A storage cabinet parts packaging device based on intelligent identification and positioning

Abstract

The present invention relates to the technical field of bundling and packaging, and in particular to a storage cabinet parts packaging device based on intelligent identification and positioning. Firstly, according to the characteristic that the center and the center of gravity are usually close to or coincident under the condition of weight balance, after the center of gravity position is determined according to the pressure magnitude of each position on the storage cabinet parts to be bundled, the weight balance degree of the storage cabinet parts to be bundled is determined according to the deviation of the center of gravity position relative to the center position of the storage cabinet parts to be bundled; then, according to the weight distribution and position distribution of two bundling areas under the bundling method, the rationality of bundling is measured; thereby, the optimal bundling method is determined according to the rationality of bundling, and under the optimal bundling method, the adaptive bundling tightness is determined according to the total weight of the storage cabinet parts to be bundled and the friction of the parts packaging, thereby adaptively packaging the storage cabinet parts to be bundled, so that the corresponding bundling quality and bundling efficiency when the storage cabinet parts to be bundled are adaptively packaged are higher.

Description

Technical Field

[0001] The present invention relates to the technical field of bundling and packaging, and in particular to a storage cabinet parts packaging device based on intelligent identification and positioning. Background Art

[0002] Steel office furniture can be divided into file cabinets, filing cabinets, information cabinets, movable cabinets, key cabinets, disassembly cabinets, compact cabinets, CD cabinets, bookcases, lockers, shoe cabinets and storage cabinets. Suitable for service companies, factories, schools, various training institutions, hospitals, banks and other enterprises and institutions. After the storage cabinet is completed, it is usually transported in split packaging because it is too big to transport. After the production is completed, the storage cabinet parts are often bundled and packaged by transport strapping machines, and then delivered by special transportation methods.

[0003] The existing method mainly uses a transport strapping machine to bundle and pack the storage cabinet parts. In the prior art, the patent document with the publication number CN221068574U discloses a carton strapping machine, which straps both sides of the carton synchronously, so that the strapped carton is more regular and does not bend or deform, which is convenient for placement and stacking. At the same time, by using hydraulic pressure in the packaging process, the packaging is made more compact, which improves the safety of the goods and makes them easier to transport.

[0004] However, since the mass distribution and shape of some parts of the storage cabinet are not consistent, the required bundling position and bundling tightness are different when the packaging is tight. When the carton baler in the prior art is used for bundling, the operator needs to frequently adjust the bundling position and bundling tightness, resulting in low overall bundling efficiency; and if the bundling position and bundling tightness are not adjusted, the bundling quality of some parts of the storage cabinet with inconsistent mass distribution and shape may be poor; therefore, the bundling quality and bundling efficiency of the storage cabinet parts to be bundled with inconsistent mass distribution and shape using the carton baler in the prior art are both low. Summary of the invention

[0005] The present application provides a storage cabinet parts packaging device based on intelligent identification and positioning. The device first determines the weight balance of the storage cabinet parts to be bundled according to the deviation of the center of gravity relative to the center of gravity of the storage cabinet parts to be bundled based on the characteristics that the mass or weight distribution of the storage cabinet parts is relatively uniform under ideal bundling conditions and the corresponding center and center of gravity are usually close to or coincident. Then, in combination with different weight balance degrees, the device measures the rationality of bundling according to the weight distribution and position distribution of the two bundling areas under the bundling method; thereby determining the optimal bundling according to the rationality of bundling. The invention discloses a bundling method, and determines the adaptive bundling tightness according to the total weight of the storage cabinet parts to be bundled and the friction of the parts packaging under the optimal bundling method, so as to adaptively package the storage cabinet parts to be bundled, thereby solving the problem that when the carton baler in the prior art is used for bundling, the operator needs to frequently adjust the bundling position and the bundling tightness, resulting in low overall bundling efficiency; and if the bundling position and the bundling tightness are not adjusted, the bundling quality of some parts of the storage cabinet with inconsistent mass distribution and shape may be poor, so that the corresponding bundling quality and bundling efficiency are higher when the storage cabinet parts to be bundled are adaptively packaged.

[0006] The present application provides a storage cabinet parts packaging device based on intelligent identification and positioning, comprising a control module, a connection platform, a conveyor belt and an identification and positioning module; the conveyor belt is installed above the connection platform, the storage cabinet parts to be bundled are placed on the conveyor belt, the identification and positioning module is directly above the conveyor belt, at least two pressure sensors are also installed under the connection platform, the identification and positioning module comprises an industrial camera, the industrial camera and the pressure sensor signals are connected to the control module, the industrial camera is used to obtain the surface image of the storage cabinet parts to be bundled, the pressure sensor is used to detect the pressure data value at the corresponding position, the control module obtains the pressure data value at each pressure sensor position corresponding to the storage cabinet parts to be bundled according to the surface image of the storage cabinet parts to be bundled and the pressure data value at the corresponding position of each pressure sensor;

[0007] Determine the reference center of gravity position of the parts to be bundled in the storage cabinet according to the distribution of the pressure sensor positions on the parts to be bundled in the storage cabinet and the corresponding pressure data values;

[0008] Determine the weight balance of the storage cabinet parts to be bundled according to the deviation of the reference center of gravity position relative to the center position of the storage cabinet parts to be bundled and the distribution discreteness of the pressure data values ​​at the positions of each pressure sensor; determine all the strapping methods including two strapping areas distributed on both sides of the center of gravity; determine the rationality of the reference weight of each strapping method according to the similarity of the pressure data value distribution of the two strapping areas under each strapping method;

[0009] Determine the rationality of bundling under each bundling method according to the weight balance degree, the rationality of the reference weight, the distribution of bundling positions and the weight distribution of the bundling area;

[0010] Determine the optimal bundling method according to the bundling rationality; determine the adaptive bundling tightness under the optimal bundling method according to the bundling rationality under the optimal bundling method, the total weight of the storage cabinet parts to be bundled, and the friction of the parts packaging; adaptively package the storage cabinet parts to be bundled according to the optimal bundling method and the corresponding adaptive bundling tightness.

[0011] Furthermore, the process of obtaining the reference center of gravity position includes:

[0012] Taking the center of the surface image of the parts in the storage cabinet to be bundled as the origin, taking the conveying direction of the conveyor belt as the x-axis direction, and establishing a two-dimensional rectangular coordinate system on the surface image of the parts in the storage cabinet to be bundled with the direction perpendicular to the x-axis as the y-axis through the origin;

[0013] In the two-dimensional rectangular coordinate system, determining the abscissa value and the ordinate value corresponding to the coordinate point of each pressure sensor according to the position of each pressure sensor;

[0014] The product of the abscissa value of the coordinate point of each pressure sensor and the corresponding pressure data value is used as the weighted abscissa value of each pressure sensor; the product of the ordinate value of the coordinate point of each pressure sensor and the corresponding pressure data value is used as the weighted ordinate value of each pressure sensor;

[0015] The ratio between the accumulated value of the weighted horizontal coordinate values ​​of the pressure sensor and the accumulated value of the pressure data values ​​of all the pressure sensors is used as the horizontal coordinate value of the center of gravity of the storage cabinet parts to be bundled;

[0016] The ratio between the accumulated value of the weighted ordinate values ​​of the pressure sensor and the accumulated value of the pressure data values ​​of all the pressure sensors is used as the ordinate value of the center of gravity of the storage cabinet parts to be bundled;

[0017] According to the horizontal coordinate value of the center of gravity and the vertical coordinate value of the center of gravity, a reference center of gravity coordinate point of the storage cabinet parts to be bundled is determined; and according to the reference center of gravity coordinate point, a corresponding reference center of gravity position is determined.

[0018] Furthermore, the process of obtaining the weight balance degree includes:

[0019] In the two-dimensional rectangular coordinate system, determine the center coordinate point of the storage cabinet parts to be bundled; determine the degree of gravity center deviation of the storage cabinet parts to be bundled according to the Euclidean distance between the center coordinate point and the reference gravity center coordinate point;

[0020] Determine the degree of weight distribution dispersion of the parts of the storage cabinet to be bundled according to the dispersion of the numerical distribution of the pressure data values ​​at all the pressure sensor positions corresponding to the parts of the storage cabinet to be bundled;

[0021] The weight balance of the storage cabinet parts to be bundled is determined according to the degree of center of gravity deviation and the degree of weight distribution dispersion; the degree of center of gravity deviation and the degree of weight distribution dispersion are both negatively correlated with the weight balance.

[0022] Furthermore, the variance of the pressure data values ​​at all corresponding pressure sensor positions on the storage cabinet parts to be bundled is used as the discrete degree of weight distribution of the storage cabinet parts to be bundled.

[0023] Furthermore, the process of determining the weight balance degree of the storage cabinet parts to be bundled according to the degree of center of gravity deviation and the degree of weight distribution dispersion includes:

[0024] The product of the gravity center deviation degree and the weight distribution discrete degree is normalized by negative correlation to determine the weight balance degree of the storage cabinet parts to be bundled.

[0025] Furthermore, the process of obtaining the bundling method includes:

[0026] On the surface image of the storage cabinet parts to be bundled, a straight line parallel to the x-axis is drawn through the reference center of gravity coordinate point, and all first reference bundling points are obtained according to all coordinate points on the straight line whose horizontal coordinate values ​​are greater than the horizontal coordinate value of the center of gravity; all second reference bundling points are obtained according to all coordinate points on the straight line whose horizontal coordinate values ​​are less than the horizontal coordinate value of the center of gravity;

[0027] Any first reference bundling point and any second reference bundling point form a corresponding binary matching point pair, and count all binary matching point pairs;

[0028] Using a strapping tape with a preset width, taking the first reference strapping point in each binary matching point pair as a starting point, strapping is performed in a direction perpendicular to the x-axis to obtain a strapping area of ​​the first reference strapping point in each binary matching point pair; Using a strapping tape with a preset width, taking the second reference strapping point in each binary matching point pair as a starting point, strapping is performed in a direction perpendicular to the x-axis to obtain a strapping area of ​​the second reference strapping point in each binary matching point pair;

[0029] The bundling mode of each binary matching point pair is determined according to the bundling area of ​​the first reference bundling point and the bundling area of ​​the second reference bundling point in each binary matching point pair.

[0030] Furthermore, the process of obtaining the rationality of the reference weight includes:

[0031] Determine the first mean pressure value of each strapping method according to the mean pressure data values ​​of all pressure sensors in the strapping area of ​​the first reference strapping point corresponding to each strapping method; determine the second mean pressure value of each strapping method according to the mean pressure data values ​​of all pressure sensors in the strapping area of ​​the second reference strapping point corresponding to each strapping method;

[0032] The rationality of the reference weight of each bundling method is determined according to the negative correlation mapping value of the difference between the first pressure mean value and the second pressure mean value.

[0033] Furthermore, the process of obtaining the rationality of bundling includes:

[0034] The Euclidean distance between the first reference strapping point and the reference center of gravity coordinate point corresponding to each strapping method is used as the first reference distance; the Euclidean distance between the second reference strapping point and the reference center of gravity coordinate point corresponding to each strapping method is used as the second reference distance; and the distance interval difference of each strapping method is determined according to the first reference distance and the second reference distance;

[0035] When the weight balance degree of the storage cabinet parts to be bundled is greater than a preset balance threshold, the product of the negative correlation mapping value of the distance interval difference, the weight balance degree and the reference weight rationality is normalized to determine the bundling rationality under each bundling method;

[0036] Calculate the accumulated value of the pressure data values ​​of all pressure sensors in all strapping areas corresponding to each strapping method;

[0037] When the weight balance degree of the storage cabinet parts to be bundled is less than or equal to the preset balance threshold, the product of the normalized value of the accumulated pressure data value, the weight balance degree and the reference weight rationality is normalized to determine the bundling rationality of each bundling method.

[0038] Furthermore, the process of obtaining the optimal bundling method includes:

[0039] Among all the bundling methods, the bundling method corresponding to the maximum bundling rationality is taken as the optimal bundling method.

[0040] Furthermore, the process of obtaining the adaptive bundling tightness includes:

[0041] Obtaining the surface friction coefficient of the parts package corresponding to the parts in the storage cabinet to be bundled; normalizing the product of the negative correlation mapping value of the bundling rationality of the parts in the storage cabinet to be bundled, the weight of the parts in the storage cabinet to be bundled and the surface friction coefficient to determine the adaptive bundling coefficient of the parts in the storage cabinet to be bundled;

[0042] The adaptive bundling tightness under the optimal bundling mode is determined according to the product of the adaptive bundling coefficient and the preset bundling tightness.

[0043] This application has the following beneficial effects:

[0044] In order to ensure the stability of the parts in the storage cabinet to be bundled, two strapping belts are usually used to bundle the parts, that is, the bundling usually corresponds to two bundling areas; if the two bundling areas are located on the same side of the center of gravity, it will inevitably lead to unstable bundling of the parts in the storage cabinet to be bundled, that is, the bundling balance cannot be maintained; therefore, the center of gravity position needs to be determined first to determine the specific location of the bundling area. Considering that the downward pressure at different positions on the parts of the storage cabinet to be bundled is different, the center of gravity usually tends to the area with greater pressure. Therefore, the reference center of gravity position of the parts of the storage cabinet to be bundled is first determined based on the distribution of the pressure sensor positions on the parts of the storage cabinet to be bundled and the corresponding pressure data values.

[0045] Further considering that for the parts of the storage cabinet to be bundled, if the degree of balance of their weight distribution is different, the emphasis of bundling on both sides of the center of gravity is usually different; when the weight balance of the parts of the storage cabinet to be bundled is high, it means that the weight distribution of the parts of the storage cabinet to be bundled is relatively consistent. In order to ensure the uniformity of bundling, the more consistent the distance between the two bundling areas and the center of gravity, the more balanced the parts of the storage cabinet to be bundled after bundling. However, when the weight balance of the parts of the storage cabinet to be bundled is low, it means that the parts of the storage cabinet to be bundled are not balanced enough. In this case, when selecting the bundling position, it is necessary to increase the total pressure of the bundling area to ensure the stability of the parts of the storage cabinet to be bundled. Therefore, it is necessary to first calculate the degree of balance, and determine the corresponding degree of weight balance according to the characteristic that the center and the center of gravity are usually close to or coincident under the condition of weight balance. Then, it is necessary to consider that when bundling, the strapping belt supports the object after bundling. Therefore, the more similar the pressures on the two bundling areas are, the better the support effect is, and the more reasonable the corresponding bundling is. Therefore, the rationality of the reference weight of each bundling method is determined based on the similarity of the pressure data value distribution of the two bundling areas under each bundling method. Finally, based on the weight balance degree and the rationality of the reference weight, the rationality of various bundling methods is finally determined according to the distribution of the bundling position and the weight distribution of the bundling area, so as to select the optimal bundling method with the best bundling effect.

[0046] Taking into account the different weights of different storage cabinet parts to be bundled and the corresponding packaging friction coefficients, the storage cabinet parts to be bundled with larger weight and smaller corresponding packaging friction coefficients require a larger bundling tightness to prevent sliding and falling off. Therefore, after determining the adaptive bundling tightness according to the total weight of the storage cabinet parts to be bundled and the friction of the parts packaging, the storage cabinet parts to be bundled are adaptively bundled in combination with the optimal bundling method, so that the corresponding bundling quality and bundling efficiency are higher when adaptively packaging the storage cabinet parts to be bundled. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A structural diagram of the main components of a storage cabinet parts packaging device based on intelligent identification and positioning provided by one embodiment of the present invention;

[0049] Figure 2 A flowchart of a data processing process of a storage cabinet parts packaging device based on intelligent identification and positioning provided by an embodiment of the present invention;

[0050] Figure 3 A schematic diagram of the structure of a gravity detection platform of a storage cabinet parts packaging device based on intelligent identification and positioning provided by one embodiment of the present invention;

[0051] Figure 4 A schematic diagram of the overall structure of a packaging module of a storage cabinet parts packaging device based on intelligent identification and positioning provided by one embodiment of the present invention;

[0052] Figure 5 A first supplementary structural diagram of a packaging module of a storage cabinet parts packaging device based on intelligent identification and positioning provided by one embodiment of the present invention;

[0053] Figure 6 A second supplementary structural diagram of a packaging module of a storage cabinet parts packaging device based on intelligent identification and positioning provided by one embodiment of the present invention;

[0054] In the figure, there are a conveying device 1, a packaging module 3, an identification and positioning module 4, a gravity detection platform 5, a conveyor belt 101, a second motor 102, a conveyor belt 103, a third motor 104, a frame 105, an industrial camera 401, a control cabinet 51, a robotic arm 52, a grabbing piece 53, a camera 54, a strapping frame 301, a second electric push rod 302, a first hydraulic rod 303, a pressing plate 304, a side push plate 305, a second hydraulic rod 306, a rear baffle 307, a first motor 308, a strapping head 309 and a telescopic rod 310. DETAILED DESCRIPTION

[0055] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation method, structure, characteristics and effects of a storage cabinet parts packaging device based on intelligent identification and positioning proposed by the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment, and the specific features, structures or characteristics in one or more embodiments may be combined in any suitable form. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0056] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0057] A specific solution of a storage cabinet parts packaging device based on intelligent identification and positioning provided by the present invention is described in detail below with reference to the accompanying drawings.

[0058] A storage cabinet parts packaging device based on intelligent identification and positioning, including a control module, a connection platform, a conveyor belt and an identification and positioning module; the conveyor belt is installed above the connection platform, the storage cabinet parts to be bundled are placed on the conveyor belt, the identification and positioning module is directly above the conveyor belt, at least two pressure sensors are installed under the connection platform, and the identification and positioning module includes an industrial camera. Figure 1 , which shows a main component structure diagram of a storage cabinet parts packaging device based on intelligent identification and positioning provided by an embodiment of the present invention, the main components include: a conveying device 1, a packaging module 3, an identification and positioning module 4 and a gravity detection platform 5; wherein the conveying device 1 includes a conveyor belt 101, a second motor 102, a conveyor belt 103, a third motor 104 and a frame 105; the identification and positioning module 4 includes an industrial camera 401.

[0059] Taking into account that the connecting platform in the embodiment of the present invention is rectangular, in a specific implementation method of the embodiment of the present invention, 100 pressure sensors are evenly arranged under the connecting platform to more completely cover the connecting platform, so that when the storage cabinet parts to be bundled are placed on the conveyor belt above the connecting platform, the pressure data value at the position of each pressure sensor can be measured, and the pressure sensors are distributed in the form of a matrix array with 10 rows and 10 columns; analogously, the plane of the connecting platform is regarded as a matrix, and each pressure sensor corresponds to each element position; it should be noted that the implementer can adjust the number and distribution of pressure sensors according to the specific implementation environment, and the more pressure sensors and the larger the coverage range, the better the corresponding bundling effect, which will not be further elaborated here.

[0060] The industrial camera 401 and all the pressure sensor signals are connected to the control module; the industrial camera 401 is used to obtain the surface image of the parts of the storage cabinet to be bundled. In a specific implementation of the embodiment of the present invention, the industrial camera is located directly above the conveyor belt, and the shooting angle is vertically downward so that the surface image of the parts of the storage cabinet to be bundled captured by the industrial camera can include the entire connection platform, so as to ensure that each pressure sensor position can be located in the surface image of the parts of the storage cabinet to be bundled; and it should be noted that in order to ensure that the parts of the storage cabinet to be bundled can be completely photographed, it is necessary to ensure that all parts of the parts of the storage cabinet to be bundled are completely within the range of the connection platform, so that the weight distribution of the parts of the storage cabinet to be bundled can be reflected according to the pressure data value of each pressure sensor position, so that the subsequent bundling effect is better. The pressure sensor is used to detect the pressure data value at the corresponding position, which reflects the pressure generated by the gravity of the parts of the storage cabinet to be bundled at the corresponding position, and can reflect the weight distribution of the parts of the storage cabinet to be bundled.

[0061] The control module can be a data processing chip such as a CPU, MCU, or a data processing device such as a computer host. The industrial camera 401 and all pressure sensors can be connected to the control module through a wired connection via a data transmission line, that is, the output end of the industrial camera 401 and all pressure sensors are connected to the input end of the control module. Wireless connection can also be achieved through wireless communication methods such as Bluetooth and WiFi.

[0062] Further, after the surface image of the parts to be bundled and stored in the storage cabinet captured by the industrial camera 401 and the pressure data value at the corresponding position of each pressure sensor are transmitted to the control module, the control module performs adaptive bundling of the parts to be bundled and stored in the storage cabinet according to the predetermined data processing process. Figure 2 , which shows a flow chart of a data processing process of a storage cabinet parts packaging device based on intelligent identification and positioning provided by an embodiment of the present invention;

[0063] Step S201: the control module obtains the pressure data value at each pressure sensor position corresponding to the part of the storage cabinet to be bundled according to the surface image of the part of the storage cabinet to be bundled and the pressure data value at the corresponding position of each pressure sensor.

[0064] Because the surface image of the parts in the storage cabinet to be bundled in the embodiment of the present invention includes the entire connection platform, and all the pressure sensors are installed below the connection platform, the position of each pressure sensor can be determined in advance in the surface image of the parts in the storage cabinet to be bundled.

[0065] Step S202: Determine the reference center of gravity position of the storage cabinet parts to be bundled according to the distribution of the pressure sensor positions on the storage cabinet parts to be bundled and the corresponding pressure data values.

[0066] In order to ensure the stability of the parts in the storage cabinet to be bundled, two strapping belts are usually used to bundle the parts, that is, the bundling usually corresponds to two bundling areas; if the two bundling areas are located on the same side of the center of gravity, it will inevitably lead to unstable bundling of the parts in the storage cabinet to be bundled, that is, the bundling balance cannot be maintained; therefore, the center of gravity position needs to be determined first to determine the specific location of the bundling area. Considering that the downward pressure at different positions on the parts of the storage cabinet to be bundled is different, the center of gravity usually tends to the area with greater pressure. Therefore, the reference center of gravity position of the parts of the storage cabinet to be bundled is first determined based on the distribution of the pressure sensor positions on the parts of the storage cabinet to be bundled and the corresponding pressure data values.

[0067] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the reference center of gravity position includes:

[0068] With the center of the surface image of the parts in the storage cabinet to be bundled as the origin and the conveying direction of the conveyor belt as the x-axis direction, a two-dimensional rectangular coordinate system is established on the surface image of the parts in the storage cabinet to be bundled, with the direction perpendicular to the x-axis as the y-axis through the origin; in the two-dimensional rectangular coordinate system, the horizontal and vertical coordinate values ​​corresponding to the coordinate points of each pressure sensor are determined according to the position of each pressure sensor; that is, in the embodiment of the present invention, the bundling direction is perpendicular to the x-axis.

[0069] The product of the horizontal coordinate value of each pressure sensor's coordinate point and the corresponding pressure data value is used as the weighted horizontal coordinate value of each pressure sensor; the product of the vertical coordinate value of each pressure sensor's coordinate point and the corresponding pressure data value is used as the weighted vertical coordinate value of each pressure sensor. The ratio between the accumulated value of the weighted horizontal coordinate value of the pressure sensor and the accumulated value of the pressure data values ​​of all pressure sensors is used as the horizontal coordinate value of the center of gravity of the storage cabinet parts to be bundled; the ratio between the accumulated value of the weighted vertical coordinate value of the pressure sensor and the accumulated value of the pressure data values ​​of all pressure sensors is used as the vertical coordinate value of the center of gravity of the storage cabinet parts to be bundled. Considering that the center of gravity usually tends to be in an area with greater pressure, for each pressure sensor's coordinate point, the larger the corresponding pressure data value, the greater the weight of the corresponding coordinate value of the coordinate point; therefore, the horizontal and vertical coordinate values ​​of the coordinate point corresponding to the center of gravity are determined by combining the pressure data value as the weight and the coordinate point position of each pressure sensor.

[0070] According to the horizontal coordinate value and the vertical coordinate value of the center of gravity, the reference center of gravity coordinate point of the storage cabinet parts to be bundled is determined; according to the reference center of gravity coordinate point, the corresponding reference center of gravity position is determined. That is, the horizontal coordinate value of the reference center of gravity coordinate point is the horizontal coordinate value of the center of gravity, and the vertical coordinate value is the vertical coordinate value of the center of gravity.

[0071] In a specific implementation of the embodiment of the present invention, the process of obtaining the horizontal coordinate value of the center of gravity is expressed by the formula: ;in, is the horizontal coordinate value of the center of gravity of the storage cabinet parts to be bundled; is the total number of pressure sensors; For the The pressure data value of a pressure sensor; For the The horizontal coordinate value of the coordinate point of the pressure sensor.

[0072] In a specific implementation of the embodiment of the present invention, the process of obtaining the vertical coordinate value of the center of gravity is expressed by the formula: ;in, is the vertical coordinate value of the center of gravity of the storage cabinet parts to be bundled; is the total number of pressure sensors; For the The pressure data value of a pressure sensor; For the The vertical coordinate value of the coordinate point of the pressure sensor.

[0073] Step S203: Determine the weight balance of the storage cabinet parts to be bundled based on the deviation of the reference center of gravity position relative to the center position of the storage cabinet parts to be bundled and the discrete distribution of the pressure data values ​​at the positions of each pressure sensor; determine all the strapping methods including two strapping areas distributed on both sides of the center of gravity; determine the rationality of the reference weight of each strapping method based on the similarity of the pressure data value distribution of the two strapping areas under each strapping method.

[0074] Further considering that for the parts of the storage cabinet to be bundled, when the degree of weight distribution balance is different, the bundling emphasis when bundling on both sides of the center of gravity is usually different; when the weight balance degree of the parts of the storage cabinet to be bundled is high, it means that the weight distribution of the parts of the storage cabinet to be bundled is relatively consistent, so in order to ensure the uniformity of bundling, the more consistent the distance between the two bundling areas and the center of gravity, the more balanced the parts of the storage cabinet to be bundled after bundling. However, when the weight balance degree of the parts of the storage cabinet to be bundled is low, it means that the parts of the storage cabinet to be bundled are not balanced enough, so when selecting the bundling position, it is necessary to increase the total pressure of the bundling area to ensure the stability of the parts of the storage cabinet to be bundled. Therefore, it is necessary to first calculate the degree of balance, and determine the corresponding degree of weight balance based on the characteristic that the center and the center of gravity are usually close to or overlap under weight balance conditions.

[0075] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the weight balance degree includes:

[0076] In a two-dimensional rectangular coordinate system, determine the center coordinate point of the storage cabinet parts to be bundled; determine the degree of center of gravity offset of the storage cabinet parts to be bundled according to the Euclidean distance between the center coordinate point and the reference center of gravity coordinate point; that is, characterize the degree of weight balance in the dimension where the center and center of gravity of the storage cabinet parts to be bundled are close through the center offset degree; the greater the corresponding center of gravity offset degree, the greater the distance deviation between the center and center of gravity of the storage cabinet parts to be bundled, and the lower the corresponding weight balance degree. In a specific implementation of an embodiment of the present invention, the process of obtaining the center of the storage cabinet parts to be bundled includes: inputting the image of the storage cabinet parts to be bundled into a trained deep learning model, outputting the coordinate point of the center of mass of the storage cabinet parts to be bundled, and using the coordinate point of the center of mass as the center coordinate point of the storage cabinet parts to be bundled; the deep learning model uses a convolutional neural network model, which can be adjusted according to the specific implementation environment.

[0077] According to the discrete distribution of the pressure data values ​​at all the corresponding pressure sensor positions on the parts of the storage cabinet to be bundled, the discrete degree of the weight distribution of the parts of the storage cabinet to be bundled is determined; preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the discrete degree of the weight distribution includes:

[0078] The variance of the pressure data values ​​at all the corresponding pressure sensor positions on the parts of the storage cabinet to be bundled is used as the weight distribution dispersion of the parts of the storage cabinet to be bundled, that is, the variance of the pressure data values ​​corresponding to all the pressure sensors whose pressure data values ​​are not 0. That is, the weight balance degree is characterized by the weight distribution dispersion in the dimension where the weight distribution of the parts of the storage cabinet to be bundled is consistent. According to the characteristics of the variance, the greater the corresponding weight distribution dispersion, the more inconsistent the overall distribution of the pressure data value, and the lower the corresponding weight balance degree.

[0079] Therefore, the degree of center of gravity offset and the degree of weight distribution dispersion are combined to determine the weight balance of the parts of the storage cabinet to be bundled. Since the greater the degree of weight distribution dispersion, the greater the degree of center of gravity offset, the smaller the corresponding weight balance, so the degree of center of gravity offset and the degree of weight distribution dispersion are negatively correlated with the weight balance.

[0080] In a specific implementation of the embodiment of the present invention, the process of determining the weight balance of the parts of the storage cabinet to be bundled according to the degree of center of gravity deviation and the degree of weight distribution dispersion includes:

[0081] The product of the gravity center deviation and the weight distribution dispersion is negatively normalized to determine the weight balance of the parts to be bundled. The weight balance is limited to the value range of 0 to 1 through normalization, which facilitates the subsequent threshold selection and improves robustness.

[0082] In a specific implementation of the embodiment of the present invention, the process of obtaining the weight balance degree is expressed by the formula: ;in, The weight balance of the parts to be bundled in the storage cabinet; is the Euclidean distance between the center coordinate point of the parts to be bundled and the reference center of gravity coordinate point, that is, the degree of center of gravity deviation of the parts to be bundled; is the variance of the pressure data values ​​at all corresponding pressure sensor positions on the parts of the storage cabinet to be bundled, that is, the degree of discreteness of the weight distribution of the parts of the storage cabinet to be bundled; is an exponential function with a natural constant as the base. Implementers can adopt other negative correlation mapping methods according to the specific implementation environment, such as , and the reciprocal, where is a hyperbolic tangent function, which will not be further described here. It is a linear normalization function. The implementer can adjust the normalization method according to the specific implementation environment.

[0083] Since the two strapping areas need to be located on both sides of the center of gravity, when screening out the optimal strapping method, it is necessary to determine all strapping methods corresponding to the screening samples that include two strapping areas distributed on both sides of the center of gravity.

[0084] Preferably, in a specific implementation of the embodiment of the present invention, the process of obtaining the bundling method includes:

[0085] Considering that the parts of the storage cabinet to be bundled move along the conveyor belt direction, the corresponding bundling direction is perpendicular to the x-axis; and because the two bundling areas are on both sides of the center of gravity, a straight line parallel to the x-axis is drawn through the reference center of gravity coordinate point on the surface image of the parts of the storage cabinet to be bundled, and all the first reference bundling points are obtained according to all the coordinate points on the straight line whose horizontal coordinate values ​​are greater than the horizontal coordinate value of the center of gravity; all the second reference bundling points are obtained according to all the coordinate points on the straight line whose horizontal coordinate values ​​are less than the horizontal coordinate value of the center of gravity. The first reference bundling point and the second reference bundling point are both reference points or starting points of the corresponding bundling areas.

[0086] Any first reference bundling point and any second reference bundling point form a corresponding binary matching point pair, and all binary matching point pairs are counted; a bundling belt with a preset width is used to take the first reference bundling point in each binary matching point pair as the starting point, and is used to perform bundling in a direction perpendicular to the x-axis to obtain the bundling area of ​​the first reference bundling point in each binary matching point pair; a bundling belt with a preset width is used to take the second reference bundling point in each binary matching point pair as the starting point, and is used to perform bundling in a direction perpendicular to the x-axis to obtain the bundling area of ​​the second reference bundling point in each binary matching point pair. Since it is sufficient to ensure that the two bundling areas are on both sides of the center of gravity, each first reference bundling point and each second reference bundling point are matched and combined in pairs to determine the bundling starting points corresponding to all bundling methods. In a specific implementation of an embodiment of the present invention, the preset width is set to 5 cm, and the implementer can adjust it according to the specific implementation environment. It should be noted that the bundling belt is a long standard rectangle, and the corresponding first reference bundling point and the second reference bundling point are both located on the midline of the corresponding long standard rectangle.

[0087] Through the above steps, each binary matching point pair can correspond to two bundling areas. In view of the fact that each bundling method has two bundling areas, the bundling method of each binary matching point pair is determined according to the bundling area of ​​the first reference bundling point and the bundling area of ​​the second reference bundling point in each binary matching point pair.

[0088] Furthermore, when selecting a bundling method, it is necessary to consider that the bundling belt has a supporting effect on the object after bundling. Therefore, the more similar the pressures on the two bundling areas are, the better the supporting effect is, and the more reasonable the corresponding bundling is. Therefore, the rationality of the reference weight of each bundling method is further determined based on the similarity of the pressure data value distribution of the two bundling areas under each bundling method.

[0089] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the rationality of the reference weight includes:

[0090] The first mean pressure value of each strapping method is determined according to the mean pressure data values ​​of all pressure sensors in the strapping area of ​​the first reference strapping point corresponding to each strapping method; the second mean pressure value of each strapping method is determined according to the mean pressure data values ​​of all pressure sensors in the strapping area of ​​the second reference strapping point corresponding to each strapping method. The first mean pressure value and the second mean pressure value respectively characterize the overall pressure of the corresponding strapping area; further, according to the characteristic that the more similar the pressures in the two strapping areas are, the more reasonable the corresponding strapping is, the rationality of the reference weight of each strapping method is determined according to the negative correlation mapping value of the difference between the first mean pressure value and the second mean pressure value; so that the greater the rationality of the reference weight, the more reasonable the corresponding strapping is.

[0091] In a specific implementation of the embodiment of the present invention, the process of obtaining the rationality of the reference weight is expressed by the formula: ;in, For the The rationality of the reference weight of the bundling method; For the an average value of the pressure data values ​​of all pressure sensors in the bundling area of ​​the first reference bundling point corresponding to the bundling method; For the an average value of the pressure data values ​​of all pressure sensors in the bundling area of ​​the second reference bundling point corresponding to the bundling method; is the absolute value symbol; is an exponential function with a natural constant as the base. Implementers can adopt other negative correlation mapping methods according to the specific implementation environment, such as , and the reciprocal, where is a hyperbolic tangent function, which will not be further described here.

[0092] Step S204: Determine the rationality of bundling under each bundling method according to the weight balance degree, the rationality of the reference weight, the distribution of the bundling positions and the weight distribution of the bundling area.

[0093] It can be seen from step S203 that the weight balance degree will affect the emphasis of bundling, and the rationality of the reference weight will affect the rationality of bundling. In addition, under different emphases, the distance between the two bundling areas and the center of gravity and the total pressure of the bundling area need to be considered. Therefore, in the fusion dimension, the rationality of bundling under each bundling method is determined according to the weight balance degree, the rationality of the reference weight, the distribution of the bundling position and the weight distribution of the bundling area.

[0094] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining bundling rationality includes:

[0095] The Euclidean distance between the first reference bundling point and the reference center of gravity coordinate point corresponding to each bundling method is used as the first reference distance; the Euclidean distance between the second reference bundling point and the reference center of gravity coordinate point corresponding to each bundling method is used as the second reference distance; according to the first reference distance and the second reference distance, the distance interval difference of each bundling method is determined; when the weight balance degree of the storage cabinet parts to be bundled is greater than the preset balance threshold, the product between the negative correlation mapping value of the distance interval difference, the weight balance degree and the reference weight rationality is normalized to determine the bundling rationality under each bundling method. When the storage cabinet parts to be bundled are sufficiently balanced, the closer the distance between the two bundling areas relative to the center of gravity of the storage cabinet parts to be bundled, the less likely it is to be unbalanced when supporting, which is conducive to transportation, and the corresponding bundling rationality is higher. Further, the weight balance degree and the reference weight rationality are combined to characterize the bundling rationality. In a specific implementation of an embodiment of the present invention, the preset balance threshold is set to 0.7, and the implementer can adjust it according to the specific implementation environment.

[0096] In a specific implementation of the embodiment of the present invention, when the weight balance of the storage cabinet parts to be bundled is greater than a preset balance threshold, the corresponding bundling rationality acquisition process is expressed by the formula: ;in, When the weight balance of the parts to be bundled in the storage cabinet is greater than the preset balance threshold, The rationality of the bundling corresponding to the bundling method; The weight balance of the parts to be bundled in the storage cabinet; For the The rationality of the reference weight of the bundling method; For the The distance interval difference corresponding to the different bundling methods, For the The Euclidean distance between the first reference bundling point and the reference center of gravity coordinate point corresponding to the bundling method, that is, the first reference distance; For the The Euclidean distance between the second reference bundling point and the reference centroid coordinate point corresponding to the bundling method, that is, the second reference distance; is an exponential function with a natural constant as the base. Implementers can adopt other negative correlation mapping methods according to the specific implementation environment, such as , and the reciprocal, where is the hyperbolic tangent function, which will not be further described here; It is a linear normalization function. The implementer can adjust the normalization method according to the specific implementation environment.

[0097] Calculate the cumulative value of the pressure data values ​​of all pressure sensors in all strapping areas corresponding to each strapping method; when the weight balance of the storage cabinet parts to be strapped is less than or equal to the preset balance threshold, normalize the product of the normalized value of the cumulative value of the pressure data value, the weight balance degree and the reference weight rationality to determine the strapping rationality of each strapping method. On the contrary, when the storage cabinet parts to be strapped are not balanced enough, the degree of proximity of the two strapping areas relative to the center of gravity of the storage cabinet parts to be strapped usually has little effect on the strapping. At this time, if the supporting effect of the storage cabinet parts to be strapped is to be guaranteed after strapping, it is necessary to ensure that the pressure corresponding to the strapping area is as large as possible to compensate for the disadvantage of its own imbalance; therefore, the rationality of the strapping at this time needs to be combined with the pressure size corresponding to the two strapping areas. In a specific implementation of an embodiment of the present invention, the normalization of the cumulative value of the pressure data is achieved by the ratio between the cumulative value of the pressure data and the overall weight of the storage cabinet parts to be strapped.

[0098] In a specific implementation of the embodiment of the present invention, when the weight balance of the storage cabinet parts to be bundled is less than or equal to the preset balance threshold, the corresponding bundling rationality acquisition process is expressed by the formula: ;in, The weight balance of the parts to be bundled in the storage cabinet is less than or equal to the preset balance threshold. The rationality of the bundling corresponding to the bundling method; The weight balance of the parts to be bundled in the storage cabinet; For the The rationality of the reference weight of the bundling method; is the total number of pressure sensors; For the The pressure data value of a pressure sensor; For the The number of pressure sensors in the corresponding strapping area under the strapping method; For the The first The pressure data value of a pressure sensor; For the The accumulated value of the pressure data values ​​of all the pressure sensors in the corresponding bundling area under the bundling mode; For the A normalized value of the accumulated values ​​of the pressure data values ​​of all the pressure sensors in the corresponding bundling area under the bundling method; It is a linear normalization function. The implementer can adjust the normalization method according to the specific implementation environment.

[0099] Step S205: Determine the optimal bundling method according to the rationality of bundling; determine the adaptive bundling tightness under the optimal bundling method according to the rationality of bundling under the optimal bundling method, the total weight of the parts in the storage cabinet to be bundled, and the friction of the parts packaging; adaptively bundle the parts in the storage cabinet to be bundled according to the optimal bundling method and the corresponding adaptive bundling tightness.

[0100] After determining the bundling rationality of all bundling methods, the optimal bundling method is selected according to the characteristic that the greater the bundling rationality, the more reasonable the bundling method. In a specific implementation of the embodiment of the present invention, among all bundling methods, the bundling method corresponding to the maximum bundling rationality is selected as the optimal bundling method.

[0101] After obtaining the optimal bundling method, the weights of different storage cabinet parts to be bundled and the corresponding packaging friction coefficients are different. The storage cabinet parts to be bundled with a larger weight and a smaller corresponding packaging friction coefficient require a larger bundling tightness to prevent sliding and falling off. Therefore, after determining the adaptive bundling tightness according to the total weight of the storage cabinet parts to be bundled and the friction of the parts packaging, the storage cabinet parts to be bundled are adaptively bundled in combination with the optimal bundling method; specifically, after obtaining the optimal bundling point of the current storage cabinet parts to be bundled, the storage cabinet parts to be bundled are transmitted to the gravity detection platform 5 through the conveyor belt 101; please refer to Figure 3 , which shows a schematic diagram of the gravity detection platform structure of a storage cabinet parts packaging device based on intelligent identification and positioning provided by an embodiment of the present invention. The gravity detection platform structure includes: a control cabinet 51, a mechanical arm 52, a gripper 53 and a camera 54, and similarly to the industrial camera 401 and all pressure sensors, they are all connected to the control module by signal. The control cabinet 51, the mechanical arm 52 and the gripper 53 act together to adjust the position of the storage cabinet parts to be bundled, and the camera 54 is used to obtain the image of the corresponding storage cabinet parts to be bundled, so that the control module can lock the bundling area and the bundling point for accurate position adjustment. The control module adjusts the working parameters of the mechanical arm and adjusts the position of the storage cabinet parts to be bundled, so that the subsequent packaging module 3 can accurately lock the bundling point to prevent the bundling area of ​​the optimal bundling method from deviating from the actual bundling area or the phenomenon of large deviation.

[0102] After the storage cabinet parts to be bundled are conveyed to the packing module by the conveyor belt 101 and the gravity detection platform 5, the working parameters of the packing module are finally determined according to the bundling area under the optimal bundling method, that is, the tightness of the bundling belt used to fix the storage cabinet parts to be bundled. Figure 4 , which shows a schematic diagram of the overall structure of a packaging module of a storage cabinet parts packaging device based on intelligent identification and positioning provided by an embodiment of the present invention; please refer to Figure 5 , which shows a first supplementary structural schematic diagram of a packaging module of a storage cabinet parts packaging device based on intelligent identification and positioning provided by an embodiment of the present invention; please refer to Figure 6 , which shows a second supplementary structural schematic diagram of a packaging module of a storage cabinet parts packaging device based on intelligent identification and positioning provided by an embodiment of the present invention; Figure 4 The whole comprises: a strapping frame 301, a second electric push rod 302, a first hydraulic rod 303, a pressing plate 304, a side push plate 305, a second hydraulic rod 306, a rear baffle 307, a first motor 308 and a strapping head 309; Figure 5 The invention comprises a strapping frame 301, a second electric push rod 302 and a telescopic rod 310; Figure 6 The packaging module includes a strapping frame 301 and a second electric push rod 302; and the packaging module is also connected to the control module signal. Figure 4 The essence is the same as that of the strapping device in a carton baler disclosed in the patent document CN221068574U, so its specific structure will not be further described.

[0103] After being transmitted to the packaging module, the corresponding bundling area position is transmitted to the control module through the gravity detection platform 5, and the control module adjusts the length of the left and right telescopic rods 310 according to the bundling area position, and then performs the bundling operation according to the adaptive bundling tightness.

[0104] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the adaptive bundling tightness includes:

[0105] Obtain the surface friction coefficient of the parts packaging corresponding to the parts in the storage cabinet to be bundled; normalize the product of the negative correlation mapping value of the bundling rationality of the parts in the storage cabinet to be bundled, the weight of the parts in the storage cabinet to be bundled and the surface friction coefficient to determine the adaptive bundling coefficient of the parts in the storage cabinet to be bundled; determine the adaptive bundling tightness under the optimal bundling method according to the product between the adaptive bundling coefficient and the preset bundling tightness. When the total weight of the object The larger the size, the higher the bundling tightness is usually required to prevent sliding or falling off due to gravity; the correct bundling area can provide stability, that is, when the bundling rationality of the bundling method is higher, the required bundling tightness can be reduced; and when the friction coefficient of the parts packaging is smaller, a greater bundling tightness is required to reduce the sliding of the object. Therefore, the bundling rationality is negatively correlated with the bundling tightness, and the weight and surface friction coefficient of the parts to be bundled in the storage cabinet are positively correlated with the bundling tightness. In a specific implementation of an embodiment of the present invention, the preset bundling tightness is set to the maximum tightness that the packaging module can set, which can be adjusted according to the specific implementation environment.

[0106] In a specific implementation of the embodiment of the present invention, the process of obtaining the adaptive bundling tightness is expressed by the formula: ;in, Adaptive bundling tightness of the storage cabinet parts to be bundled under the optimal bundling method; To preset the binding tightness; The rationality of bundling corresponding to the optimal bundling method of the storage cabinet parts to be bundled; The surface friction coefficient of the parts packaging corresponding to the parts of the storage cabinet to be bundled is the data obtained a priori; is the total number of pressure sensors; For the The pressure data value of a pressure sensor; That is, the weight of the parts of the storage cabinet to be bundled, and the weight of the parts of the storage cabinet to be bundled can also be measured a priori.

[0107] After calculating the adaptive bundling tightness of the storage cabinet parts to be bundled under the optimal bundling method, the bundling operation is performed according to the bundling area under the optimal bundling method and the corresponding adaptive bundling tightness, specifically:

[0108] First, the storage cabinet parts package moves forward on the conveyor belt 103, and the parts package wraps the rolling belt; then, the first motor 308 works to drive the rear baffle 307 to flip up, preventing the cartons on the conveyor belt 103 from moving forward; the first hydraulic rod 303 works to push the pressing plate 304 downward to fix the storage cabinet parts package; the second electric push rod 302 works to push the strapping rack 301 downward, and the strapping rack 301 feeds the strapping belt into the strapping head 309.

[0109] To summarize, a storage cabinet parts packaging device based on intelligent identification and positioning first determines the weight balance of the storage cabinet parts to be bundled according to the deviation of the center of gravity relative to the center of the storage cabinet parts to be bundled based on the characteristic that the center and the center of gravity are usually close to or coincident under weight balance conditions. Then, based on the deviation of the center of gravity relative to the center of gravity of the storage cabinet parts to be bundled, the rationality of the bundling is measured according to the weight distribution and position distribution of the two bundling areas under the bundling method. The optimal bundling method is determined according to the rationality of the bundling, and the adaptive bundling tightness is determined according to the total weight of the storage cabinet parts to be bundled and the friction of the parts packaging under the optimal bundling method, so as to adaptively package the storage cabinet parts to be bundled, so that the corresponding bundling quality and bundling efficiency when the storage cabinet parts to be bundled are adaptively packaged are higher.

[0110] It should be noted that the sequence of the above embodiments of the present invention is for description only and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0111] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A storage cabinet parts packaging device based on intelligent identification and positioning, characterized in that: It includes a control module, a connection platform, a conveyor belt and an identification and positioning module; the conveyor belt is installed above the connection platform, the parts of the storage cabinet to be bundled are placed on the conveyor belt, the identification and positioning module is directly above the conveyor belt, and at least two pressure sensors are installed under the connection platform. The identification and positioning module includes an industrial camera, and the industrial camera and the pressure sensor signals are connected to the control module. The industrial camera is used to obtain the surface image of the parts of the storage cabinet to be bundled, and the pressure sensor is used to detect the pressure data value at the corresponding position. The control module obtains the pressure data value at each pressure sensor position corresponding to the parts of the storage cabinet to be bundled according to the surface image of the parts of the storage cabinet to be bundled and the pressure data value at the corresponding position of each pressure sensor; Determine the reference center of gravity position of the parts in the storage cabinet to be bundled according to the distribution of the pressure sensor positions on the parts in the storage cabinet to be bundled and the corresponding pressure data values; Determine the weight balance of the storage cabinet parts to be bundled according to the deviation of the reference center of gravity position relative to the center position of the storage cabinet parts to be bundled and the distribution discreteness of the pressure data values ​​at the positions of each pressure sensor; determine all the strapping methods including two strapping areas distributed on both sides of the center of gravity; determine the rationality of the reference weight of each strapping method according to the similarity of the pressure data value distribution of the two strapping areas under each strapping method; Determine the rationality of bundling under each bundling method according to the weight balance degree, the rationality of the reference weight, the distribution of bundling positions and the weight distribution of the bundling area; Determine the optimal bundling method according to the bundling rationality; determine the adaptive bundling tightness under the optimal bundling method according to the bundling rationality under the optimal bundling method, the total weight of the storage cabinet parts to be bundled, and the friction of the parts packaging; adaptively bundle the storage cabinet parts to be bundled according to the optimal bundling method and the corresponding adaptive bundling tightness; The process of obtaining the reference center of gravity position includes: Taking the center of the surface image of the parts in the storage cabinet to be bundled as the origin, taking the conveying direction of the conveyor belt as the x-axis direction, and establishing a two-dimensional rectangular coordinate system on the surface image of the parts in the storage cabinet to be bundled with the direction perpendicular to the x-axis as the y-axis through the origin; In the two-dimensional rectangular coordinate system, determining the abscissa value and the ordinate value corresponding to the coordinate point of each pressure sensor according to the position of each pressure sensor; The product of the abscissa value of the coordinate point of each pressure sensor and the corresponding pressure data value is used as the weighted abscissa value of each pressure sensor; the product of the ordinate value of the coordinate point of each pressure sensor and the corresponding pressure data value is used as the weighted ordinate value of each pressure sensor; The ratio between the accumulated value of the weighted horizontal coordinate values ​​of the pressure sensor and the accumulated value of the pressure data values ​​of all the pressure sensors is used as the horizontal coordinate value of the center of gravity of the storage cabinet parts to be bundled; The ratio between the accumulated value of the weighted ordinate values ​​of the pressure sensor and the accumulated value of the pressure data values ​​of all the pressure sensors is used as the ordinate value of the center of gravity of the storage cabinet parts to be bundled; Determine the reference center of gravity coordinate point of the storage cabinet parts to be bundled according to the center of gravity horizontal coordinate value and the center of gravity vertical coordinate value; determine the corresponding reference center of gravity position according to the reference center of gravity coordinate point; The process of obtaining the weight balance degree includes: In the two-dimensional rectangular coordinate system, determine the center coordinate point of the storage cabinet parts to be bundled; determine the degree of gravity center deviation of the storage cabinet parts to be bundled according to the Euclidean distance between the center coordinate point and the reference gravity center coordinate point; Determine the degree of weight distribution dispersion of the parts of the storage cabinet to be bundled according to the dispersion of the numerical distribution of the pressure data values ​​at all the pressure sensor positions corresponding to the parts of the storage cabinet to be bundled; Determine the weight balance of the storage cabinet parts to be bundled according to the center of gravity offset and the weight distribution discreteness; the center of gravity offset and the weight distribution discreteness are both negatively correlated with the weight balance; The process of obtaining the bundling method includes: On the surface image of the storage cabinet parts to be bundled, a straight line parallel to the x-axis is drawn through the reference center of gravity coordinate point, and all first reference bundling points are obtained according to all coordinate points on the straight line whose horizontal coordinate values ​​are greater than the horizontal coordinate value of the center of gravity; all second reference bundling points are obtained according to all coordinate points on the straight line whose horizontal coordinate values ​​are less than the horizontal coordinate value of the center of gravity; Any first reference bundling point and any second reference bundling point form a corresponding binary matching point pair, and count all binary matching point pairs; Using a strapping tape with a preset width, taking the first reference strapping point in each binary matching point pair as a starting point, strapping is performed in a direction perpendicular to the x-axis to obtain a strapping area of ​​the first reference strapping point in each binary matching point pair; Using a strapping tape with a preset width, taking the second reference strapping point in each binary matching point pair as a starting point, strapping is performed in a direction perpendicular to the x-axis to obtain a strapping area of ​​the second reference strapping point in each binary matching point pair; The bundling mode of each binary matching point pair is determined according to the bundling area of ​​the first reference bundling point and the bundling area of ​​the second reference bundling point in each binary matching point pair.

2. A storage cabinet parts packaging device based on intelligent identification and positioning according to claim 1, characterized in that: The process of obtaining the discrete degree of weight distribution includes: The variance of the pressure data values ​​at all the corresponding pressure sensor positions on the parts of the storage cabinet to be bundled is used as the discrete degree of the weight distribution of the parts of the storage cabinet to be bundled.

3. The storage cabinet parts packaging device based on intelligent identification and positioning according to claim 1 is characterized in that: The process of determining the weight balance degree of the storage cabinet parts to be bundled according to the degree of center of gravity deviation and the degree of weight distribution dispersion includes: The product of the gravity center deviation degree and the weight distribution discrete degree is normalized by negative correlation to determine the weight balance degree of the storage cabinet parts to be bundled.

4. The storage cabinet parts packaging device based on intelligent identification and positioning according to claim 1 is characterized in that: The process of obtaining the rationality of the reference weight includes: Determine the first mean pressure value of each strapping method according to the mean pressure data values ​​of all pressure sensors in the strapping area of ​​the first reference strapping point corresponding to each strapping method; determine the second mean pressure value of each strapping method according to the mean pressure data values ​​of all pressure sensors in the strapping area of ​​the second reference strapping point corresponding to each strapping method; The rationality of the reference weight of each bundling method is determined according to the negative correlation mapping value of the difference between the first pressure mean value and the second pressure mean value.

5. The storage cabinet parts packaging device based on intelligent identification and positioning according to claim 1 is characterized in that: The process of obtaining the rationality of bundling includes: The Euclidean distance between the first reference strapping point and the reference center of gravity coordinate point corresponding to each strapping method is used as the first reference distance; the Euclidean distance between the second reference strapping point and the reference center of gravity coordinate point corresponding to each strapping method is used as the second reference distance; and the distance interval difference of each strapping method is determined according to the first reference distance and the second reference distance; When the weight balance degree of the storage cabinet parts to be bundled is greater than a preset balance threshold, the product of the negative correlation mapping value of the distance interval difference, the weight balance degree and the reference weight rationality is normalized to determine the bundling rationality under each bundling method; Calculate the accumulated value of the pressure data values ​​of all pressure sensors in all strapping areas corresponding to each strapping method; When the weight balance degree of the storage cabinet parts to be bundled is less than or equal to the preset balance threshold, the product of the normalized value of the accumulated pressure data value, the weight balance degree and the reference weight rationality is normalized to determine the bundling rationality of each bundling method.

6. The storage cabinet parts packaging device based on intelligent identification and positioning according to claim 1 is characterized in that: The process of obtaining the optimal bundling method includes: Among all the bundling methods, the bundling method corresponding to the maximum bundling rationality is taken as the optimal bundling method.

7. The storage cabinet parts packaging device based on intelligent identification and positioning according to claim 1 is characterized in that: The process of obtaining the adaptive bundling tightness includes: Obtaining the surface friction coefficient of the parts package corresponding to the parts in the storage cabinet to be bundled; normalizing the product of the negative correlation mapping value of the bundling rationality of the parts in the storage cabinet to be bundled, the weight of the parts in the storage cabinet to be bundled and the surface friction coefficient to determine the adaptive bundling coefficient of the parts in the storage cabinet to be bundled; The adaptive bundling tightness under the optimal bundling mode is determined according to the product of the adaptive bundling coefficient and the preset bundling tightness.

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