CN-122007038-A - Sorting device and sorting method

CN122007038ACN 122007038 ACN122007038 ACN 122007038ACN-122007038-A

Abstract

The invention discloses a sorting device and a sorting method, and relates to the technical field of sorting equipment, wherein the sorting device comprises conveying equipment, image acquisition equipment, trigger equipment, a vision module, a nozzle assembly and a PLC (programmable logic controller) control module, wherein the conveying equipment is used for conveying objects to be sorted, the image acquisition equipment is used for acquiring images of the objects to be sorted on the conveying equipment, the image acquisition equipment is electrically connected with the vision module, the vision module is used for acquiring characteristic information of the objects to be sorted, the trigger equipment is used for identifying whether the objects to be sorted fall down or not, the nozzle assembly is positioned below the trigger equipment, the nozzle assembly comprises a plurality of nozzles, all the nozzles are connected with an external air source, valves are arranged on pipelines connected with the external air source, and the vision module, the trigger equipment and the valves are electrically connected with the PLC control module. The invention can realize the sorting of spherical or spheroidal objects.

Inventors

ZHU YONG
CHEN GUODONG
ZHANG YI
HUANG ZHENPENG
YANG HAOTIAN
WU ZHENXI

Assignees

华东理工大学
上海湍飞科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. The sorting device is characterized by comprising conveying equipment, image acquisition equipment, trigger equipment, a vision module, a nozzle assembly and a PLC control module, wherein the conveying equipment is used for conveying objects to be sorted, the image acquisition equipment is used for acquiring images of the objects to be sorted on the conveying equipment, the image acquisition equipment is electrically connected with the vision module, the vision module is used for acquiring characteristic information of the objects to be sorted, the trigger equipment is used for identifying whether the objects to be sorted fall down, the nozzle assembly is positioned below the trigger equipment, the nozzle assembly comprises a plurality of nozzles, the nozzles are all connected with an external air source, a valve is arranged on a pipeline connected with the external air source, and the vision module, the trigger equipment and the valve are all electrically connected with the PLC control module.
2. The sorting apparatus of claim 1, wherein the triggering device includes a plurality of grating sensors disposed horizontally in sequence, and the distances between adjacent grating sensors are equal.
3. The sorting apparatus of claim 1, wherein the triggering device includes a transmitting end and a receiving end, the transmitting end and the receiving end being disposed opposite to each other, a space between the transmitting end and the receiving end being for passing the objects to be sorted.
4. The sorting apparatus according to claim 1, wherein the plurality of nozzles are arranged horizontally in sequence, and the intervals between adjacent nozzles are equal.
5. The sorting apparatus of claim 1, wherein the image capturing device includes an adjustment bracket and a camera, the camera being disposed on the adjustment bracket and a position of the camera on the adjustment bracket being adjustable.
6. A sorting method using the sorting apparatus according to any one of claims 1 to 5, characterized by comprising the steps of: Firstly, placing objects to be sorted on conveying equipment, and driving the objects to be sorted to move by the conveying equipment; step two, the image acquisition equipment acquires images of objects to be sorted on the conveying equipment, obtains a time coordinate T v of each object to be sorted, and transmits the acquired images to the vision module for analysis; Thirdly, the vision module obtains the space coordinates X v and the diameters of the objects to be sorted and transmits the space coordinates X v and the diameters to the PLC control module; Step four, the image acquisition equipment acquires images, the conveying equipment drives objects to be sorted to move to the tail end, each object to be sorted falls to the triggering equipment, the triggering equipment transmits a triggering signal of each object to be sorted to the PLC control module, and the actual moment when each object to be sorted reaches the triggering equipment is obtained to be T 2 , and the actual space coordinate when each object to be sorted reaches the triggering equipment is X 2 ; The PLC control module calculates the quality of each object to be sorted according to the diameter, the objects to be sorted are divided into good objects and defect objects according to the quality, the coordinates of the defect objects to be sorted are further X v1 , the time coordinates of the defect objects to be sorted are T v1 , and the PLC control module calculates the theoretical time T n when the defect objects to be sorted reach the trigger equipment according to T v1 ; Calculating the difference between T n and T 2 , |t n -T 2 |=Δt, Δt compared to a set time threshold, calculating the difference between X 2 and X v1 , |x 2 -X v1 |=Δx, Δx compared to a set spatial coordinate threshold: If the delta T is smaller than or equal to a time threshold value and the delta X is smaller than or equal to a space coordinate threshold value, the moment and the space representing the current objects to be sorted are matched with the objects to be sorted of the defect class, the PLC control module controls the valve corresponding to the corresponding nozzle to be opened, and the opening of the valve is determined by the quality of each object to be sorted; If the delta T is larger than the time threshold value or the delta X is larger than the space coordinate threshold value, eliminating a signal corresponding to the object to be sorted, and keeping the initial opening of the valve; and fifthly, under the action of the nozzle, the gas acts on the objects to be sorted of different grades to realize sorting of the objects to be sorted.
7. The method according to claim 6, wherein in the fourth step, the PLC control module calculates the theoretical time T n when the defect objects to be sorted arrive at the trigger device according to T v , and the calculation process is as follows: The time T drop when the objects to be sorted leave the conveying equipment is as follows: T drop =T v1 +L drop /v, Wherein L drop is the distance between the position of the object to be sorted and the falling position of the object to be sorted when the image acquisition equipment acquires the image of the object to be sorted on the conveying equipment, and v is the conveying speed of the conveying equipment; After separating the objects to be sorted from the conveying equipment, the objects to be sorted are free-falling, and the time delta t fall from the objects to be sorted to the triggering equipment is as follows: , H is the distance from the free falling body to the trigger equipment after the objects to be sorted are separated from the conveying equipment, and g is the gravity acceleration; And then obtain: T n =T drop +Δt fall 。
8. the method according to claim 6, wherein in the fourth step, the PLC control module calculates the mass of each object to be sorted according to the diameter by performing edge recognition on the image obtained by the image obtaining device by the vision module to obtain the diameter D, and further obtaining the projection area S of the object to be sorted as follows: S=πD 2 /4, The volume V of the material to be sorted is then: V=(4/3)π(D/2) 3 , the mass m of the material to be sorted is then: m=ρV, Where ρ is the density of the objects to be sorted.
9. The method according to claim 6, wherein if the calculated projected area S of each object to be sorted is larger than the theoretical projected area, the opening of the valve is the first opening; If the calculated projection area S of each object to be sorted is equal to the theoretical projection area, the opening of the valve is the initial opening; If the calculated projection area S of each object to be sorted is smaller than the theoretical projection area, the opening of the valve is a second opening; the initial opening, the first opening, and the second opening are all different.
10. The method of claim 6, wherein in the third step, the vision module obtains the colors of the objects to be sorted in different grades, and transmits the colors to the PLC control module, and the PLC control module judges whether the objects to be sorted are rejected according to the colors.

Description

Sorting device and sorting method Technical Field The invention relates to the technical field of sorting equipment, in particular to a sorting device and a sorting method. Background In the traditional production flow, the identification and the picking of the articles mainly depend on manual work, and the problems of low efficiency, poor consistency and the like exist. Although the industry has tried to introduce a manipulator to perform automatic sorting, for spherical or spheroidal objects, the direct and accurate grabbing difficulty is high, the structure is complex, the requirement on the site environment is high, the whole function is difficult to realize, and the implementation is difficult. Therefore, it has become an urgent need to develop a sorting apparatus that is efficient, low cost, adaptable and easy to implement. Disclosure of Invention The invention aims to provide a sorting device and a sorting method, which are used for solving the problems in the prior art and can realize sorting of spherical or spheroidal objects. In order to achieve the above object, the present invention provides the following solutions: The invention provides a sorting device which comprises conveying equipment, image acquisition equipment, trigger equipment, a vision module, a nozzle assembly and a PLC (programmable logic controller) control module, wherein the conveying equipment is used for conveying objects to be sorted, the image acquisition equipment is used for acquiring images of the objects to be sorted on the conveying equipment, the image acquisition equipment is electrically connected with the vision module, the vision module is used for acquiring characteristic information of the objects to be sorted, the trigger equipment is used for identifying whether the objects to be sorted fall down, the nozzle assembly is positioned below the trigger equipment, the nozzle assembly comprises a plurality of nozzles, the nozzles are all connected with an external air source, a valve is arranged on a pipeline connected with the external air source, and the vision module, the trigger equipment and the valve are all electrically connected with the PLC control module. In some embodiments, the triggering device includes a plurality of grating sensors that are sequentially and horizontally arranged, and the distances between adjacent grating sensors are equal. In some embodiments, the triggering device includes a transmitting end and a receiving end, where the transmitting end and the receiving end are disposed opposite to each other, and a space between the transmitting end and the receiving end is used for passing objects to be sorted. In some embodiments, the plurality of nozzles are sequentially arranged horizontally, and the intervals between adjacent nozzles are equal. In some embodiments, the image acquisition device includes an adjustment bracket and a camera disposed on the adjustment bracket and the position of the camera on the adjustment bracket is adjustable. The invention provides a sorting method adopting the sorting device, which comprises the following steps: Firstly, placing objects to be sorted on conveying equipment, and driving the objects to be sorted to move by the conveying equipment; step two, the image acquisition equipment acquires images of objects to be sorted on the conveying equipment, obtains a time coordinate T v of each object to be sorted, and transmits the acquired images to the vision module for analysis; Thirdly, the vision module obtains the space coordinates X v and the diameters of the objects to be sorted and transmits the space coordinates X v and the diameters to the PLC control module; Step four, the image acquisition equipment acquires images, the conveying equipment drives objects to be sorted to move to the tail end, each object to be sorted falls to the triggering equipment, the triggering equipment transmits a triggering signal of each object to be sorted to the PLC control module, and the actual moment when each object to be sorted reaches the triggering equipment is obtained to be T 2, and the actual space coordinate when each object to be sorted reaches the triggering equipment is X 2; The PLC control module calculates the quality of each object to be sorted according to the diameter, the objects to be sorted are divided into good objects and defect objects according to the quality, the coordinates of the defect objects to be sorted are further X v1, the time coordinates of the defect objects to be sorted are T v1, and the PLC control module calculates the theoretical time T n when the defect objects to be sorted reach the trigger equipment according to T v1; Calculating the difference between T n and T 2, |t n-T2 |=Δt, Δt compared to a set time threshold, calculating the difference between X 2 and X v1, |x 2-Xv1 |=Δx, Δx compared to a set spatial coordinate threshold: If the delta T is smaller than or equal to a time threshold value and the delta X is smaller than or e