A can-receiving platform can-missing detection and filling device and a can-receiving platform can-missing detection and filling method thereof

Abstract

The present invention discloses a can shortage detection and filling device for a can receiving platform and a detection and filling method thereof, wherein the visual recognition system is used to photograph and calculate the can shortage position of the can body on the upper surface of the can receiving platform; the can body filling mechanism is used to fill the can body into the can receiving platform; the moving component is used to drive the can body filling mechanism to move to the can shortage position identified by the visual recognition system; not only can the can shortage situation on the can receiving platform be effectively identified, but also the can shortage position can be automatically filled to facilitate the subsequent packaging of the can body, thereby promoting the comprehensive automation construction of the canning production line.

Description

Technical Field

[0001] The invention relates to the technical field of canning equipment, and in particular to a can shortage detection and filling device at a can receiving station and a detection and filling method thereof. Background Art

[0002] After canned food is filled, it will be collected and stacked for packaging and storage. During the can collection process on the can platform, the cans will be automatically sorted under the action of the conveyor belt. During the automatic sorting of the cans, there will usually be a shortage of cans. In order to facilitate subsequent packaging, the missing cans need to be filled. In the existing technology, the missing cans are mostly filled manually, which is time-consuming and labor-intensive and is not conducive to the comprehensive automation of the production line. Summary of the invention

[0003] The object of the present invention is to provide a can shortage detection and filling device for a can receiving station and a detection and filling method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A can shortage detection and filling device for a can receiving platform, comprising:

[0006] A visual recognition system, which is used to photograph and calculate the missing can positions of the can bodies on the upper surface of the can receiving platform;

[0007] A tank filling mechanism, the tank filling mechanism is used to fill the tank into the can receiving platform;

[0008] A moving component is used to drive the tank filling mechanism to move to a tank-missing position identified by a visual recognition system.

[0009] Preferably, the planar moving assembly includes a first moving module, a second moving module and a third moving module, the first moving module and the second moving module cooperate to drive the tank filling mechanism to move arbitrarily in the plane, and the third moving module drives the tank filling mechanism to move closer to or away from the can collecting platform.

[0010] Preferably, the tank filling mechanism includes a fixed block, a guide member, a loading barrel, a third telescopic device, and a push plate. A through hole for avoiding an empty tank body is opened in the middle of the fixed block. A plurality of guide members are arranged in a ring around the through hole and are hinged to the fixed block. A torsion spring is installed at the hinge between the fixed block and the guide member. The torsion spring causes the free ends of the plurality of guide members to be retracted toward the middle. The interior of the loading barrel is used to accommodate the tank body to be filled. The push plate is installed at the telescopic end of the third telescopic device. The third telescopic device drives the push plate to approach or move away from the circular opening of the fixed block.

[0011] Preferably, the telescopic end of the third telescopic device is fixedly connected to a fixed plate, a guide rod is provided through the fixed plate, the push plate is installed at one end of the guide rod, and a spring is connected between the fixed plate and the push plate.

[0012] Preferably, a feeding opening for inserting the tank body is provided on the side wall of the loading barrel, and the feeding opening is connected and cooperated with the tank body filling unit.

[0013] Preferably, the tank filling unit includes a feed bin, a discharge bin, a push block and a second telescopic device, the discharge end of the discharge bin matches the feed opening, the feed bin and the discharge bin are connected, the feed bin is tilted so that the tank inside it rolls toward the discharge bin under the action of gravity, and the telescopic end of the second telescopic device is connected to the push block to push the push block close to or away from the discharge end of the discharge bin.

[0014] Preferably, the tank filling unit is fixedly arranged relative to the tank receiving platform.

[0015] A method for detecting and filling a can shortage at a can receiving station comprises the following steps:

[0016] 1) The visual recognition system is driven to move by the mobile component at preset intervals to obtain images of the arrangement of cans on the can receiving platform;

[0017] 2) Determine whether there is a tank shortage in the image. If not, control the moving component to move to the initial position. If yes, execute step 3);

[0018] 3) Locate the missing tank position and drive the tank filling mechanism to move above the missing tank position through the moving assembly;

[0019] 4) controlling the third moving module to extend so that the free ends of the plurality of guide members are inserted into the tank-missing position, and then controlling the third telescopic device to push the tank in the tank filling mechanism to the tank-missing position;

[0020] 5) Then the third moving module and the third telescopic device are reset;

[0021] 6) The tank filling mechanism is driven by the moving assembly to move to the tank filling unit to fill a new tank, and the cycle continues.

[0022] Preferably, each time a tank body at a tank-deficient position is filled, the moving assembly drives the tank body filling mechanism to move to the tank body filling unit to load a new tank body.

[0023] Preferably, in step 2), it is determined whether there is a tank shortage in the image, and the specific steps are as follows:

[0024] 2.1) Grayscale the image;

[0025] 2.2) Using the Sobel edge operator to identify the boundaries of the tanks in the grayscale image, and locate the center of each tank;

[0026] 2.3) Calculate the distance between the centers of adjacent cans in each column, and determine whether the measured distance values ​​are all less than a preset threshold. If so, there is no missing can in the image; if not, there is a missing can in the image.

[0027] Preferably, step 3) specifically includes the following steps:

[0028] Adjacent tanks whose center distance is greater than a preset threshold are located, and the midpoint coordinate position of the line connecting the centers of the adjacent tanks at the missing tank position is used as the missing tank position. The tank filling mechanism is driven to move above the missing tank position by the moving component.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] It can not only effectively identify the lack of cans on the can receiving platform, but also automatically fill the missing parts to facilitate the subsequent packaging of the cans, thus promoting the comprehensive automation of the canning production line.

[0031] Inserting the guide members of a plurality of annular arrays into the tank-missing position first is helpful to guide the tank body to be filled to the tank-missing position and avoid interference or collision during the filling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0033] Figure 1 It is a schematic diagram of the structure of the present invention;

[0034] Figure 2 A top view of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of the mobile assembly of the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of the tank shortage detection and filling equipment of the present invention;

[0037] Figure 5 This is a schematic diagram of the internal structure of the tank shortage detection and filling device of the present invention;

[0038] Figure 6 This is a schematic diagram of the matching structure of the guide member and the fixing block of the present invention;

[0039] Figure 7It is a schematic diagram of the matching structure of the third moving module, the slide rail and the mounting member of the present invention;

[0040] Figure 8 for Figure 7 A top view of

[0041] Fig. 9 It is a schematic diagram of the coordination between the tank shortage detection and filling device and the tank filling unit of the present invention;

[0042] Fig.10 It is a structural schematic diagram of the tank shortage detection and filling device of the present invention during the tank filling process;

[0043] Fig.11 It is a schematic diagram of the structure of the tank shortage detection and filling device of the present invention filling a tank body into a tank receiving platform;

[0044] Fig.12 A top view of a tank filling unit of the present invention;

[0045] Fig.13 It is a schematic diagram of the tank filling unit of the present invention filling a tank into a tank filling mechanism;

[0046] Fig.14 A schematic diagram of a can-deficient state of a can receiving station of the present invention;

[0047] Fig.15 This is a schematic diagram of the location of the missing cans on the can receiving platform of the present invention;

[0048] Fig.16 The figure is a schematic diagram of can collection of the can collection platform of the present invention.

[0049] 1. Can receiving platform; 2. Can body; 3. Can missing detection and filling equipment; 4. Can body filling unit; 5. Mounting parts; 6. Slide rails; 31. First moving module; 32. Second moving module; 33. Industrial camera; 34. Third moving module; 35. Can body filling mechanism; 41. Feed bin; 42. Discharge bin; 43. Push block; 44. Second telescopic device; 351. Fixed block; 352. Guide member; 353. Loading barrel; 354. Third telescopic device; 355. Fixed plate; 356. Guide rod; 357. Push plate; 358. Spring; 3531. Feed opening. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] like Fig.16As shown: the can receiving platform 1 is a conveyor belt for automatically arranging the can bodies 2.

[0052] like Figure 1-3 As shown, the moving assembly includes a first moving module 31, a second moving module 32 and a third moving module 34. The first moving module 31 adopts a screw slide to drive along the X direction, the second moving module 32 adopts a screw slide to drive along the Y direction, and the third moving module 34 adopts a first electric telescopic rod to lift along the Z direction;

[0053] The first mobile module 31 is arranged in parallel on both sides of the can receiving platform 1, and the first mobile module 31 is arranged in parallel with the conveying direction of the can receiving platform 1. The second mobile module 32 is fixed on the slides of the first mobile module 31 on both sides, and a visual recognition system for photographing the arrangement of the can bodies 2 on the top of the can receiving platform 1 is fixed on the side wall of the second mobile module 32. The visual recognition system uses an industrial camera 33, and a third mobile module 34 is fixed on the slide of the second mobile module 32;

[0054] The third movable module 34 is fixed with a mounting member 5 at the telescopic end thereof, and the mounting member 5 is in an "L"-shaped structure, and a tank filling mechanism 35 is mounted on the side wall of the mounting member 5; when the third movable module 34 is telescopic, the tank filling mechanism 35 can be driven to rise and fall. The first movable module 31 cooperates with the second movable module 32 to drive the tank filling mechanism 35 to adjust the horizontal position.

[0055] See attached Figure 4-6 As shown, the tank filling mechanism 35 includes a fixed block 351, a guide member 352, a loading cylinder 353, a third telescopic device 354, a fixed plate 355, a guide rod 356, a push plate 357 and a spring 358. The fixed block 351 is fixed to the side wall of the mounting member 5. A through hole (the through hole is a circular structure) is opened in the middle of the fixed block 351 for avoiding the empty tank body 2. A plurality of groups of guide members 352 are evenly arranged along the circumference on the inner wall of the through hole. The upper ends of the guide members 352 are hinged to the inner wall of the through hole, and a torsion spring is installed at the hinge between the fixed block 351 and the guide members 352, so that the lower ends of the guide members 352 are retracted toward the middle; wherein, the supporting force provided by the lower ends of the guide members 352 in the retracted state is greater than the gravity of the tank body 2, so as to prevent the tank body 2 from directly passing through the guide member 352 and falling out after being loaded into the tank filling mechanism 35. At the same time, the lower ends of several guide members 352 are retracted to form a structure with a smaller outer diameter for easy insertion into the missing tank position.

[0056] A loading barrel 353 is installed on the top of the fixed block 351. The loading barrel 353 is hollow inside for accommodating the tank body 2. A feeding opening 3531 for inserting the tank body 2 is opened on the side wall of the loading barrel 353. When the tank body filling mechanism 35 fills the tank body 2, it is loaded from the feeding opening 3531. A third telescopic device 354 (using a third electric telescopic rod) is installed on the top of the loading barrel 353. The telescopic end of the third telescopic device 354 passes through the top of the loading barrel 353 and cooperates with the gap therewith, so as to To facilitate the extension and retraction of the third telescopic device 354, the telescopic end of the third telescopic device 354 is fixedly connected to a fixed plate 355, and a plurality of groups of guide rods 356 are penetrated on the fixed plate 355. The guide rods 356 and the fixed plate 355 are clearance-matched so that the guide rods 356 and the fixed plate 355 can slide between them; the lower end of the guide rod 356 is connected to a push plate 357, and each group of guide rods 356 is provided with a spring 358, and the spring 358 is located between the fixed plate 355 and the push plate 357.

[0057] When it is necessary to fill the can body 2 at the missing can position on the can receiving platform 1, the can body filling mechanism 35 is first moved to the missing can position by the first moving module 31 and the second moving module 32, and then the third moving module 34 is controlled to extend so that the lower ends of the plurality of guide members 352 are inserted into the missing can position, and then the third telescopic device 354 is controlled to extend. During the extension of the third telescopic device 354, the push plate 357 pushes the can body 2 downward and the guide member 352 is stretched outward. When a can is missing, the missing can position may not be able to accommodate a can body 2, causing interference (see attached drawing). Fig.14 If the tank body 2 is directly pressed down, the tank body cannot be pressed into the missing tank position. Therefore, the present invention sets a guide member 352. The lower end of the guide member 352 is in a retracted state in a normal state. The guide member 352 is first inserted into the missing tank position. During the pressing process of the tank body 2, the guide member 352 will be stretched outward (refer to the attached Fig.11 As shown), push the tanks around the missing tanks outward to make room for them (as shown in Fig.15 This arrangement avoids the situation where a tank body 2 cannot be accommodated at a tank-less position.

[0058] During the downward pressing of the push plate 357, the spring 358 is gradually compressed. When the can body 2 is pressed onto the can receiving platform 1, the third movable module 34 is first controlled to retract and reset. During the retraction and reset of the third movable module 34, the can body filling mechanism 35 is lifted up. At this time, the elastic force on the spring 358 will be gradually released, so that the push plate 357 of the can body filling mechanism 35 can always be pressed on the can body 2 in the initial stage of rising, to prevent the can body 2 from being clamped and lifted by the guide member 352 when the can body filling mechanism 35 rises; when the can body 2 is separated from the guide member 352, the guide member 352 is retracted toward the middle again under the action of the torsion spring elastic force; after the third movable module 34 is retracted and reset, the third telescopic device 354 is controlled to retract and reset to complete the can body filling at the missing can position.

[0059] See attached Figure 7-8 As shown, a slide rail 6 is longitudinally (in the Z direction) arranged on the side wall of the third movable module 34, and the longitudinal end of the mounting member 5 is slidably connected to the slide rail 6; the mounting member 5 cooperates with the slide rail 6 to make the lifting and lowering movement of the mounting member 5 more stable.

[0060] See attached Figure 1 , 2 As shown in 9, the can shortage detection and filling equipment also includes a can filling unit 4, which is fixedly arranged relative to the can receiving platform 1. The can filling unit 4 includes a feed bin 41, a discharge bin 42, a push block 43 and a second telescopic device 44 (a second electric telescopic rod). The discharge end of the discharge bin 42 is provided with an arc-shaped notch matching the loading barrel 353, and this arrangement is conducive to the docking of the discharge end of the discharge bin 42 with the loading barrel 353. A feed port is provided on the side wall of the discharge bin 42, the feed bin 41 is tilted, and the lower end of the feed bin 41 is connected to the feed port on the side wall of the discharge bin 42, and the second telescopic device 44 is installed on the side wall of the discharge bin 42 opposite to the discharge port, and the telescopic end of the second telescopic device 44 is fixedly connected to the push block 43. The inclination angle of the feed bin 41 is preferably 30-45°, which facilitates the tank body 2 in the feed bin 41 to slide into the discharge bin 42 under the action of gravity, and the tank body 2 in the discharge bin 42 is stationary under normal conditions.

[0061] See attached Fig.10 , 12 As shown in FIG13, when the first moving module 31 and the second moving module 32 move the tank filling mechanism 35 to the tank filling unit 4, the feed opening 3531 on the loading cylinder 353 is just opposite to the discharge port of the discharge bin 42 (see FIG13). Fig. 9 As shown), the second telescopic device 44 is controlled to perform a telescopic action to push the tank body 2 into the loading cylinder 353 of the tank body filling mechanism 35. After the second telescopic device 44 is retracted, the tank body 2 in the feed bin 41 is pushed into the discharge bin 42 under the action of gravity, thereby completing the automatic filling of the discharge bin 42.

[0062] This embodiment also provides a method for detecting and filling a can shortage at a can receiving station, comprising the following steps:

[0063] 1) The visual recognition system (industrial camera 33) is driven to move by the first moving module 31 at preset intervals to obtain a distribution image of the can bodies 2 on the can receiving platform 1;

[0064] 2) Determine whether there is a tank shortage in the image. If not, control the first moving module 31 to move to the initial position. If yes, execute step 3);

[0065] Among them, the specific steps of judging whether there is a missing can in the image are as follows:

[0066] 2.1) Grayscale the image;

[0067] 2.2) Using the Sobel edge operator to identify the boundaries of the tanks 2 in the grayscale image, and locate the center of each tank 2;

[0068] 2.3) Calculate the distance between the centers of adjacent cans 2 in each column, and determine whether the measured distance values ​​are all less than the preset threshold. If so, there is no missing can in the image; if not, there is a missing can in the image. Fig.14 As shown, step 2.3) specifically calculates the center distance between two adjacent tank bodies in each column of tank bodies 2 in the Y direction, and determines that the center distance is less than a preset threshold value, wherein the preset threshold value is usually 2.1R~2.3R, wherein R is the radius of the tank body 2, that is, when the center distance between adjacent circles in the same column is larger, it indicates that there is a shortage of tanks between the two adjacent tank bodies 2; when the measured center distances between adjacent tank bodies 2 in each column are all less than the preset threshold value, it indicates that there is no shortage of tanks in each column of tank bodies 2; when the measured center distances between adjacent tank bodies in each column are greater than the preset threshold value, it indicates that there is a shortage of tanks in the tank bodies.

[0069] 3) Locate the missing tank position and drive the tank filling mechanism 35 to move above the missing tank position through the first moving module 31 and the second moving module 32, specifically:

[0070] See attached Fig.15 As shown, the adjacent tanks 2 whose center distance is greater than the preset threshold are located, and the midpoint coordinate position M of the line connecting the centers of the adjacent tanks 2 at the missing tank position is taken as the missing tank position, and the tank filling mechanism 35 is driven to move above the missing tank position by the first moving module 31 and the second moving module 32; the centers of the plurality of guide members 352 are aligned with point M. By locating the missing tank position in this way, when the third moving module 34 drives the tank filling mechanism 35 to descend, the guide member 352 can be accurately inserted into the missing tank position.

[0071] 4) Control the third moving module 34 to extend so that the lower end of the guide member 352 is inserted into the tank-missing position, and then control the third telescopic device 354 to extend so that the tank body 2 in the tank body filling mechanism 35 is pushed into the tank-missing position;

[0072] 5) First control the third movable module 34 to retract and reset, and then control the third telescopic device 354 to retract and reset;

[0073] 6) The first moving module 31 and the second moving module 32 drive the tank filling mechanism 35 to move to the tank filling unit 4 to fill the tank 2, and the cycle continues.

[0074] Each time the tank body 2 at the tank-deficient position is filled, the first moving module 31 and the second moving module 32 drive the tank body filling mechanism 35 to move to the tank body filling unit 4 to load the tank body 2 .

[0075] See attached Fig. 9 , 10 As shown in FIGS. 12 and 13 , the steps of the tank filling unit 4 filling the tank 2 are as follows:

[0076] When the tank filling mechanism 35 moves to the tank filling unit 4 , the second telescopic device 44 performs a telescopic action to push a tank 2 from the feed opening 3531 into the tank filling mechanism 35 , thereby completing the filling of the tank 2 in the tank filling mechanism 35 .

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0078] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A can-missing detection and filling device for a can receiving station, characterized in that: include: A visual recognition system, the visual recognition system being used to photograph and calculate the missing can position of the can body (2) on the upper surface of the can receiving platform (1); A tank filling mechanism (35), wherein the tank filling mechanism (35) is used to fill the tank (2) into the tank receiving platform (1); A moving component, the moving component is used to drive the tank filling mechanism (35) to move to a tank-missing position identified by the visual recognition system; The moving assembly comprises a first moving module (31), a second moving module (32) and a third moving module (34); the first moving module (31) and the second moving module (32) cooperate to drive the can filling mechanism (35) to move arbitrarily within a plane; the third moving module (34) drives the can filling mechanism (35) to move closer to or farther from the can receiving platform (1); The tank filling mechanism (35) comprises a fixed block (351), a guide member (352), a material loading cylinder (353), a third telescopic device (354), and a material pushing plate (357); a through hole for avoiding the tank (2) being empty is opened in the middle of the fixed block (351); a plurality of guide members (352) are arranged in a ring around the through hole and are hinged to the fixed block (351); a torsion spring is installed at the hinge between the fixed block (351) and the guide member (352); the torsion spring causes the free ends of the plurality of guide members (352) to be retracted toward the middle; the interior of the material loading cylinder (353) is used to accommodate the tank (2) to be filled; the material pushing plate (357) is installed at the telescopic end of the third telescopic device (354); the third telescopic device (354) drives the material pushing plate (357) to approach or move away from the circular opening of the fixed block (351); The telescopic end of the third telescopic device (354) is fixedly connected to a fixed plate (355), a guide rod (356) is provided through the fixed plate (355), the push plate (357) is installed on one end of the guide rod (356), and a spring (358) is connected between the fixed plate (355) and the push plate (357); A feeding opening (3531) for inserting the tank body (2) is provided on the side wall of the loading barrel (353), and the feeding opening (3531) is connected and matched with the tank body filling unit (4).

2. The can-missing detection and filling device for a can receiving station according to claim 1, characterized in that: The tank filling unit (4) comprises a feed bin (41), a discharge bin (42), a push block (43) and a second telescopic device (44); the discharge end of the discharge bin (42) matches the feed opening (3531); the feed bin (41) and the discharge bin (42) are connected; the feed bin (41) is tilted so that the tank body (2) inside the feed bin rolls toward the discharge bin (42) under the action of gravity; the telescopic end of the second telescopic device (44) is connected to the push block (43) for pushing the push block (43) closer to or away from the discharge end of the discharge bin (42).

3. A method for detecting and filling cans at a can receiving station, characterized in that: The device for detecting and filling a tank shortage at a tank receiving station according to claim 1 comprises the following steps: 1) The visual recognition system is driven to move by the moving component at preset intervals to obtain an image of the arrangement of the can bodies (2) on the can receiving platform (1); 2) Determine whether there is a missing can in the image. If not, control the moving component to move to the initial position. If yes, execute step 3); 3) Locating the missing tank position and driving the tank filling mechanism (35) to move above the missing tank position through the moving assembly; 4) controlling the third movable module (34) to extend so that the free ends of the plurality of guide members (352) are inserted into the tank-missing position, and then controlling the third telescopic device (354) to push the tank body (2) in the tank body filling mechanism (35) to the tank-missing position; 5) The third moving module (34) and the third telescopic device (354) are then reset; 6) The tank filling mechanism (35) is driven by the moving assembly to move to the tank filling unit (4) to fill a new tank (2), and the cycle continues.

4. A method for detecting and filling cans at a can receiving station according to claim 3, characterized in that: Each time a tank body (2) at a tank-deficient position is filled, the moving assembly drives the tank body filling mechanism (35) to move to the tank body filling unit (4) to load a new tank body (2).

5. The method for detecting and filling cans missing from a can receiving station according to claim 3, characterized in that: In step 2), it is determined whether there is a missing can in the image. The specific steps are as follows: 2.1) Grayscale the image; 2.2) Using the Sobel edge operator, identify the boundaries of the tanks (2) in the grayscale image and locate the center of each tank (2); 2.3) Calculate the distance between the centers of adjacent cans (2) in each column, and determine whether each measured distance value is less than a preset threshold. If so, there is no missing can in the image; if not, there is a missing can in the image.

6. A method for detecting and filling cans at a can receiving station according to claim 5, characterized in that: Step 3) specifically includes the following steps: Adjacent tank bodies (2) whose center distance is greater than a preset threshold are located, and the midpoint coordinate position of the line connecting the centers of the adjacent tank bodies (2) at the missing tank position is used as the missing tank position, and the tank filling mechanism (35) is driven by the moving component to move to above the missing tank position.

Images