CN-121247405-B - Carton overturning equipment and carton overturning method based on visual detection

CN121247405BCN 121247405 BCN121247405 BCN 121247405BCN-121247405-B

Abstract

The invention discloses a carton overturning device and a carton overturning method based on visual detection, which belong to the technical field of control of overturning devices, the invention obtains defined carton edges, corresponding carton information and carton edge size information through carton image detection, the clamping strategy and the mechanical arm parameters including the clamping force, the moving distance of the clamping rod and the clamping lifting height are obtained through analysis, so that the carton is overturned, the stability of the carton overturning process is improved, and damage caused in the carton overturning process is effectively avoided.

Inventors

Zhuang Wenmian
CHEN HUIXIN
Lian Yingling
LIU SHUANGYUAN

Assignees

惠州市新航纸品有限公司

Dates

Publication Date: 20260505
Application Date: 20251127

Claims (10)

1. The carton overturning equipment based on visual detection comprises a conveying device, a shooting device, a mechanical arm overturning device and a control detection system, and is characterized in that the shooting device is used for acquiring carton images of cartons to be overturned; The control detection system includes: the carton edge definition module is used for defining carton edges of the carton to be turned according to the carton images, and comprises a length edge, a width edge and a height edge; The information acquisition module is used for acquiring carton information of the carton to be overturned according to the carton image, and the carton information comprises a corrugated structure, a corrugated type and a three-dimensional size; The size matching module is used for carrying out size matching on the side positions of the carton to be turned according to the three-dimensional size to obtain carton side size information of the carton to be turned, wherein the carton side size information comprises the length, the width and the height of the carton; The strategy analysis module is used for selecting a clamping strategy of the mechanical arm turning device for the carton to be turned according to the size information of the carton side, and acquiring a clamping surface, wherein the clamping strategy comprises a horizontal clamping strategy and a vertical clamping strategy; the parameter analysis module is used for analyzing mechanical arm parameters according to carton information, clamping strategies and carton side size information, and comprises clamping force, clamping rod moving distance and clamping lifting height; the first control module is used for controlling the mechanical arm overturning device to overturn the carton to be overturned according to the mechanical arm parameters.
2. The carton turning device based on visual inspection according to claim 1, wherein the carton edge definition module defines a carton edge of a carton to be turned according to the carton image, specifically: The carton sides along the conveying direction are taken as length sides, the carton sides perpendicular to the horizontal plane of the conveying device are taken as height sides, and the carton sides perpendicular to the length sides and the height sides are taken as width sides.
3. The carton overturning device based on visual inspection according to claim 1, wherein the information acquisition module acquires carton information of a carton to be overturned according to the carton image, specifically: comparing the similarity between the carton images and the stored images of the carton types to be turned at this time through an image analysis technology, and taking the carton type corresponding to the stored image with the largest similarity as the carton type of the corresponding carton to be turned; And acquiring the corresponding corrugated structure, corrugated type and three-dimensional size from a preset database according to the carton model.
4. The carton overturning device based on visual inspection according to claim 1, wherein the dimension matching module performs dimension matching on the edge of the carton to be overturned according to the three-dimensional dimension, specifically: comparing the lengths of the three carton edges of the carton image through an image analysis technology to obtain the longest carton edge, the middle carton edge and the shortest carton edge; And matching the maximum value, the middle value and the minimum value in the three-dimensional size with the longest carton side, the middle carton side and the shortest carton side respectively.
5. The carton turning device based on visual inspection according to claim 1, wherein the policy analysis module analyzes a gripping policy of the carton to be turned by the mechanical arm turning device according to the carton side size information, specifically: When the length of the paper box is greater than or equal to the maximum clamping width of the mechanical arm turnover device and/or the ratio of the length of the paper box to the height of the paper box is greater than a preset threshold value, adopting a flat clamping strategy, and taking a box surface formed by the length side and the width side as a clamping surface; When the height of the paper box is greater than or equal to the maximum clamping width of the mechanical arm turnover device and/or the ratio of the height of the paper box to the length of the paper box is greater than a preset threshold value, a vertical clamping strategy is adopted, and a box surface formed by the height side and the width side is taken as a clamping surface.
6. The vision-based carton turning device according to claim 1, wherein the mechanical arm turning means comprises: A main lifting mechanism and a turnover fixture; a main sliding rail is arranged in the main lifting mechanism, and a main moving sliding block is arranged on the main sliding rail; the overturning clamp comprises an auxiliary lifting mechanism, a first fixing piece, a first clamping rod group, a second fixing piece and a second clamping rod group; the auxiliary lifting mechanism is connected with the main movable slide block through the rotating device.
7. The carton overturning device based on visual inspection according to claim 6, wherein an auxiliary sliding rail is arranged in the auxiliary lifting mechanism, and a first auxiliary moving sliding block and a second auxiliary moving sliding block are arranged on the auxiliary sliding rail; the first clamping rod group comprises a first middle clamping rod and two first side clamping rods, and the second clamping rod group comprises a second middle clamping rod and two second side clamping rods; the two sides of one surface of the first fixing piece where the first middle clamping rod is located are respectively provided with a first sub-sliding rail, the first sub-sliding rail is provided with a first sub-moving sliding block, the two sides of one surface of the second fixing piece where the second middle clamping rod is located are respectively provided with a second sub-sliding rail, and the second sub-sliding rail is provided with a second sub-moving sliding block; The two first side clamping rods are respectively connected with the corresponding first sub-moving sliding blocks, and the two second side clamping rods are respectively connected with the corresponding second sub-moving sliding blocks.
8. The carton turning device based on visual inspection according to claim 7, wherein the parameter analysis module analyzes a moving distance of the clamping bar, specifically: Dividing the length of the paper box into three parts when adopting a horizontal clamping strategy, and dividing the height of the paper box into three parts when adopting a vertical clamping strategy; After the middle positions of the first middle clamping rod and the second middle clamping rod are aligned with the corresponding center points, the distance between the middle position of the first side clamping rod and the nearest side point is the clamping rod moving distance corresponding to the first side clamping rod, and the distance between the middle position of the second side clamping rod and the nearest side point is the clamping rod moving distance corresponding to the second side clamping rod; If the side point is out of the track range of the nearest first sub-sliding rail, the corresponding first side clamping rod is moved to the track end point of the first sub-sliding rail, which is farthest from the corresponding center point, and if the side point is out of the track range of the nearest second sub-sliding rail, the corresponding second side clamping rod is moved to the track end point of the second sub-sliding rail, which is farthest from the corresponding center point.
9. The carton overturning device based on visual inspection according to claim 1, wherein the parameter analysis module analyzes clamping force, specifically: Outputting optimized clamping force as the clamping force of the carton to be turned according to carton information and the side length of the clamping surface through a pre-trained deep learning model; the parameter analysis module analyzes and clamps the lifting height, and specifically comprises the following steps: When adopting a flat clamping strategy, clamping the lifting height to be the sum of the preset lifting height and the length of the paper box; When the vertical clamping strategy is adopted, the clamping lifting height is the sum of the preset lifting height and the height of the paper box.
10. The carton overturning method based on visual detection is applied to the carton overturning equipment based on visual detection as claimed in any one of claims 1 to 9, and is characterized by comprising the following steps: acquiring a carton image of a carton to be overturned; Defining a carton side of a carton to be overturned according to the carton image and acquiring carton information of the carton to be overturned, wherein the carton side comprises a length side, a width side and a height side, and the carton information comprises a corrugated structure, a corrugated type and a three-dimensional size; According to the three-dimensional size, performing size matching on the side position of the carton to be turned to obtain carton side size information of the carton to be turned, wherein the carton side size information comprises the length, the width and the height of the carton; Selecting a clamping strategy of the mechanical arm turnover device for the carton to be turned according to the size information of the carton side, and acquiring a clamping surface, wherein the clamping strategy comprises a horizontal clamping strategy and a vertical clamping strategy; analyzing mechanical arm parameters including clamping force, clamping rod moving distance and clamping lifting height according to carton information, clamping strategy and carton side size information; and controlling the mechanical arm turnover device to turn over the carton to be turned over according to the mechanical arm parameters.

Description

Carton overturning equipment and carton overturning method based on visual detection Technical Field The invention relates to the technical field of control of overturning equipment, in particular to a carton overturning equipment and a carton overturning method based on visual detection. Background In the production of the cartons, the processes of printing, labeling and the like are carried out, and different processes may require that the cartons enter corresponding stations through specific box surfaces, so that the cartons need to be turned over, and automatic carton turning equipment is put into an industrial line; However, most of existing carton overturning devices only use a simple overturning mechanism to carry out invariable overturning operation, and cannot carry out adaptive overturning strategies according to cartons, so that the cartons are unstable to overturn, and meanwhile, the cartons are easy to damage in the overturning process. Disclosure of Invention The invention provides a carton overturning device based on visual detection, which solves the technical problems in the prior art and comprises a conveying device, a shooting device, a mechanical arm overturning device and a control detection system, wherein the shooting device is used for acquiring carton images of cartons to be overturned; The control detection system includes: the carton edge definition module is used for defining carton edges of the carton to be turned according to the carton images, and comprises a length edge, a width edge and a height edge; The information acquisition module is used for acquiring carton information of the carton to be overturned according to the carton image, and the carton information comprises a corrugated structure, a corrugated type and a three-dimensional size; The size matching module is used for carrying out size matching on the side positions of the carton to be turned according to the three-dimensional size to obtain carton side size information of the carton to be turned, wherein the carton side size information comprises the length, the width and the height of the carton; The strategy analysis module is used for selecting a clamping strategy of the mechanical arm turning device for the carton to be turned according to the size information of the carton side, and acquiring a clamping surface, wherein the clamping strategy comprises a horizontal clamping strategy and a vertical clamping strategy; the parameter analysis module is used for analyzing mechanical arm parameters according to carton information, clamping strategies and carton side size information, and comprises clamping force, clamping rod moving distance and clamping lifting height; the first control module is used for controlling the mechanical arm overturning device to overturn the carton to be overturned according to the mechanical arm parameters. Further, the box edge defining module defines a box edge of the box to be turned according to the box image, specifically: The carton sides along the conveying direction are taken as length sides, the carton sides perpendicular to the horizontal plane of the conveying device are taken as height sides, and the carton sides perpendicular to the length sides and the height sides are taken as width sides. Further, the information acquisition module acquires carton information of the carton to be overturned according to the carton image, specifically: comparing the similarity between the carton images and the stored images of the carton types to be turned at this time through an image analysis technology, and taking the carton type corresponding to the stored image with the largest similarity as the carton type of the corresponding carton to be turned; And acquiring the corresponding corrugated structure, corrugated type and three-dimensional size from a preset database according to the carton model. Further, the dimension matching module performs dimension matching on the edge of the carton to be turned according to the three-dimensional dimension, specifically: comparing the lengths of the three carton edges of the carton image through an image analysis technology to obtain the longest carton edge, the middle carton edge and the shortest carton edge; And matching the maximum value, the middle value and the minimum value in the three-dimensional size with the longest carton side, the middle carton side and the shortest carton side respectively. Further, the strategy analysis module analyzes a clamping strategy of the mechanical arm turning device to the carton to be turned according to the carton edge size information, specifically: When the length of the paper box is greater than or equal to the maximum clamping width of the mechanical arm turnover device and/or the ratio of the length of the paper box to the height of the paper box is greater than a preset threshold value, adopting a flat clamping strategy, and taking a box surface formed by the length side and the width side as a c