CN-122023321-A - Board counting and transporting method based on visual detection

CN122023321ACN 122023321 ACN122023321 ACN 122023321ACN-122023321-A

Abstract

The invention relates to the technical field of industrial automation and logistics, and provides a plate counting and transporting method based on visual detection, which comprises the steps of collecting detection videos of plates entering a current loading layer of transporting equipment through a camera in the stacking process; according to the detection video, judging whether the front edge of the plate reaches a preset position or not through the pixel difference value of the plate edge and the main body, if so, automatically updating the number of the successfully stacked plates, judging whether the number of the successfully stacked plates reaches the preset number, if so, automatically generating stacking completion prompt information, and if not, automatically controlling a lifting mechanism to enable all the stacked plates to synchronously move by one standard layer distance along the direction far away from the current loading layer. The invention reduces the risk of sliding, collision or hidden cracking damage of the plates in the subsequent stacking and transporting processes, avoids the possible error of manual counting, and greatly improves the loading efficiency.

Inventors

CHEN TAO
MA CHUNBO
WU WEINING
ZHANG YI
SUN ZHIYONG
ZHANG ZHENZHONG

Assignees

常州大学

Dates

Publication Date: 20260512
Application Date: 20260128

Claims (10)

1. A method for counting and transporting plates based on visual detection, which is characterized by comprising the following steps: Step S01, in the stacking process, a detection video of a plate entering a current loading layer of the conveying equipment is collected through a camera, wherein the current loading layer is a bearing plane which is emptied in advance for receiving the next plate, and the arrangement position of the camera ensures the process that the captured plate reaches a preset position; Step S02, judging whether the front edge of the plate reaches a preset position or not according to the detection video and the pixel difference value between the edge of the plate and the main body, and if so, automatically updating the number of the successfully stacked plates; Step S03, judging whether the number of the plates which are stacked successfully reaches the preset number, automatically generating stacking completion prompt information if the number of the plates which are stacked successfully reaches the preset number, and automatically controlling the lifting mechanism to enable all the stacked plates to synchronously move by one standard layer distance along the direction away from the current loading layer if the number of the plates which are stacked successfully does not reach the preset number.
2. The method according to claim 1, wherein the transporting device in step S01 comprises at least 4 sets of lifting devices, the lifting devices comprise a column, a chain and a plurality of trays, the trays are used for carrying photovoltaic panels, the trays are arranged on the chain at equal intervals, the plane of the trays is perpendicular to the axial direction of the column, and the trays are moved up and down by the chain.
3. The method of claim 2, wherein the camera is mounted to the bottom of the transport device with the view upward when the tray is moved upward, and wherein the camera is mounted to the top of the transport device with the view downward when the tray is moved downward.
4. A method of counting and transporting boards based on visual inspection according to claim 3, wherein a light source is fixedly mounted beside the camera.
5. The method of counting and transporting boards according to claim 1, wherein the step of determining whether the front edge of the board reaches the preset position according to the detected video in step S02 by the pixel difference between the edge of the board and the main body is: In the case that the number of the photovoltaic panels is 0, capturing a first reference image by a camera; after the photovoltaic panel starts to be loaded, determining a first corresponding point which is the same as the first reference point and a second corresponding point which is the same as the second reference point in a video frame shot by a camera; Determining a reference difference between pixel values of the first reference point and the second reference point, determining a measured difference between pixel values of the first corresponding point and the second corresponding point in each video frame, and in the first video frame In the video frames, if the ratio of the measured difference to the reference difference is greater than or equal to a preset multiple, determining to shoot the first time And when the video frames are received, the front edge of the photovoltaic panel reaches a preset position.
6. The method for counting and transporting the plates based on visual inspection according to claim 1, wherein the step of judging whether the front edge of the plate reaches the preset position according to the inspection video in the step S02 is to shoot a second reference image through a camera when the number of the photovoltaic plates is not 0, set the preset position as a third reference point in the second reference image, set a first inspection line in the second reference image with the third reference point as a starting point along the direction opposite to the moving direction of the photovoltaic plates and within the visual field of the camera, determine a second inspection line identical to the first inspection line in the video frame shot by the camera after the photovoltaic plates start to be loaded, and determine whether the front edge of the photovoltaic plates reaches the preset position according to the first inspection line and the second inspection line.
7. The method of counting transportation of sheet material based on visual inspection according to claim 6, wherein determining whether the front edge of the photovoltaic panel reaches the predetermined position based on the first inspection line and the second inspection line comprises: Determining the discrimination sequence number on the first detection line according to formula (1) : (1) Wherein, the Is the first on the first detection line The coordinates of the individual pixel points are calculated, Is the first on the first detection line The pixel values of the individual pixel points, Is the direction vector of the first detection line, For a first preset rate of change threshold, As a function of the conditions, The number of pixel points on the first detection line; In the first place Determining the number of boundaries on the second detection line in the video frames according to equation (2) : (2) Wherein, the Is the first on the second detection line The coordinates of the individual pixel points are calculated, Is the first on the second detection line The pixel values of the individual pixel points, Is the direction vector of the second detection line; If the first is Number of boundaries corresponding to each video frame Then determine the first according to equation (3) Discriminating sequence number on second detecting line in video frame ; (3) When (when) Then the shooting place is determined And when the video frames are received, the front edge of the photovoltaic panel reaches a preset position.
8. A device for counting and transporting boards based on visual detection, which is characterized in that the device realizes the method as claimed in any one of claims 1 to 7, and comprises the following steps: The system comprises a video acquisition module, a video acquisition module and a display module, wherein the video acquisition module is used for acquiring a detection video of a current loading layer of a conveying device, which is used for acquiring a plate through a camera, wherein the current loading layer is a bearing plane which is emptied in advance for receiving the next plate; The position judging module is used for judging whether the front edge of the plate reaches a preset position or not according to the detection video and the pixel difference value of the plate edge and the main body, and if so, automatically updating the number of the successfully stacked plates; The number judging module is used for judging whether the number of the plates which are stacked successfully reaches the preset number, automatically generating stacking completion prompt information if the number of the plates which are stacked successfully reaches the preset number, and automatically controlling the lifting mechanism to enable all the stacked plates to synchronously move by one standard layer distance along the direction away from the current loading layer if the number of the plates which are stacked successfully does not reach the preset number.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the program, implements the method of any of claims 1-7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-7.

Description

Board counting and transporting method based on visual detection Technical Field The embodiment of the invention relates to the technical field of industrial automation and logistics, in particular to a plate counting and transporting method based on visual detection. Background In the links of large-scale production, storage and logistics of plates (such as photovoltaic plates, glass and metal plates), efficient and nondestructive stacking and transportation are key to guaranteeing the product quality and reducing the operation cost. Currently, for stacked loading of such panels, a multi-layered stacking approach is commonly employed to maximize the utilization of the transport space. Traditional loading approaches rely primarily on manual operation in combination with basic mechanical assistance. The operator typically visually determines whether the sheet is being pushed to a predetermined location and then activates the lifting mechanism by a manual button or mechanical stop (e.g., travel switch, physical stop) to raise the entire sheet in place one level for loading into a subsequent sheet. In this process, the statistics of the number of loads also depend entirely on manual counting or simple mechanical counters. However, the conventional mode has the inherent defects of the modern high-speed production line that the subjectivity and fatigue errors are judged manually, and the front edge of each plate can be difficult to reach a preset positioning point accurately and consistently. For plates with fragile surfaces and high values (such as photovoltaic plates and special glass), micron-sized stacking deviation can cause hidden cracking and even breakage of products in subsequent transportation due to stress concentration, so that great economic loss is caused. Secondly, fixed mechanical stop device lacks flexibility and intelligence, can't self-adaptation different sizes, specification panel, and easily take place wearing and tearing or displacement after long-term high frequency use, leads to positioning accuracy to descend, and maintenance cost is high. Finally, a real-time, objective and closed-loop feedback mechanism is lacking, and the key state of whether the loading action is accurate or not cannot be automatically verified before the loading action is executed, so that the whole loading process is in an open-loop rough state, and the quality controllability is poor. In addition, the purely manual counting mode is extremely unreliable in a noisy and repeated industrial environment, and missing counting or repeated counting is easy to occur, so that the final loading quantity and the plan are not matched, subsequent disputes of a supply chain can be caused, or the waste of capacity space is caused. In summary, in the prior art, in the stacking and transporting process of the plates, the "accurate positioning", "reliable counting" and "automatic execution" are subjected to the splitting treatment in the several core links, so that an intelligent, accurate and closed-loop automatic control system cannot be formed. Therefore, a method and a system for automatically and precisely determining the loading position of the plate and automatically counting the loading quantity in real time are urgently needed to realize the high efficiency, reliability and intellectualization of the whole process of stacking and transporting the plate. Disclosure of Invention In order to solve the problems, the invention monitors the process of entering the current loading layer by the camera in real time, intelligently judges whether the front edge of the board accurately reaches the preset position and finishes counting, thereby greatly reducing the risk of sliding, collision or hidden cracking damage of the board in the subsequent stacking and transporting processes, avoiding omission or repeated errors possibly generated by manual counting, ensuring the accuracy of stock and logistics data, realizing continuous and automatic stacking operation and greatly improving the loading efficiency. According to an embodiment of the present invention, there is provided a method of counting transportation of a sheet material based on visual inspection. In a first aspect of the invention, a method of counting transportation of sheet material based on visual inspection is provided. The method comprises the following steps: Step S01, in the stacking process, a detection video of a plate entering a current loading layer of the conveying equipment is collected through a camera, wherein the current loading layer is a bearing plane which is emptied in advance for receiving the next plate, and the arrangement position of the camera ensures the process that the captured plate reaches a preset position; Step S02, judging whether the front edge of the plate reaches a preset position or not according to the detection video and the pixel difference value between the edge of the plate and the main body, and if so, automatically updating the nu