CN117068611B - Cigarette inventory counting rack and inventory counting method - Google Patents
Cigarette inventory counting rack and inventory counting methodInfo
- Publication number
- CN117068611B CN117068611B CN202311135468.7A CN202311135468A CN117068611B CN 117068611 B CN117068611 B CN 117068611B CN 202311135468 A CN202311135468 A CN 202311135468A CN 117068611 B CN117068611 B CN 117068611B
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- China
- Prior art keywords
- motor
- cigarette
- camera
- cigarettes
- main controller
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Classifications
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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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
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a cigarette inventory checking frame and a cigarette inventory checking method, comprising a base, a front end mechanism, a lifting mechanism and a control system, wherein the base is used for being connected with an external traction vehicle, the support mechanism is used for installing the front end mechanism, the front end mechanism is used for carrying out arrangement on cigarettes and collection of image information, the front end mechanism comprises a mechanical arm assembly, a visual assembly matched with the mechanical arm assembly, a turnover assembly and a space control unit, the lifting mechanism is used for driving the front end mechanism to move in a lifting mode, the control system comprises a main controller, a motor controller and a power supply module, the motor controller comprises a current monitoring module, a voltage monitoring module, a motor driving module and a first communication module, and the main controller is connected with an external upper computer. The scattered cigarettes after unpacking on the overhead counter are arranged, and the cigarettes are checked by combining the size and gravity measurement through computer vision, so that the overhead counter is suitable for checking standard cigarettes and special-shaped cigarettes.
Description
Technical Field
The invention relates to the technical field of cigarette inventory, in particular to a cigarette inventory rack and an inventory method.
Background
When checking cigarettes stored on an overhead counter and unpacked, various special-shaped cigarettes exist due to different cigarette storage positions; in order to achieve the aim, the method for counting cigarettes by utilizing computer vision is characterized in that the quantity of cigarettes is counted by shooting the stacked cigarette images on a container through a camera, for example, image analysis software analyzes the shapes of the cigarette images or recognizes the cigarette bar codes in pictures, but in reality, the obtained image information can not provide key information (cigarette bar shape, bar code, brand name and the like) due to the influence of the direction of placing the cigarettes and the shooting angle of the camera and the influence of reflected light of plastic package outside the cigarettes, thereby influencing the recognition of software and causing errors in counting, and the method for counting cigarettes by utilizing computer vision is characterized in that the cigarette bar position is adjusted to ensure the obtained image quality, meanwhile, the cigarette type (the package size of cigarettes is specified) is not solely depending on the computer vision, and the data of mechanical measurement size, gravity and the like are combined to determine the cigarette type, the adaptation standard and special-shaped cigarette, and the efficiency and the accuracy of counting are ensured.
Disclosure of Invention
The invention aims to provide a cigarette inventory checking frame and a cigarette inventory checking method, which are used for solving the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme that the cigarette inventory checking frame comprises:
the base is used for being connected with an external traction vehicle, and a base cover is arranged at the upper part of the base;
the support mechanism is used for installing the front end mechanism and comprises a straight rod and a cover plate, the lower part of the straight rod penetrates through the base cover to be connected with the base, and the cover plate is arranged on the upper part of the straight rod;
the front-end mechanism is used for sorting cigarettes and collecting image information and comprises a mechanical arm assembly, a visual assembly matched with the mechanical arm assembly, a turnover assembly and a spacing control unit;
The lifting mechanism is used for driving the front end mechanism to move up and down so as to facilitate the front end mechanism to carry out arrangement and image information acquisition on cigarettes at different positions on the overhead counter, and comprises a Z-axis motor and a Z-axis transmission assembly, wherein the lower part of the Z-axis motor is connected with the surface of the base;
The control system comprises a main controller, a motor controller and a power supply module, wherein the main controller, the motor controller and the power supply module are arranged on the upper part of the base, the motor controller and the power supply module are respectively connected with the main controller, and the Z-axis motor is connected with the motor controller;
The motor controller comprises a current monitoring module, a voltage monitoring module, a motor driving module and a first communication module, wherein the current monitoring module, the voltage monitoring module, the first communication module and the motor driving module are connected, the motor driving module is connected with a main controller through the first communication module, and the main controller is connected with an external upper computer.
Preferably, the main controller comprises a processor module, a storage module, an image processing module, a timing module and an interface module, wherein the storage module is connected with the processor module, the interface module is connected with the processor module, the timing module and the image processing module are respectively connected with the interface module, and the first communication module is connected with the interface module.
Preferably, the turnover assembly comprises a turnover motor, a rotating pipe, a connecting rod, a motor mounting plate and two support bearings, wherein one end of the motor mounting plate is connected with a mounting seat, the lower part of the turnover motor is connected with the motor mounting plate, the outer sides of the two support bearings are connected with the mounting plate, the rotating pipe is arranged on the inner side of the support bearing, one end of the connecting rod is connected with the inner side of the rotating pipe, an output shaft of the turnover motor is connected with the connecting rod, a lifting screw rod and a guide sliding rod penetrate through two ends of the mounting seat, the lifting screw rod is in threaded connection with the mounting seat, the guide sliding rod is in sliding connection with the mounting seat, the turnover motor is connected with a main controller, a first distance sensor is arranged on the lower side of one end of the mounting seat, and the first distance sensor is connected with the main controller;
The interval control unit comprises a first control motor, a second control motor, a mounting plate, a track, a first slider and a second slider which are matched with the track, a first screw rod, a second distance sensor and a third distance sensor, wherein the lower portion of the track is connected with the outer surface of the rotating tube, the first slider and the second slider are respectively connected with the track in a sliding mode, the mounting plate is arranged on one side of the track, one side of the first control motor and one side of the second control motor are connected with the mounting plate, one end of the first screw rod, which is far away from the first motor, is connected with the first screw rod in a threaded mode, one end of the second screw rod, which is far away from the second motor, is connected with the second screw rod in a threaded mode, the second distance sensor and the third distance sensor are arranged on the upper portion of the mounting plate, and a first buffer groove and a second buffer groove are respectively formed in the surface of the two sides of the first slider and the second slider, and the second distance sensor and the third distance sensor are respectively connected with the main controller.
Preferably, the mechanical arm assembly comprises a mechanical arm I and a mechanical arm II, the mechanical arm I comprises a linear motor I, a bearing frame I, a swing arm I, a swing motor I, a rotating shaft I, a matching electric cylinder I and an angle sensor I, the lower part of the linear motor I is connected with a sliding block I, the lower part of the bearing frame I is connected with a rotor of the linear motor I, the swing motor I is arranged on one side of the bearing frame I, an output shaft of the swing motor I penetrates through one side of the bearing frame I and is connected with the rotating shaft I, one side of the rotating shaft I, far away from the swing motor I, is connected with the bearing frame I in a rotating manner, one end of the angle sensor I penetrates through the bearing frame I and is connected with the rotating shaft I, one side of the rotating shaft linear motor I is provided with a distance sensor IV and a collision preventing rod I, one side of the bearing frame I is provided with an adjusting groove I, one end, far away from the swing arm I is provided with a containing groove I, and the linear motor I, the swing motor I, the angle sensor I, the distance sensor I and the distance sensor I are respectively connected with a main control cylinder.
Preferably, the first mechanical arm further comprises a first poking assembly, the first shrinkage poking assembly comprises a first poking electric cylinder, a first poking rod, a first lantern ring and a first connecting block, one end of the first poking electric cylinder is connected with the first connecting plate, the first poking electric cylinder is connected with the first swing arm through the first connecting plate, the first poking rod is rotationally connected with the storage groove, the first lantern ring is slidably sleeved on the outer side of the first poking rod, the first connecting block is rotationally connected with the first poking rod, one end of the first poking electric cylinder is connected with the first connecting block, and the first poking electric cylinder is connected with the main controller.
Preferably, the mechanical arm II comprises a linear motor II, a bearing frame II, a swing arm II, a swing motor II, a rotating shaft II, a matching electric cylinder II and an angle sensor II, wherein the lower part of the linear motor II is connected with a sliding block II, the lower part of the bearing frame II is connected with a rotor of the linear motor II, the swing motor II is arranged on one side of the bearing frame II, an output shaft of the swing motor II penetrates through one side of the bearing frame II and is connected with the rotating shaft II, one side of the rotating shaft II, far away from the swing motor II, is rotationally connected with the bearing frame II, one end of the angle sensor II penetrates through the bearing frame II and is connected with the rotating shaft II, one side of the rotating shaft linear motor II is provided with a distance sensor V and an anti-collision rod II, one side of the bearing frame II is provided with an adjusting groove II, the matching electric cylinder II is arranged on the inner side of the bearing frame II, one end of the swing arm II, far away from the swing motor II is provided with a containing groove II, and the linear motor II, the angle sensor II, the distance sensor II and the matching electric cylinder II are respectively connected with a main controller.
Preferably, the mechanical arm II further comprises a poking component II, the poking component II comprises a poking electric cylinder II, a poking rod II, a lantern ring II and a connecting block II, one end of the poking electric cylinder II is connected with a connecting plate II, the poking electric cylinder II is connected with the swing arm II through the connecting plate II, the poking rod II is rotationally connected with a storage groove II, the lantern ring II is slidably sleeved on the outer side of the poking rod, the connecting block II is rotationally connected with the poking rod II, one end of the poking electric cylinder II is connected with the connecting block II, and the poking electric cylinder II is connected with the main controller.
Preferably, the visual component comprises a first visual unit, a second visual unit and a third visual unit;
The first visual unit comprises a mounting panel, a first camera and a first radio frequency signal reader, wherein the lower part of the mounting panel is connected with the mounting seat, and the first radio frequency signal reader and the first camera are sequentially arranged on one side of the mounting panel from top to bottom;
The second visual unit comprises a second camera, a third camera, a radio frequency signal reader, a distance sensor six, a first groove and a second groove, wherein the first groove and the second groove are respectively formed in one side of the first swing arm, the second camera is arranged at the rear side of the first groove, one end of the second camera penetrates through the first groove, the distance sensor six is arranged at the rear side of the second groove, one end of the distance sensor six penetrates through the second groove, the radio frequency signal reader is embedded in the first swing arm, the third camera is arranged in the first adjusting groove in a sliding mode, one side of the third camera is connected with the first matching electric cylinder, and the second camera, the third camera, the radio frequency signal reader and the distance sensor six are respectively connected with the main controller;
The three visual units comprise a camera IV, a camera V, a radio frequency signal reader III, a side camera and a groove III, wherein the groove III is formed in one side of a swing arm II, the camera IV is arranged on the rear side of the groove III, one end of the camera IV penetrates through the groove III, the radio frequency signal reader III is embedded in the swing arm I, the camera V is slidably arranged in the adjusting groove II, one side of the camera V is connected with a matching cylinder II, one end of the side camera penetrates through a bearing frame II, the side camera is used for image information of stacked cigarettes on the outer side of the mechanical arm, and the camera IV, the camera V, the radio frequency signal reader III and the side camera are respectively connected with the main controller.
A method for checking cigarette stock, which uses a cigarette stock checking frame, comprises the following specific steps:
S1, moving a cigarette stock checking frame to one side of an overhead container to be checked, and connecting the cigarette stock checking frame with external traction equipment through a base;
S2, checking stored cigarettes at different positions on the overhead counter;
s3, comparing the checking result with inventory information of the warehouse management system.
Preferably, the step S2 includes the following substeps:
S2.1, acquiring a side image and a front image of cigarettes stored in one position on an overhead container:
the front end mechanism is driven to move to a cigarette storage position on an overhead container through the lifting mechanism, a front image of the cigarette is shot through the first visual unit, the first mechanical arm and the second mechanical arm are driven to be turned into a horizontal state through the mechanical arm turning assembly, the first mechanical arm and the second mechanical arm extend into the container, the lifting mechanism is controlled to drive the first mechanical arm and the second mechanical arm to move from top to bottom along the side surface of the cigarette, and the image of the side surface of the cigarette is shot through the second visual unit and the third visual unit which are arranged on the first mechanical arm and the second mechanical arm;
S2.2, analyzing the placement condition of cigarettes through an image, if the cigarettes are found to be scattered, entering S2.3, otherwise, entering S2.4;
S2.3, sorting the stacked cigarettes, namely folding scattered cigarettes and obliquely placed cigarettes from two sides and the rear through a first mechanical arm, a second mechanical arm and a space control unit, so that the cigarettes are placed flush and are convenient to identify;
S2.4, recognizing bar codes, text information and shape information of cigarettes through image information, counting, and if some cigarettes cannot be recognized, entering a step S2.5, otherwise, entering a step S2.6;
S2.5, identifying the types of the unidentifiable cigarettes in a weighing and mechanical dimension measuring mode, recording abnormal information by the main controller, and sending the types and the abnormal record information of the cigarettes to the upper computer;
The weighing mode is that a main controller controls a mechanical arm I and a mechanical arm II to move to two sides of a cigarette which cannot be identified, a motor controller controls a lifting mechanism to drive the mechanical arm I and the mechanical arm to move upwards to set the height H, the used time T is obtained through a timing module, the current and the voltage of a motor are obtained through a current monitoring module and a voltage monitoring module, the work W 0 of the motor in the T time is calculated through the main controller, then the cigarette which cannot be identified is clamped by the mechanical arm I and the mechanical arm II and is driven to move upwards to the same height H, the used time T 1 is obtained through the timing module, the current and the voltage information of the motor at the moment is obtained through the current monitoring module and the voltage monitoring module, the absolute value |DeltaW| of the difference between the two works is the work of the Z-axis motor driving the cigarette to move the height H, and the quality m|DeltaW|/gH of the cigarette is obtained;
the mechanical dimension measurement mode is that a first control motor, a second control motor, a first mechanical arm and a second mechanical arm are attached to the side face of the cigarette, one dimension data of the cigarette is obtained through the distance between the first mechanical arm and the second mechanical arm measured by a second distance sensor and a third distance sensor, then the first mechanical arm or the second mechanical arm is sequentially controlled to be attached to the lower surface of an overhead container and the upper surface of the cigarette, the distance between two sides is measured by the first distance sensor, the difference value of the secondary distances is the other dimension data of the cigarette, and the information of the cigarette can be obtained through the two dimension data;
S2.6, transmitting the counting information to a main controller, transmitting the counting information to an upper computer by the main controller, and then moving to the next counting position.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention controls a turnover motor to rotate through a main controller, the turnover motor rotates to drive a connecting rod to rotate, the connecting rod rotates to drive a rotating pipe to rotate, the rotating pipe rotates to drive a track to rotate, the track drives a first sliding block and a second sliding block to move, the first sliding block and the second sliding block respectively drive a first mechanical arm and a second mechanical arm to move, finally, the first mechanical arm and the second mechanical arm turn over to a horizontal state, the first mechanical arm and the second mechanical arm respectively drive a first bearing frame and a second bearing frame to move in a telescopic manner through a linear motor and a second linear motor, the first bearing frame and the second bearing frame are inserted into two sides of a cigarette pile, then the main controller starts a control motor and a second control motor, the first control motor and the second control motor respectively drive a first screw rod and a second screw rod to rotate, the first screw rod and the second screw rod respectively drive the first sliding block and the second sliding block to move, the first sliding block and the second sliding block are respectively driven by the first sliding block and the second sliding block to move, the first sliding block and the second sliding block and the distance sensor are respectively detected, the scattered cigarettes are orderly, and the orderly cigarette pile is convenient for the visual assembly, the second visual assembly and the visual assembly to acquire images of the sides and the front of the cigarettes after the cigarette pile, and the manual inspection are convenient for the manual recrudimenting.
2. According to the invention, the mechanical arm I and the mechanical arm II are inserted into the inner side of a container, the camera II, the camera III and the radio frequency signal reader II which are arranged on the swing arm I move along with the bearing frame I, the camera IV, the camera V, the radio frequency signal reader III and the side face camera which are arranged on the swing arm II move along with the bearing frame II, the image information of the left side of a cigarette is obtained through the camera II and the camera III, the image information of the right side of the cigarette is obtained through the camera IV and the camera V, the shooting area can be enlarged, the situation that the side face of a stacked cigarette can be completely shot can be ensured, the other camera can normally shoot images when a problem occurs in one camera can be ensured, the frequency of shutdown maintenance is reduced, and the influence on the efficiency of counting is reduced.
3. The invention relates to a counting method, which combines a weighing and size measuring method to improve the counting efficiency and accuracy, wherein the weighing mode is that a main controller controls a mechanical arm I and a mechanical arm II to move to two sides of a cigarette which cannot be identified, a motor controller controls a lifting mechanism to drive the mechanical arm I and the mechanical arm to move upwards by a set height H, the used time T is obtained through a timing module, the current and the voltage of the motor are obtained through a current monitoring module and a voltage monitoring module, the work W of the motor in the T time is calculated through the main controller, then the mechanical arm I and the mechanical arm II can tighten the cigarette which cannot be identified and drive the mechanical arm I and the mechanical arm II to move upwards by the same height H, the used time T is obtained through the timing module, the current and the voltage information of the motor at the moment is obtained through the current monitoring module and the voltage monitoring module, the absolute value |DeltaW| of the difference of work of the two times is the work of the cigarette which is carried out by a Z-axis motor, and the cigarette is driven by the Z-axis motor to move by the height H, and the mass m|DeltaW|/gH of the motor is not needed to be used;
The mechanical measurement mode includes that a first control motor, a second control motor, a first mechanical arm and a second mechanical arm are attached to the side face of the cigarette, one dimension data of the cigarette is obtained through the distance between the first mechanical arm and the second mechanical arm, which are measured by a second distance sensor and a third distance sensor, then the first mechanical arm or the second mechanical arm is sequentially controlled to be attached to the lower surface of an overhead container and the upper surface of the cigarette, the distance between two sides is measured by the first distance sensor, the difference value of the secondary distances is the other dimension data of the cigarette, and the information of the cigarette can be obtained through the two dimension data.
Drawings
FIG. 1 is a schematic view of the overall structure of a cigarette inventory checking rack according to the present invention;
FIG. 2 is a partial structural cross-sectional view of a cigarette inventory count rack according to the present invention;
FIG. 3 is a left side view of FIG. 1 in accordance with the present invention;
FIG. 4 is a right side view of FIG. 1 in accordance with the present invention;
FIG. 5 is a schematic diagram of a first mechanical arm and a second visual component according to the present invention;
FIG. 6 is a side view of FIG. 5 in accordance with the present invention;
FIG. 7 is a schematic diagram of a second mechanical arm and a third visual component of the present invention;
FIG. 8 is a side view of FIG. 7 in accordance with the present invention;
FIG. 9 is a schematic diagram of a pitch control unit according to the present invention;
FIG. 10 is a top view of FIG. 9 in accordance with the present invention;
FIG. 11 is a flowchart illustrating steps of a method for inventory checking of cigarettes according to the present invention;
Fig. 12 is a block diagram of the modular connection of the present invention.
In the figure: base 1, bracket mechanism 2, front end mechanism 3, lifting mechanism 4, control system 5, adjustment tank one 6, storage tank one 7, storage tank two 8, base cover 101, straight bar 21, cover plate 22, arm assembly 31, vision assembly 32, turn-over assembly 33, pitch control unit 34, Z-axis motor 41, Z-axis transmission assembly 42, lifting screw 421, guide slide bar 422, main controller 51, motor controller 52, power module 53, current monitoring module 521, voltage monitoring module 522, motor driving module 523, communication module one 524, turn-over motor 3301, rotation tube 3302, connection rod 3303, motor mounting plate 3304, support bearing 3305, mount 3306, distance sensor one 3307, control motor one 3401, control motor two 3402, mounting plate 3403, rail 3404, slider one 3405, slider two 3406, screw one 3407, screw two 3408, distance sensor two 3409, distance sensor three 34010, arm one 311, distance sensor one 3407, and the like mechanical arm two 312, linear motor one 3111, carriage one 3112, swing arm one 3113, swing motor one 3114, rotation shaft one 3115, matching cylinder one 3116, angle sensor one 3117, distance sensor four 3118, toggle assembly one 3119, toggle cylinder one 31191, toggle rod one 31192, collar one 31193, connection block one 31194, connection plate one 31195, linear motor two 3121, carriage two 3122, swing arm two 3123, swing motor two 3124, rotation shaft two 3125, matching cylinder two 3126, sensor two 3127, vision unit one 321, vision unit two 322, vision unit three 323, mounting panel 3211, camera one 3212, radio frequency signal reader one 3213, camera two 3221, camera three 3222, radio frequency signal reader two 3223, distance sensor six 3224, groove one 3225, groove two 3226, camera four 3231, camera five 3232, radio frequency signal reader three 3233, side camera 3234, recess three 3235.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and include, for example, "connected to," whether fixedly connected to, detachably connected to, or integrally connected to, mechanically connected to, electrically connected to, directly connected to, indirectly connected to, and in communication with each other via an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-10, the present invention provides a technical solution, namely a cigarette inventory checking rack, comprising:
a base 1 for connection with an external traction vehicle, the upper portion of the base 1 being mounted with a base 1 cover;
The bracket mechanism 2 is used for installing the front end mechanism 3, the bracket mechanism 2 comprises a straight rod 21 and a cover plate 22, the lower part of the straight rod 21 penetrates through the cover of the base 1 to be connected with the base 1, and the cover plate 22 is installed on the upper part of the straight rod 21;
The front end mechanism 3 is used for sorting cigarettes and collecting image information, and the front end mechanism 3 comprises a mechanical arm assembly 31, a visual assembly 32 matched with the mechanical arm assembly 31, a turnover assembly 33 and a spacing control unit 34;
The lifting mechanism 4 is used for driving the front end mechanism 3 to move up and down, so that cigarettes at different positions on an overhead container are conveniently tidied and image information is conveniently acquired by the front end mechanism 3, the lifting mechanism 4 comprises a Z-axis motor 41 and a Z-axis transmission assembly 42, and the lower part of the Z-axis motor 41 is connected with the surface of the base 1;
The control system 5, the control system 5 includes a main controller 51, a motor controller 52 and a power module 53, the main controller 51, the motor controller 52 and the power module 53 are installed on the upper portion of the base 1, the motor controller 52 and the power module 53 are respectively connected with the main controller 51, and the Z-axis motor 41 is connected with the motor controller 52;
the motor controller 52 includes a current monitoring module 521, a voltage monitoring module 522, a motor driving module 523 and a first communication module 524, where the current monitoring module 521, the voltage monitoring module 522, the first communication module 524, and the motor driving module 523 are connected, and the motor driving module 523 is connected to the main controller 51 through the first communication module 524, and the main controller 51 is connected to an external host computer.
The main controller 51 includes a processor module, a storage module, an image processing module, a timing module, and an interface module, the storage module is connected with the processor module, the interface module is connected with the processor module, the timing module and the image processing module are respectively connected with the interface module, and the first communication module 524 is connected with the interface module.
The overturning assembly 33 comprises an overturning motor 3301, a rotating pipe 3302, a connecting rod 3303, a motor mounting plate 3304, two supporting bearings 3305 and a mounting seat 3306, wherein one end of the motor mounting plate 3304 is connected with the mounting seat 3306, the lower part of the overturning motor 3301 is connected with the motor mounting plate 3304, the outer sides of the two supporting bearings 3305 are connected with the mounting seat 3306, the rotating pipe 3302 is arranged on the inner side of the supporting bearing 3305, one end of the connecting rod 3303 is connected with the inner side of the rotating pipe 3302, an output shaft of the overturning motor 3301 is connected with the connecting rod 3303, a lifting screw 421 and a guide sliding rod 422 penetrate through two ends of the mounting seat 3306, the lifting screw 421 is in threaded connection with the mounting seat 3306, the guide sliding rod 422 is in sliding connection with the mounting seat 3306, the overturning motor 3301 is connected with the main controller 51, a distance sensor I3307 is arranged on the lower side of one end of the mounting seat 3306, and the distance sensor I3307 is connected with the main controller 51;
The interval control unit 34 comprises a first control motor 3401, a second control motor 3402, a mounting plate 3403, a track 3404, a first sliding block 3405, a second sliding block 3406, a first screw 3407, a second screw 3408, a second distance sensor 3409 and a third distance sensor 34010 which are matched with the track 3404, wherein the lower part of the track 3404 is connected with the outer surface of a rotating pipe 3302, the first sliding block 3405 and the second sliding block 3406 are respectively connected with the track 3404 in a sliding manner, the mounting plate 3403 is arranged on one side of the track 3404, one side of the first control motor 3401 and one side of the second control motor 3402 are connected with the mounting plate 3403, one end of the first screw 3407, which is far away from the first motor 3401, one end of the second screw 3408 is in threaded connection with the first sliding block 3405, one end of the second screw 3408 is far away from the second motor 3406, the second distance sensor 3409 and the third distance sensor 34010 are arranged on the upper part of the track 3403, one side of the first sliding block 3405, one side of the second motor 3406 and one side of the second sliding block 3406 are respectively provided with a first buffer groove 5351, the second buffer groove 5351 and a second buffer groove 5351 are respectively formed on the opposite side of the surface of the first sliding block 3406 and the second motor.
The mechanical arm assembly 31 includes a mechanical arm one 311 and a mechanical arm two 312, the mechanical arm one 311 includes a linear motor one 3111, a carrying frame one 3112, a swinging arm one 3113, a swinging motor one 3114, a rotating shaft one 3115, a matching electric cylinder one 3116 and an angle sensor one 3117, the lower portion of the linear motor one 3111 is connected with the slide block one 3405, the lower portion of the carrying frame one 3112 is connected with a mover of the linear motor one 3111, the swinging motor one 3114 is mounted at one side of the carrying frame one 3112, an output shaft of the swinging motor one 3114 penetrates one side of the carrying frame one 3112 to be connected with the rotating shaft one 3115, one side of the rotating shaft one 3115 far from the swinging motor one 3114 is rotatably connected with the carrying frame one 3112, one end of the angle sensor one 3117 penetrates the carrying frame one 3112 to be connected with the rotating shaft one 3115, a distance sensor four 3118 and a crash bar one are mounted at one side of the rotating shaft linear motor one 3111, an adjusting groove one 3116 is opened at one side of the carrying frame one 3112, the matching electric cylinder one 3116 is mounted at the inner side of the carrying frame one 3112, the motor one 3113 is mounted at one side of the carrying frame one 3114 is mounted at the side of the carrying frame one side, the swing electric motor one 3114 is far from the swing electric cylinder 3114 is connected with the angle sensor one electric sensor 3115, and the angle sensor 3114 is connected with the swing electric motor one body is respectively.
The mechanical arm one 311 further comprises a poking component one 3119, the contracting poking component one 3119 comprises a poking electric cylinder one 31191, a poking rod one 31192, a lantern ring one 31193 and a connecting block one 31194, one end of the poking electric cylinder one 31191 is connected with a connecting plate one 31195, the poking electric cylinder one 31191 is connected with the swing arm one 3113 through the connecting plate one 31195, the poking rod one 31192 is rotationally connected with the accommodating groove one 7, the lantern ring one 31193 is slidingly sleeved outside the poking rod one 31192, the connecting block one 31194 is rotationally connected with the poking rod one 31192, one end of the poking electric cylinder one 31191 is connected with the connecting block one 31194, and the poking electric cylinder one 31191 is connected with the main controller 51.
The mechanical arm two 312 comprises a linear motor two 3121, a bearing frame two 3122, a swing arm two 3123, a swing motor two 3124, a rotating shaft two 3125, a matching electric cylinder two 3126 and an angle sensor two 3127, wherein the lower part of the linear motor two 3121 is connected with a slide block two 3406, the lower part of the bearing frame two 3122 is connected with a rotor of the linear motor two 3121, the swing motor two 3124 is arranged on one side of the bearing frame two 3122, an output shaft of the swing motor two 3124 penetrates through one side of the bearing frame two 3122 and is connected with the rotating shaft two 3125, one side of the rotating shaft two 3125 away from the swing motor two 3124 is connected with the bearing frame two 3122 in a rotating way, one end of the angle sensor two 3127 penetrates through the bearing frame two 3122 and is connected with the rotating shaft two 3125, one side of the linear motor two 3121 is provided with a distance sensor five 3128 and a collision preventing rod two 3128, one side of the bearing frame two 3122 is provided with an adjusting groove two 3126, the power distribution cylinder two 3126 is arranged on the inner side of the bearing frame two 3122, one end of the two 3123 away from the swing motor two 3124 is provided with a storage groove two 3128, and the two power distribution device two 3126 is connected with the angle sensor two 3126, and the angle sensor two side is connected with the two side of the swing sensor two 3126.
The mechanical arm two 312 further comprises a toggle assembly two 3129, the toggle assembly two 3129 comprises a toggle cylinder two 31291, a toggle rod two 31292, a lantern ring two 31293 and a connecting block two 31294, two ends of the toggle cylinder two 31291 are connected with a connecting plate two 31295, the toggle cylinder two 31291 is connected with a swing arm two 3123 through a connecting plate two 31295, the toggle rod two 31292 is rotationally connected with the inner wall of the storage groove two 8, the lantern ring two 31293 is slidably sleeved outside the toggle rod two 31292, the connecting block two 31294 is rotationally connected with the toggle rod two 31292, one end of the toggle cylinder two 31291 is connected with the connecting block two 31294, and the toggle cylinder two 31291 is connected with the main controller 51.
The vision component 32 includes a first vision unit 321, a second vision unit 322, and a third vision unit 323;
The first visual unit 321 comprises a mounting panel 3211, a first camera 3212 and a first radio frequency signal reader 3213, wherein the lower part of the mounting panel 3211 is connected with a mounting seat 3306, and the first radio frequency signal reader 3213 and the first camera 3212 are sequentially arranged on one side of the mounting panel 3211 from top to bottom;
the second vision unit 322 comprises a second camera 3221, a third camera 3222, a radio frequency signal reader 3223, a sixth distance sensor 3224, a first groove 3225 and a second groove 3226, wherein the first groove 3225 and the second groove 3226 are respectively arranged on one side of the first swing arm 3113, the second camera 3221 is arranged on the rear side of the first groove 3225, one end of the second camera 3221 penetrates through the first groove 3225, the sixth distance sensor 3224 is arranged on the rear side of the second groove 3226, one end of the sixth distance sensor 3224 penetrates through the second groove 3226, the second radio frequency signal reader 3223 is embedded in the first swing arm 3113, the third camera 3222 is slidably arranged in the first adjustment groove 6, one side of the third camera 3222 is connected with the first matching electric cylinder 3116, and the second camera 3221, the third camera 3222, the second radio frequency signal reader 3223 and the sixth distance sensor 3224 are respectively connected with the main controller 51;
The third visual unit 323 comprises a fourth camera 3231, a fifth camera 3232, a third radio frequency signal reader 3233, a side camera 3234 and a third groove 3235, the third groove 3235 is arranged on one side of the second swing arm 3123, the fourth camera 3231 is arranged on the rear side of the third groove 3235, one end of the fourth camera 3231 penetrates through the third groove 3235, the third radio frequency signal reader 3233 is embedded in the first swing arm 3113, the fifth camera 3232 is slidably arranged in the second adjustment groove, one side of the fifth camera 3232 is connected with the second matching cylinder 3126, one end of the side camera 3234 penetrates through the second bearing frame 3122, the side camera 3234 is used for stacking image information of cigarettes on the outer side of the second mechanical arm 312, and the fourth camera 3231, the fifth camera 3232, the third radio frequency signal reader 3233 and the side camera 3234 are respectively connected with the main controller 51.
Referring to fig. 11, the invention further provides a method for checking cigarette inventory, which uses a cigarette inventory checking frame, and specifically comprises the following steps:
s1, moving a cigarette stock checking frame to one side of an overhead container to be checked, and connecting the cigarette stock checking frame with external traction equipment through a base 1;
S2, checking stored cigarettes at different positions on the overhead counter;
s3, comparing the checking result with inventory information of the warehouse management system.
Step S2 comprises the following sub-steps:
S2.1, acquiring a side image and a front image of cigarettes stored in one position on an overhead container:
The front end mechanism 3 is driven to move to a cigarette storage position on an overhead container through the lifting mechanism 4, a front image of the cigarette is shot through the first visual unit 321, the first mechanical arm 311 and the second mechanical arm 312 are driven to be turned to be in a horizontal state through the mechanical arm turning component, the first mechanical arm 311 and the second mechanical arm 312 extend into the container, the lifting mechanism 4 is controlled to drive the first mechanical arm 311 and the second mechanical arm 312 to move from top to bottom along the side surface of the cigarette, and the image of the side surface of the cigarette is shot through the second visual unit 322 and the third visual unit 323 which are arranged on the first mechanical arm 311 and the second mechanical arm 312;
S2.2, analyzing the placement condition of cigarettes through an image, if the cigarettes are found to be scattered, entering S2.3, otherwise, entering S2.4;
S2.3, sorting the stacked cigarettes, namely folding scattered cigarettes and obliquely placed cigarettes from two sides and the back through a first mechanical arm 311, a second mechanical arm 312 and a space control unit 34, so that the cigarettes are placed flush and are convenient to identify;
S2.4, recognizing bar codes, text information and shape information of cigarettes through image information, counting, and if some cigarettes cannot be recognized, entering a step S2.5, otherwise, entering a step S2.6;
S2.5, recognizing the types of the unidentifiable cigarettes in a weighing and mechanical dimension measuring mode, recording abnormal information by the main controller 51, and sending the types and the abnormal record information of the cigarettes to the upper computer;
The weighing mode is that the main controller 51 controls the mechanical arm I311 and the mechanical arm II 312 to move to two sides of the unidentifiable cigarettes, the motor controller 52 controls the lifting mechanism 4 to drive the mechanical arm I311 and the mechanical arm II 312 to move upwards to set height H, the used time T is obtained through the timing module, the current and the voltage of the motor are obtained through the current monitoring module 521 and the voltage monitoring module 522, the work W 0 of the motor in the T time is calculated through the main controller 51, then the mechanical arm I311 and the mechanical arm II 312 tighten the unidentifiable cigarettes and drive the unidentifiable cigarettes to move upwards to the same height H, the used time T 1 is obtained through the timing module, the current and the voltage information of the motor at the moment is obtained through the current monitoring module 521 and the voltage monitoring module 522, the work W 1 of the motor in the T 1 is calculated through the main controller 51, the absolute value |DeltaW| of the difference of work twice is the work done by the Z-axis motor 41 to drive the cigarettes to move to the height H, and the quality m|DeltaW|/gH of the cigarettes is obtained;
The mechanical dimension measurement mode is that a first control motor 3401 and a second control motor 3402 control a first mechanical arm 312 and a second mechanical arm 312 to be attached to the side face of the cigarette, one dimension data of the cigarette is obtained through the distance between a first mechanical arm 311 and a second mechanical arm 312 measured by a second distance sensor 3409 and a third distance sensor, then the first mechanical arm 311 or the second mechanical arm 312 is sequentially controlled to be attached to the lower surface of an overhead counter and the upper surface of the cigarette, the distance between two sides is measured by a first distance sensor 3307, the difference value of the secondary distances is the other dimension data of the cigarette, and the information of the cigarette can be obtained through the two dimension data;
S2.6, transmitting the counting information to the main controller 51, transmitting the counting information to the upper computer by the main controller 51, and then moving to the next checking position.
The working principle is that in the actual use process, the AGV is used as traction equipment, the AGV moves at the lower part of the overhead container according to a set program, the main controller 51 controls the Z-axis motor 41 to rotate, the lifting screw 421 connected with the Z-axis motor is driven to rotate, and the lifting screw 421 rotates to drive the front end mechanism 3 on the mounting seat 3306 to move up and down at the outer side of the overhead container. In the moving process, a radio frequency signal reader I3213 reads information of RFID tags of each layer of storage bin on the overhead container and transmits the information to a main controller 51, and the main controller 51 is connected with an upper computer of a warehouse storage system and acquires the bin storage information according to the tag information;
The cigarettes in each bin are not neatly placed, some stacked cigarettes fall in the warehouse, the falling positions cannot be determined, the falling cigarettes are often in an inclined state, some inclined angles are formed, the camera is difficult to identify from the side face and the front face, in addition, the photographed images are unclear due to the fact that the reflected light of the plastic package outside the cigarettes is generated, some important information bar codes, trademark characters and the like cannot be obtained, and particularly for some cigarettes after unpacking, RFID labels are not attached to the outer package, and the cigarettes cannot be identified through radio frequency signals.
Firstly, a main controller 51 controls a turnover motor 3301 to rotate, the turnover motor 3301 rotates to drive a connecting rod 3303 to rotate, the connecting rod 3303 rotates to drive a rotating pipe 3302 to rotate, the rotating pipe 3302 rotates to drive a track 3404 to rotate, the track 3404 drives a first slide 3405 and a second slide 3406 to move, the first slide 3405 and the second slide 3406 respectively drive a first mechanical arm 311 and a second mechanical arm 312 to move, and finally the first mechanical arm 311 and the second mechanical arm 312 are turned to a horizontal state; the mechanical arm I311 and the mechanical arm II 312 drive the first 3112 and the second 3122 of the bearing frame to do telescopic movement through the first 3111 and the second 3121 of the linear motor respectively, and the first 3112 and the second 3122 of the bearing frame are inserted into two sides of the cigarette stack; then the first control motor 3401 and the second control motor 3402 are started by the main controller 51, the first control motor 3401 and the second control motor 3402 respectively drive the first screw 3407 and the second screw 3408 to rotate, the first screw 3407 and the second screw 3408 respectively drive the first sliding block 3405 and the second sliding block 3406 to move, the first sliding block 3405 and the second sliding block 3406 drive the first bearing frame 3112 and the second bearing frame 3122 to move, the distance sensor II 3409 and the third distance sensor 34010 detect the moving distance of the first sliding block 3405 and the second sliding block 3406, scattered cigarette strips are regular, in some cases, the cigarettes cannot be made to be right opposite to the mounting panel 3211 only by pushing from the side, at the moment, the angle of the cigarettes need to be changed by pushing the cigarettes, the cigarettes are pushed from the side, the pushing process is as follows by taking the pushing component I3119 as an example, the pushing cylinder I31191 is controlled to shrink by the main controller, the pushing cylinder I31191 shrinks to pull the connecting block I31194 to move downwards, the first sliding rod is driven by the first sliding rod through the first sleeve 31193, the first sliding rod 31192 is rotated, the first sliding rod 31192 is moved by the first connecting block 31192, when the first poking rod 31192 and the second poking rod 31292 are positioned at the rear side of the cigarettes, after a certain angle is unfolded, the cigarettes are driven by the first linear motor 3111 and the second linear motor 3121 to approach the cigarettes, and the first poking rod 31192 and the second poking rod 31292 can be utilized to push the cigarettes forward to move so as to sort the cigarettes falling at the rear part of the bin.
When the first mechanical arm 311 and the second mechanical arm 312 push cigarettes from two sides, if the scattered cigarettes are stacked together, the contact area between the side surface of the first swing arm 3113 or the side surface of the second swing arm 3123 and the side surface of the cigarette pile is very small, so that it is difficult to push the whole cigarette pile to move, and cigarettes on the upper part are easy to drop in the pushing process, at this time, the first swing motor 3114 is controlled by the main controller 51 to rotate, the first swing motor 3114 drives the first rotating shaft 3115 to rotate, the first swing arm 3113 is driven by the first rotating shaft 3115 to tilt, so that a certain included angle is formed between the first swing arm 3113 and the first bearing frame 3112, the contact point with the side surface of the cigarettes is increased, the tilting angle of the first swing arm 3113 is measured by the first angle sensor 3117, and the side surface of the first swing arm 3113 and the side surface of the first bearing frame 3112 are used to push the side surface of the cigarettes together. In addition, when the swing arm one 3113 is tilted, the projection point of the third camera 3222 on the side surface of the cigarette can be changed, in order to prevent the third camera 3222 from being separated from a shooting area under the driving of the swing arm one 3113, the movement of the first matching cylinder 3116 can be controlled, the third camera 3222 is moved, the projection point of the third camera 3222 is always inside the side surface of the cigarette, and the shooting effect of the image is ensured.
When the side image of the cigarette needs to be acquired, the mechanical arm I311 and the mechanical arm II 312 are required to be inserted into the inner side of a container, the camera II 3221, the camera III 3222 and the radio frequency signal reader II 3223 which are arranged on the swing arm I3113 move along the bearing frame I3112, the camera IV 3231, the camera V3232, the radio frequency signal reader III 3233 and the side camera 3234 which are arranged on the swing arm II 3123 move along the bearing frame II 3122, the image information of the left side of the cigarette is acquired through the camera II 3221 and the camera III 3222, the image information of the right side of the cigarette is acquired through the camera IV 3231 and the camera V3232, and the shooting area can be enlarged by arranging four cameras respectively, so that the side surface of the stacked cigarette can be completely shot, and when a problem occurs in one camera, the other camera can normally shoot images, the frequency of shutdown maintenance is reduced, and the influence on the efficiency of the taking is reduced.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
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| CN101853387A (en) * | 2010-04-02 | 2010-10-06 | 北京物资学院 | Three-dimensional warehouse goods inventory method and system |
| CN110194341A (en) * | 2018-12-27 | 2019-09-03 | 北京极智嘉科技有限公司 | A handling robot and storage system |
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| JPH10167416A (en) * | 1996-12-06 | 1998-06-23 | Nec Corp | Stocker and its control method |
| DE29722170U1 (en) * | 1997-12-16 | 1999-04-15 | Gebr. Willach GmbH, 53809 Ruppichteroth | Shelf storage |
| CN114348522B (en) * | 2022-01-29 | 2024-05-10 | 深圳市库宝软件有限公司 | Material box inventory method, device, dispatching equipment, robot and storage system |
| CN115311441A (en) * | 2022-07-20 | 2022-11-08 | 北京旷视机器人技术有限公司 | Automatic warehousing system, goods checking method and server |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101853387A (en) * | 2010-04-02 | 2010-10-06 | 北京物资学院 | Three-dimensional warehouse goods inventory method and system |
| CN110194341A (en) * | 2018-12-27 | 2019-09-03 | 北京极智嘉科技有限公司 | A handling robot and storage system |
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