.
The invention also discloses a sorting method, which comprises the following steps:
(1) the control system continuously triggers the camera to shoot the target object on the transmission device and sends the encoder value at the triggering moment to the vision system;
(2) the visual system identifies the image obtained by shooting, binds the target object information obtained by identification and the received encoder value and sends the information to the control system;
(3) and the control system positions the target object in real time according to the encoder numerical value and the recognition result sent by the vision system and controls the industrial robot to sort.
Further, the step (1) comprises:
calculating the fixed variation of the encoder value: firstly, the size of the visible distance of the industrial camera in the moving direction of the conveyor belt is measured, and then the fixed variable quantity of the encoder value corresponding to the visible distance is calculated according to the relation between the moving distance of the conveying transpose and the change of the encoder value.
Further, the step (2) comprises the following steps:
receiving an encoder value corresponding to the shooting time of the camera;
acquiring a target object image shot by a camera;
and binding the encoder value and the target object identification result and sending the binding result to a control system.
Further, the control system in step (3) accurately calculates the real-time position of the target object, and the formula is as follows:
y (t) ═ y (0) + [ (e (t) + Er) - (e (0) + Ep) ] + k + b + L (random)
Wherein:
e (0): the encoder has a value of;
y (0): the visual system identifies the shot image to obtain the position of a target object at the shooting moment;
e (t): calculating the encoder value at the moment in real time;
y (t): the control system calculates the real-time position of the target object;
ep: triggering the photographing delay of the industrial camera for photographing, and measuring by the absolute value of the change of the numerical value of the encoder;
er: the control system sends a real-time position to an instruction time delay executed by the industrial robot, and the instruction time delay is measured by an absolute value of the change of the numerical value of the encoder;
k: a slope;
b, intercept;
l (random): l (random) — the average value of the encoder per 100ms with a fixed speed of the conveyor belt, the coefficient of variation u, between-1 and 1, adjusted to an appropriate value according to the actual scene.
Further, the step (3) of performing a sorting process includes:
if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;
if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;
if the current position of the target object is in the sortable area, the current position of the target object is sent to the industrial robot to start tracking execution and is sorted into the corresponding sorting collector.
Further, the step (3) of performing a sorting process includes:
if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;
if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;
if a plurality of target objects are simultaneously present in the sortable area, the target objects entering the sortable area are sorted directly.
The invention also discloses an electronic device comprising a storage medium in which a computer program is stored which, when run on a computer, causes the computer to carry out the sorting function of any one of claims 1 to 8.
The embodiment of the invention has the following beneficial effects:
compared with the traditional sorting mode according to a fixed beat, the sorting device system and the method provided by the embodiment of the invention have the advantages that the conveying belt is moved for a fixed distance every time to trigger the industrial camera to take a picture, meanwhile, the use of a (photoelectric) synchronous switch is eliminated, in addition, the proper tracking starting point of each sorting is calculated according to the real-time position of the target object, and the sorting efficiency of the industrial robot is accelerated.
In order to ensure the sorting precision and stability, the invention uses a synchronous tracking mode to sort, and performs dynamic position compensation on slight speed change caused by the fluctuation of the rotation frequency of a motor driving the conveyor belt to operate in the running process of the conveyor belt.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a sorting device disclosed in an embodiment of the present application;
FIG. 2 is a schematic view of a sorting process disclosed in an embodiment of the present application;
fig. 3 is a schematic diagram of a sorting process implementation disclosed in the embodiment of the present application.
1-camera, 2-vision system, 3-control system, 4-industrial robot 30-encoder
5-fraction collector 6-conveying device, 7-camera visual area 8-sortable area
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention and the above-described drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a sorting device applied to a conveying device in various logistics transportation scenarios, the sorting device including an industrial robot, a control system, a vision system, an industrial camera and an encoder, wherein:
the control system integration comprises an encoder, and the encoder is used for counting the conveying device and sending the counting to the control system in real time;
the industrial camera is used for shooting and sending a shot image to the vision system;
the vision system analyzes the position of a target object in the shot image and sends the position to the control system;
and the industrial robot sorts the target object according to the instruction of the control system.
Based on the sorting device of the above embodiment, this application still discloses a sorting system, sorting device, conveyer and a plurality of letter sorting collector, and the object that waits to sort flows along conveyer belt direction of motion of conveyer, sorting device is used for sorting the object on the conveyer to the categorised corresponding letter sorting collector that places.
The application also discloses a sorting method, which comprises the following steps:
s1, the control system triggers the camera to shoot the target object on the transmission device and sends the encoder value at the triggering time to the vision system;
s2, the vision system identifies the image obtained by shooting, binds the target object information obtained by identification and the received encoder value and sends the information to the control system;
and S3, the control system positions the target object in real time according to the encoder value and the recognition result sent by the vision system and controls the industrial robot to sort.
Referring to fig. 2 and fig. 3, and with reference to fig. 1, a detailed sorting implementation method and process of the sorting apparatus of the present application will be described in detail.
And step S1: in the present embodiment, the camera is used for shooting a target object on the transmission device in an industrial automation transportation scene.
The frequency of triggering the industrial camera to shoot by the control system is to trigger the industrial camera to shoot once according to the increment of the fixed variable quantity of the encoder value, firstly, the size of the visible distance of the industrial camera in the moving direction of the conveying belt is measured and calculated according to the relation between the moving distance of the conveying device and the change of the encoder value, and then, the fixed variable quantity of the encoder value corresponding to the visible distance is calculated according to the relation between the moving distance of the conveying device and the change of the encoder value.
And when the control system triggers to take a picture each time, reading the current encoder value and sending the current encoder value to the vision system. In order to avoid missing the target object, the trigger interval of the control system in actual operation may be less than a fixed amount of change in the encoder value.
The specific trigger implementation mode triggers the industrial camera to take a picture (a rising edge or a falling edge triggers the industrial camera to take a picture) in a level change mode by controlling a connection port of an industrial camera trigger line of the autonomous I/O module, and reads a coder value at the picture taking time.
S2, the vision system identifies the shot image, obtains the target object information and sends the target object information to the control system, and the method specifically comprises the following steps:
s20: receiving an encoder value corresponding to the shooting time of the camera;
s21: acquiring a target object image shot by a camera;
when the vision system receives the encoder values sent by the control system, the vision system takes the picture taken from the industrial camera and identifies the coordinate position and the category of the target object in the picture.
S22: and binding the encoder value and the target object identification result and sending the binding result to a control system.
And for a newly shot picture, the vision system binds the received encoder value and the identification result of the target object and sends the binding result to the control system. The transmission mode may be a network mode using a TCP protocol, or may be a wireless mode using another wireless protocol.
And S3, the control system positions the target object in real time according to the encoder value and the recognition result sent by the vision system and controls the industrial robot to sort.
And the control system receives the encoder value and the recognition result sent by the vision system and stores the encoder value and the recognition result into the alignment tail of the target object queue.
In order to accelerate the sorting efficiency of the industrial robot, the control system is required to have higher requirements on the accuracy of the real-time position of the target object, and in the embodiment, the traditional sorting method such as a synchronous switch mode is eliminated. In order to make the positioning more accurate, the invention divides the error into a measurable fixed error and a dynamically changing random error.
The real-time calculation mode of the target object is as follows:
in order to test the corresponding relation between the change of the numerical value of the encoder and the moving distance of the conveyor belt, the moving distance of the upper point of the conveyor belt is tested through the industrial robot, the change values of the numerical values of the encoders of the conveyor belt under different motor frequencies are obtained, and the relation of the moving distance of the conveyor belt corresponding to the change of the numerical values of the encoders is calculated. And obtaining the linear relation between the change of the encoder value and the moving distance of the conveyor belt, and obtaining the corresponding slope k and intercept b. The corresponding relation is as follows: the distance the belt moves is the encoder change value slope K + intercept b.
Measurable fixed error:
testing the photographing delay error time length TP of the industrial camera, and testing the change Ep of the time length of the TP corresponding to the number of the encoder through a control system;
and the test control system sends a target position, the industrial robot executes the time delay error time length TR, and the control system tests the change Er of the time length TR corresponding to the number of the encoder.
Dynamically varying random error:
coefficient of variation u (random) L (average value of encoder per 100ms in case of a fixed speed movement of the conveyor belt
The coefficient of variation u is between-1 and 1, and a proper value is adjusted according to the actual scene;
the control system separately starts a task to calculate the change of the encoder value in unit time.
Calculating the real-time position y (t) of the target object, wherein the formula is as follows:
y (t) ═ y (0) + [ (e (t) + Er) - (e (0) + Ep) ] + k + b + L (random)
The relationship between the encoder value change ex and the transfer transposition shift distance S is k × ex + b, where k and b are constant values of linear fitting, k is a slope, and b is an intercept.
Triggering the photographing time: the encoder value is e (0), and the visual system identifies the shot image to obtain the position y (0) of the target object at the shooting moment;
calculating the time in real time: the encoder value is e (t), and the control system calculates the real-time position y (t) of the target object;
ep is the photographing delay for triggering the industrial camera to photograph, and is measured by the absolute value of the change of the numerical value of the encoder;
er is the instruction delay of the control system for sending a real-time position to the industrial robot to execute, and is measured by the absolute value of the change of the numerical value of the encoder;
l (random) — the average value of the encoder per 100ms with a fixed speed of the conveyor belt, the coefficient of variation u, between-1 and 1, adjusted to an appropriate value according to the actual scene.
And the control system sorts the target object, and if the system is just started, the control system waits for the initialization of the industrial robot.
And then taking out a target object from the queue head of the target object queue, and calculating the current position of the target object corresponding to the taken-out target object. The control system judges the current position of the target object, and mainly comprises the following conditions:
if the current position of the target object leaves the sortable area of the industrial robot, the control system takes out a new target object from the head of the target object queue for calculation;
if the current position of the target object does not enter the sortable area of the industrial robot, circularly calculating the current position of the target object in real time until the target object enters the sortable area;
if the current position of the target object is in the sorting area of the industrial robot, the current position of the target object is sent to the industrial robot to start tracking execution, the target object is grabbed in real time and put into a corresponding sorting collector, and a plurality of sorting collectors are arranged, wherein each sorting collector only contains one type of goods.
When the industrial robot executes the tracking execution command, the control system waits for the industrial robot to finish the sorting signal, then takes out a new target object from the queue head of the target object queue and calculates the new effective target position to be sent to the industrial robot as the starting point of the next tracking.
If a plurality of target object appear simultaneously in sortable region, in order to accelerate industrial robot's letter sorting efficiency, industrial robot can directly sort the target object that gets into the letter sorting region next time, need not to return to the starting point and wait.
After the control system sends the target position of the industrial robot, the industrial robot waits for finishing a sorting signal, then takes out the next effective target position from the target object queue, calculates the current position of the next effective target position on the conveyor belt, and sends the new position as the starting point of the next industrial robot sorting. The control system can calculate the starting position of the next new target when the industrial robot moves from the end position of the tracking and grabbing to the position of the sorting object collector, and the residence time of the industrial robot is reduced.
In addition, the present application also provides an electronic device, which includes a storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is enabled to implement the sorting function.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The modules and units in the device provided by the embodiment of the invention can be combined, divided and deleted according to actual needs. Those skilled in the art may combine or combine features of different embodiments and features of different embodiments described in this specification.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by hardware, firmware, or a combination thereof. When implemented in software, the functions described above may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. Taking this as an example but not limiting: the computer-readable medium may include Random Access Memory (RAM), Read-Only Memory (ROM), Electrically erasable programmable Read-Only Memory (EEPROM), Compact disk Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Furthermore, the method is simple. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy Disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. 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 (9)
1. A sorting device for use on a conveyor, comprising an industrial robot, a control system, a vision system, an industrial camera and an encoder, wherein:
the control system integration comprises an encoder, wherein the encoder is used for counting the displacement of the conveying device and acquiring the numerical value of the encoder in real time by the control system;
the industrial camera is triggered by the control system to shoot, and the shot image is acquired by the vision system;
the vision system identifies the position and the type of a target object in the shot image and sends the position and the type to the control system;
and the industrial robot sorts the target object according to the instruction of the control system.
2. A sorting system comprising the sorting device of claim 1, a conveyor, and a plurality of sorting collectors, wherein the sorting device is configured to sort the objects on the conveyor and sort the objects into the corresponding sorting collectors.
3. A method of sorting, comprising the steps of:
(1) the control system continuously triggers the camera to shoot the target object on the transmission device and sends the encoder value at the triggering moment to the vision system;
(2) the visual system identifies the image obtained by shooting, binds the target object information obtained by identification and the received encoder value and sends the information to the control system;
(3) and the control system positions the target object in real time according to the encoder numerical value and the recognition result sent by the vision system and controls the industrial robot to sort.
4. The sorting method according to claim 3, wherein the step (1) comprises:
calculating the fixed variation of the encoder value: firstly, the size of the visible distance of the industrial camera in the moving direction of the conveyor belt is measured, and then the fixed variable quantity of the encoder value corresponding to the visible distance is calculated according to the relation between the moving distance of the conveying transpose and the change of the encoder value.
5. The sorting method according to claim 3, wherein the step (2) comprises:
receiving an encoder value corresponding to the shooting time of the camera;
acquiring a target object image shot by a camera;
and binding the encoder value and the target object identification result and sending the binding result to a control system.
6. The sorting method according to claim 3, wherein the control system accurately calculates the real-time position of the target object in step (3) by the formula:
y (t) ═ y (0) + [ (e (t) + Er) - (e (0) + Ep) ] + k + b + L (random)
Wherein:
e (0): the encoder has a value of;
y (0): the visual system identifies the shot image to obtain the position of a target object at the shooting moment;
e (t): calculating the encoder value at the moment in real time;
y (t): the control system calculates the real-time position of the target object;
ep: triggering the photographing delay of the industrial camera for photographing, and measuring by the absolute value of the change of the numerical value of the encoder;
er: the control system sends a real-time position to an instruction time delay executed by the industrial robot, and the instruction time delay is measured by an absolute value of the change of the numerical value of the encoder;
k: a slope;
b, intercept;
l (random): l (random) — the average value of the encoder per 100ms with a fixed speed of the conveyor belt, the coefficient of variation u, between-1 and 1, adjusted to an appropriate value according to the actual scene.
7. The sorting method according to claim 3, wherein the step (3) of performing the sorting process includes:
if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;
if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;
if the current position of the target object is in the sortable area, the current position of the target object is sent to the industrial robot to start tracking execution and is sorted into the corresponding sorting collector.
8. The sorting method according to claim 3, wherein the step (3) of performing the sorting process includes:
if the current position of the target object leaves the sorting area, the control system takes out a new target object from the queue head of the target data queue for calculation;
if the current position of the target object does not enter the sorting area, circularly calculating the current position of the target object in real time until the target object enters the sorting area;
if a plurality of target objects are simultaneously present in the sortable area, the target objects entering the sortable area are sorted directly.
9. An electronic device comprising a storage medium, wherein a computer program is stored in the storage medium, which, when run on a computer, causes the computer to implement the sorting function of any of claims 1 to 8.
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| CN111570332A (en) * | 2020-05-21 | 2020-08-25 | 广东弓叶科技有限公司 | Man-machine cooperation sorting system and operation method thereof |
| CN111880523A (en) * | 2020-06-12 | 2020-11-03 | 北京配天技术有限公司 | Workpiece tracking method, robot, workpiece tracking system, and storage medium |
| CN112917460A (en) * | 2021-02-05 | 2021-06-08 | 深圳小黑智能科技有限公司 | Control method of industrial robot, system and storage medium |
| CN113546852A (en) * | 2020-04-24 | 2021-10-26 | 菜鸟智能物流控股有限公司 | Logistics object sorting system, method, equipment and storage medium |
| CN114055438A (en) * | 2022-01-17 | 2022-02-18 | 湖南视比特机器人有限公司 | Visual guide workpiece follow-up sorting system and method |
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| CN115816469A (en) * | 2023-02-21 | 2023-03-21 | 北京科技大学 | Cloud PLC control material sorting method and system based on machine vision |
| CN116475081A (en) * | 2023-06-26 | 2023-07-25 | 工业富联(佛山)创新中心有限公司 | Industrial product sorting control method, device and system based on cloud edge cooperation |
| CN117949462A (en) * | 2024-03-26 | 2024-04-30 | 广州市易鸿智能装备股份有限公司 | Online high-speed high-precision burr detection method, device and storage medium |
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