Product packaging system and method thereof
By monitoring and calculating the width of the packaging bag opening, judging the bag opening status and adjusting the execution procedure of the packaging unit, the problem of the packaging bag being unable to be fully opened in traditional bagging operations is solved, product leakage and waste is avoided, and the accuracy and efficiency of the packaging process are improved.
Patent Information
- Application Number
- CN202411891913.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-20
- Publication Date
- 2025-03-28
AI Technical Summary
In traditional bagging operations, due to changes in mechanical accuracy, material characteristics and operating environment, insufficient opening or unopening of the packaging bag often occurs, resulting in the product not being able to fall into the bag accurately, resulting in leakage and waste.
By monitoring the edge lines on the opening side of the packaging bag, the coordinate points of the edge lines are extracted, the opening width is calculated, and the bag opening status is judged based on the calculation results, and a control signal is generated to adjust the execution program of the packaging unit to ensure that the packaging bag is fully opened.
It effectively avoids product leakage and waste caused by insufficient opening of the packaging bag or inability to open, and improves the accuracy and efficiency of the packaging process.
Smart Images
Figure CN119705995A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of packaging equipment, and in particular to a product packaging system and method thereof. Background Art
[0002] In the field of product manufacturing, packaging is a key link to ensure product safety, facilitate storage and transportation, and enhance the value of goods. Its importance is self-evident. Especially in the fast-moving consumer goods, food processing, pharmaceutical and many industrial product industries, bagging equipment is widely used in the packaging process of various products due to its high flexibility, relatively low cost and easy operation. In traditional bagging operations, the opening operation of the bag is often achieved by mechanical clamping or airflow assistance. However, due to changes in mechanical precision, material properties and operating environment, the bag opening is often insufficient or cannot be opened at all during the bag opening process. If the subsequent feeding program continues to be executed, the product will not fall into the bag accurately, resulting in leakage and waste of the product. Summary of the invention
[0003] Therefore, in order to solve the above-mentioned shortcomings, on the one hand, the present invention provides a product packaging system, comprising: An image acquisition unit, which acquires an image of a target area; A control unit is provided to obtain a target area image, identify a first feature based on the target area image, extract the first feature, grayscale the first feature, obtain a first feature grayscale image, detect the first feature grayscale image, obtain a target feature line, extract the target feature line coordinate points, calculate the bag opening width according to the target feature line coordinate points, obtain a bag opening width calculation result, perform bag opening judgment according to the bag opening width calculation result, obtain a bag opening judgment result, and generate a first control signal according to the bag opening judgment result; The packaging unit obtains a first control signal and executes an action corresponding to the first control signal according to the first control signal.
[0004] Furthermore, the control unit comprises: Data acquisition module, acquiring the target area image; An image processing module, which identifies a first feature based on a target area image, extracts the first feature, performs grayscale processing on the first feature, obtains a first feature grayscale image, detects the first feature grayscale image, obtains a target feature line, and extracts coordinate points of the target feature line; The bag opening width calculation module calculates the bag opening width according to the target characteristic line coordinate points to obtain the bag opening width calculation result; The bag opening judgment module performs bag opening judgment according to the bag opening width calculation result to obtain the bag opening judgment result; The packaging control module generates a first control signal according to the bag opening judgment result, and sends the first control signal to the packaging unit, so that the packaging unit performs an action corresponding to the first control signal according to the first control signal.
[0005] The present invention monitors the edge line of the opening side of the packaging bag, extracts each coordinate point of the detected edge line, calculates the opening width of the packaging bag according to the coordinate points, thereby obtaining the opening width of the packaging bag, and judges the bag opening state according to the opening width of the packaging bag, so as to timely adjust the execution program of the packaging unit to avoid leakage and waste of products caused by continuing to execute the feeding program when the packaging bag is not fully opened or cannot be opened at all.
[0006] Furthermore, the product packaging system further comprises a sensing unit, wherein the sensing unit comprises a first weight sensing module and a second weight sensing module, and the first weight data and the second weight data are respectively collected through the first weight sensing module and the second weight sensing module; The control unit also includes a weight comparison module, which performs a comparison calculation on the first weight data and the second weight data to obtain a comparison calculation result, performs a comparison judgment based on the comparison calculation result to obtain a comparison judgment result, and sends the comparison judgment result to the packaging control module, so that the packaging control module generates a second control signal based on the comparison judgment result and sends it to the packaging unit, so that the packaging unit executes an action corresponding to the second control signal based on the second control signal.
[0007] By comparing and calculating the weight of the product before and after bagging, the product loss rate is determined based on the results of the comparative calculation, thereby facilitating decision-making based on the product loss rate.
[0008] Furthermore, the packaging unit comprises: Feed module; A weighing module, which is arranged below the feeding module and in which a first weight sensing module is arranged; A bag clamping module, which is arranged below the weighing module and in which a second weight sensing module is arranged; The bag opening module is arranged between the bag clamping module and the weighing module.
[0009] Furthermore, the weighing module comprises: A hopper, the hopper is integrally arranged below the feed module, a hopper door is arranged at the bottom of the hopper, and the hopper door is driven to move by a sixteenth power device installed on one side of the hopper to close or open the bottom of the hopper; The fifteenth power device drives the entire hopper to move vertically and linearly through the fifth power device.
[0010] Furthermore, the bag clamping module includes a bag clamping device and a bag supporting device, and the bag supporting device is arranged below the bag clamping device; The bag clamping device includes: 11th power unit; The second clamping jaw is driven by the eleventh power device to move the second clamping jaw so as to open or close the second clamping jaw; The bag holding device includes: The ninth power unit; The bag holding plate is driven to rotate by the ninth power device; The bag holding device has a bag holding state and a material discharging state. When the bag holding device is in the bag holding state, the bag holding plate is arranged horizontally as a whole.
[0011] Furthermore, the bag clamping module also includes: a width adjustment device, on which the bag clamping device is mounted; a height adjustment device, on which the width adjustment device is mounted; The width adjustment device comprises: tenth power unit; A third slide, the bag clamping device is mounted on the third slide, and the slide is driven to move horizontally linearly by a tenth power device; The height adjustment device comprises: a second slide, the third slide being slidably connected to the second slide, and the tenth power device and the bag holding device being both mounted on the second slide; An eighth power device is used to drive the second slide frame to slide vertically.
[0012] Furthermore, the packaging unit further comprises a bag feeding module and a bag feeding module, wherein the bag feeding module is arranged on one side of the bag clamping module, and the bag feeding module is arranged below the bag feeding module; The bag delivery module comprises: A bag suction device, wherein the bag suction device sucks the packaging bag in the bag feeding module; Second power unit; The bag-feeding device drives the bag-sucking device to rotate through the second power device, so as to deliver the packaging bag sucked by the bag-sucking device to the bag-clamping module; The bag suction device comprises: The third power unit; The first vacuum suction cup is driven to slide vertically by the third power device; The bag delivery device comprises: The rotating frame is driven to pivot by the second power device; a fifth power device, the fifth power device being mounted on the rotating frame; a first slide, the first slide being mounted on the rotating frame and sliding relative to the rotating frame, and the first slide being driven to move linearly by a fifth power device; a fourth power device, the fourth power device being mounted on the first slide; The first clamping jaw is driven to open or close by the fourth power device; The bag feeding device comprises: Bag feeding conveying, the bag feeding conveying comprises at least two groups of first conveyor belts arranged in parallel up and down; Lifting conveyor, the lifting conveyor is arranged below the bag feeding module and connected with the bag feeding conveyor; The lifting and conveying comprises: The first power unit; The second conveyor belt is connected with the bag feeding conveyor and driven by the first power device to slide vertically. A limit plate is provided at one end of the second conveyor belt away from the bag feeding conveyor.
[0013] Furthermore, the bag delivery module further includes: A first position adjustment device, which drives the bag suction device and the bag removal device to move horizontally as a whole; The second position adjustment device drives the bag suction device and the bag taking device to slide vertically as a whole.
[0014] In another aspect, the present invention provides a product packaging method, wherein the product packaging method uses a product packaging system, and the product packaging method comprises: Acquire the target area image; Based on the target area image, a first feature is identified, the first feature is extracted, the first feature is grayed, a first feature gray image is obtained, the first feature gray image is detected, a target feature line is obtained, and coordinate points of the target feature line are extracted; Calculate the bag opening width according to the target characteristic line coordinate points to obtain the bag opening width calculation result; Perform bag opening judgment according to the bag opening width calculation result to obtain the bag opening judgment result; A first control signal is generated according to the bag opening judgment result, and the first control signal is sent to the packaging unit, so that the packaging unit performs an action corresponding to the first control signal according to the first control signal.
[0015] The present invention has the following advantages: the present invention monitors the edge line of the opening side of the packaging bag, extracts each coordinate point of the detected edge line, calculates the opening width of the packaging bag according to the coordinate points, thereby obtaining the opening width of the packaging bag, and judges the opening state of the packaging bag according to the opening width of the packaging bag, thereby timely adjusting the execution program of the packaging unit to avoid leakage and waste of products caused by continuing to execute the feeding program when the packaging bag is not fully opened or cannot be opened at all. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a logical diagram of the product packaging system; Figure 2 yes Figure 1 A schematic diagram of the logical structure of the control unit in the product packaging system shown; Figure 3 yes Figure 1 A schematic diagram of the structure of a packaging unit in the product packaging system shown; Figure 4 yes Figure 3 A schematic side view of the packaging unit shown; Figure 5 yes Figure 3 A schematic diagram of the structure of the bag feeding module in the packaging unit shown; Figure 6 yes Figure 5 The schematic diagram of the structure of bag feeding and conveying in the bag feeding module shown; Figure 7 yes Figure 5 The schematic diagram of the structure of the lifting and conveying in the bag feeding module is shown; Figure 8 yes Figure 7 A side schematic diagram of the lifting and conveying shown; Fig. 9 yes Figure 4 The structural schematic diagram of the bag feeding module in the packaging unit shown; Fig.10 yes Fig. 9 A side view of the bag delivery module shown; Fig.11 yes Fig. 9 A schematic structural diagram of a first position adjustment device in the bag feeding module shown; Fig.12 yes Fig.10 A schematic structural diagram of a second position adjustment device in the bag feeding module shown; Figure 13 is Fig. 9 A partial structural schematic diagram of the bag delivery module shown; Fig.14 yes Fig.13 A side view of a partial structure of a bag delivery module is shown; Fig.15 yes Figure 4 A schematic diagram of the structure of a bag clamping module in the packaging unit shown; Fig.16 yes Fig.15 A front view of the bag clamping module is shown; Fig.17 yes Fig.15 A schematic top view of the bag clamping module shown; Fig.18 yes Figure 4 A schematic diagram of the structure of the bag sealing module in the packaging unit shown; Fig.19 yes Figure 4 A schematic diagram of the structure of the first part of the bag opening unit in the packaging unit shown; Fig. 20 yes Fig.19 A schematic diagram of the second part of the bag opening unit shown; Fig.21 yes Figure 3 The schematic diagram of the structure of the weighing module in the packaging unit shown; Fig. 22 yes Fig.21 A side view of the weighing module shown; In the figure: 10, sensor unit; 20, control unit; 21, data acquisition module; 22, image processing module; 23, weight comparison calculation module; 24, packaging control module; 25, bag opening width calculation module; 26, bag opening judgment module; 30, image acquisition unit; 40, packaging unit; 100, bag feeding module; 110, bag feeding conveyor; 120, lifting conveyor; 121, second conveyor belt; 122, limit plate; 123, first power device; 200, bag feeding module; 210, first position adjustment device; 211, second power device; 212, sliding mounting frame; 213, belt transmission mechanism; 214, first guide mechanism; 220, bag feeding device; 223, first slide; 224, rotating frame; 225, third power device; 226, fourth power device; 227, first clamping claw; 228, first vacuum suction cup; 229, fifth power device; 230, second position adjustment device; 231, connecting plate; 232, second guide mechanism; 233, sixth power device; 234, Connecting block; 240, seventh power device; 250, mounting frame; 300, bag clamping module; 310, height adjustment device; 311, eighth power device; 312, second slide; 320, bag holding device; 321, bag holding plate; 322, connecting frame; 323, ninth power device; 330, width adjustment device; 331, third slide; 332, tenth power device; 333, limit device; 340, bag clamping device; 341, eleventh power device; 342, second clamping claw; 400, sealing Bag module; 410, guide rod; 420, twelfth power device; 430, movable bag sealing block; 440, fixed bag sealing block; 500, bag opening module; 510, thirteenth power device; 520, movable rod; 530, second vacuum suction cup; 540, second vacuum suction cup; 550, fourteenth power device; 600, weighing module; 610, weighing bucket; 620, bucket door; 630, fifteenth power device; 640, third guide structure; 650, sixteenth power device; 700, feeding module; 800. Frame. DETAILED DESCRIPTION
[0017] As described in the background technology, due to changes in mechanical precision, material properties (such as the material and thickness of the packaging bag) and the operating environment, the packaging bag often fails to open fully or cannot be opened at all during the bag opening process. If the subsequent feeding program continues to be executed, the product will not fall accurately into the bag, resulting in leakage and waste of the product.
[0018] Embodiment 1: Therefore, in order to solve the above technical problems existing in the prior art, this embodiment provides a product packaging system, such as Figure 1 As shown, the product packaging system includes: An image acquisition unit 30 is used to acquire an image of a target area; The control unit 20 acquires a target area image, identifies a first feature based on the target area image, extracts the first feature, performs grayscale processing on the first feature, obtains a first feature grayscale image, detects the first feature grayscale image, obtains a target feature line, extracts coordinate points of the target feature line, calculates a bag opening width according to the coordinate points of the target feature line, obtains a bag opening width calculation result, performs bag opening judgment according to the bag opening width calculation result, obtains a bag opening judgment result, and generates a first control signal according to the bag opening judgment result; The packaging unit 40 obtains the first control signal and executes an action corresponding to the first control signal according to the first control signal.
[0019] like Figure 2 As shown, the control unit includes: Data acquisition module 21, acquiring target area image; An image processing module 22 is configured to identify a first feature based on the target area image, extract the first feature, grayscale the first feature, obtain a first feature grayscale image, detect the first feature grayscale image, obtain a target feature line, and extract the target feature line coordinate points; The bag opening width calculation module 25 calculates the bag opening width according to the target characteristic line coordinate points to obtain the bag opening width calculation result; The bag opening judgment module 26 performs bag opening judgment according to the bag opening width calculation result to obtain a bag opening judgment result; The packaging control module 24 generates a first control signal according to the bag opening judgment result, and sends the first control signal to the packaging unit, so that the packaging unit performs an action corresponding to the first control signal according to the first control signal.
[0020] Acquire the target area image acquired by the image acquisition unit; In this embodiment, the image acquisition unit may select a high-resolution camera or image acquisition device, and use the high-resolution camera or image acquisition device to photograph the product packaging, ensuring that the shooting environment has sufficient and uniform light to avoid the impact of shadows and reflections on the image quality. When shooting, special attention is paid to the key parts of the packaging, which are the opening positions of the packaging bag.
[0021] Based on the target area image, a first feature is identified, the first feature is extracted, the first feature is grayed, a first feature gray image is obtained, the first feature gray image is detected, a target feature line is obtained, and coordinate points of the target feature line are extracted; In this embodiment, the image processing module pre-processes the grayscale packaging image, including operations such as cropping, resizing, and denoising to improve the image quality. For example, the image has uneven brightness due to light, shooting angle, etc., which causes the image resolution to decrease, thereby affecting the subsequent first feature detection. Therefore, the grayscale image needs to be enhanced in grayscale to enhance the image contrast and highlight the first feature area. After pre-processing, the pre-processed first feature grayscale image is binarized using an image binarization processing algorithm (for example, bimodal method, P parameter method, iteration method, and OTSU method) to reduce the amount of data and highlight the target feature line in the first feature grayscale image. For example, there is a significant difference in grayscale between the first feature and the background, so the crack and the background can be separated by binarization, that is, a suitable threshold is selected, and then the crack grayscale image is segmented into a black and white image according to the threshold. After binarization, mathematical morphology is used to remove isolated noise points in the background area after binarization and some small burrs on the crack boundary. Finally, the target feature line in the image is identified and extracted by the image recognition algorithm to obtain the image of the target feature line. The target feature line is the edge line on both sides of the opening of the packaging bag, which are the first edge line and the second edge line. By scanning the extracted first edge line and second edge line line by line, the coordinates of the pixel points of the first edge line and the second edge line are extracted and the pixel points corresponding to the first edge line and the second edge line are separated.
[0022] Calculate the bag opening width according to the target characteristic line coordinate points to obtain the bag opening width calculation result; In this embodiment, the bag opening width is calculated as follows: ； in, H a The width value corresponding to each pixel point, in millimeters, x n , y n are the horizontal and vertical coordinates of the pixel points in the first edge line, x m , y m are the horizontal and vertical coordinates of the pixel points in the second edge line.
[0023] Perform bag opening judgment according to the bag opening width calculation result to obtain the bag opening judgment result; In this embodiment, the bag opening judgment according to the bag opening width calculation result includes: The pixels are sorted according to a preset rule to form a set of width values corresponding to each pixel point. The preset rule is to take one of the intersections of the first edge line and the second edge line as the starting point and arrange them in order toward the other starting point.
[0024] Each width value in the width value set is compared as follows: ; Wherein, A is the preset width value in millimeters.
[0025] Determine whether the above inequality holds. If so, keep the pixel points corresponding to the width value. If not, remove them. When the retained pixel points are 0, it is determined to be an open bag. The continuity of the retained pixels is judged. If the pixels are discontinuous, the bag opening is judged to be incomplete. If the pixels are continuous, the endpoint distance of the continuous pixels is calculated. The specific calculation method is as follows: ; in, L is the endpoint distance of consecutive pixel points, in millimeters. x b is the starting point abscissa of the continuous pixel points on the first edge line; x c is the abscissa of the end points of the continuous pixel points on the first edge line; x d is the horizontal coordinate of the starting point of the continuous pixel points on the second edge line; x e is the horizontal coordinate of the end point of the continuous pixel points on the second edge line.
[0026] L is obtained by the above calculation method, and it is determined whether L is greater than a preset length value. If so, it is determined that the packaging bag is completely opened. If not, it is determined that the packaging bag is not completely opened.
[0027] A first control signal is generated according to the bag opening judgment result, and the first control signal is sent to the packaging unit, so that the packaging unit performs an action corresponding to the first control signal according to the first control signal.
[0028] Specifically, if the packaging bag is not fully opened or not opened, the packaging unit is controlled to stop feeding and execute the packaging bag replacement procedure. If the packaging bag is fully opened, the feeding procedure continues.
[0029] The present invention monitors the edge line of the opening side of the packaging bag, extracts each coordinate point of the detected edge line, calculates the opening width of the packaging bag according to the coordinate points, thereby obtaining the opening width of the packaging bag, and judges the bag opening state according to the opening width of the packaging bag, so as to timely adjust the execution program of the packaging unit to avoid leakage and waste of products caused by continuing to execute the feeding program when the packaging bag is not fully opened or cannot be opened at all.
[0030] In this embodiment, if Figure 2 As shown, the product packaging system further includes a sensor unit 10, and the sensor unit includes a first weight sensor module and a second weight sensor module, and the first weight data and the second weight data are collected respectively by the first weight sensor module and the second weight sensor module; The control unit also includes a weight comparison module 23, which performs a comparison calculation on the first weight data and the second weight data to obtain a comparison calculation result, performs a comparison judgment based on the comparison calculation result to obtain a comparison judgment result, and sends the comparison judgment result to the packaging control module, so that the packaging control module generates a second control signal based on the comparison judgment result and sends it to the packaging unit, so that the packaging unit executes an action corresponding to the second control signal based on the second control signal.
[0031] Specifically, the weight comparison calculation module performs comparison calculation on the first weight data and the second weight data in the following manner: ; Where, s is the product loss rate; m 1 is the first weight data, in kilograms; m 2 It is the second weight data, in kilograms.
[0032] Then determine whether the loss rate is greater than the preset loss rate. If so, an alarm is issued, otherwise it moves normally.
[0033] By comparing and calculating the weight of the product before and after bagging, the product loss rate is determined based on the results of the comparative calculation, thereby facilitating decision-making based on the product loss rate.
[0034] For example, Figure 3 , 4 As shown, the packaging unit may include: Feed module 700; A weighing module 600, which is arranged below the feeding module and in which a first weight sensing module is arranged; A bag clamping module 300, which is arranged below the weighing module and in which a second weight sensing module is arranged; The bag opening module 500 is arranged between the bag clamping module and the weighing module.
[0035] In this embodiment, the feed module can be a feed conveyor, such as a conveyor belt, a chain conveyor, etc., or it can be a Figure 1 The feed pipeline shown can be designed as a structure with one feed port and multiple discharge ports, and a valve plate structure is provided at the position of each discharge port to control the discharge of the product through the valve plate structure.
[0036] In this embodiment, the packaging unit further includes a frame 800, and the above-mentioned feeding module, bag clamping module, weighing module, bag opening module, etc. are all installed on the frame.
[0037] like Fig.21 , 22 As shown, the weighing module includes: A hopper 610, wherein the hopper 610 is integrally arranged below the feed module, and a hopper door 620 is arranged at the bottom of the hopper, and the hopper door is driven to move by a sixteenth power device 630 installed at one side of the hopper, so that the bottom of the hopper is closed or opened; The fifteenth power device 630 drives the entire hopper to move vertically and linearly through the fifth power device.
[0038] Specifically, the fifteenth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the hopper to move vertically linearly. The fifteenth power device is fixedly mounted on the frame and connected to the side of the hopper. A first weight sensor module is provided at the connection between the hopper and the fifteenth power device, and the weight of the product in the hopper is collected through the first weight sensor module. In addition, a third guide structure 640 can also be provided to keep the hopper connected to the frame through the third guide structure to improve the movement stability of the hopper. In this embodiment, the third guide structure includes but is not limited to a guide rail structure, a guide rod structure, a guide groove structure, a guide wheel structure or other structures with a guide function. In this embodiment, the hopper door is connected to the bottom of the hopper in a hinged manner. The sixteenth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the linear movement of parts. At this time, the sixteenth power device can be connected to the hinge shaft of the hopper door through a connecting rod structure. The sixteenth power device can also select a motor, a rotary cylinder or other device that can drive the hopper door to rotate.
[0039] In this embodiment, if Fig.15 As shown, the bag clamping module includes a bag clamping device 340 and a bag supporting device 320, and the bag supporting device is arranged below the bag clamping device; like Fig.17 As shown, the bag clamping device comprises: 11th power unit 341; The second clamping jaw 342 is driven by the eleventh power device to move the second clamping jaw so as to open or close the second clamping jaw; like Fig.16 As shown, the bag holding device comprises: 9th power unit 323; The bag holding plate 321 is driven to rotate by the ninth power device; The bag holding device has a bag holding state and a material discharging state. When the bag holding device is in the bag holding state, the bag holding plate is arranged horizontally as a whole.
[0040] Specifically, the eleventh power device and the ninth power device include but are not limited to cylinders, electric cylinders, hydraulic cylinders or other power devices capable of driving linear motion of parts. The second clamp consists of a fixed clamp block and a movable clamp block assembly. The fixed clamp block is relatively fixed, and one end of the movable clamp block is connected to the eleventh power device. The movable clamp block is driven to rotate around the pivot axis in the middle by the eleventh power device to achieve the separation or closing of the clamp. The bag holding device may also include a connecting frame 322, on which the ninth power device is movably mounted, and one side of the bag holding plate is rotatably connected to the connecting frame through a connecting shaft. The ninth power device is connected to the bag holding plate, and the bag holding plate is driven to rotate by the ninth power device.
[0041] In this embodiment, Fig.15 As shown, the bag clamping module also includes: a width adjustment device 330 on which the bag clamping device is mounted; a height adjustment device 310 on which the width adjustment device is mounted; like Fig.17 As shown, the width adjustment device includes: tenth power unit 332; A third slide 331, the bag clamping device is mounted on the third slide, and the slide is driven to move horizontally linearly by a tenth power device; like Fig.16 As shown, the height adjustment device comprises: A second slide 312, the third slide is slidably connected to the second slide, and the tenth power device and the bag holding device are both installed on the second slide; The eighth power device 311 drives the second slide frame to slide vertically.
[0042] Specifically, the second slide is slidably connected to the frame 800 via a guide structure, the eighth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices capable of driving the second slide to move linearly, the eighth power device is fixedly mounted on the frame 800, the second slide is connected to the eighth power device, and the second slide is driven to slide vertically by the eighth power device, the third slide is connected to the second slide via a guide structure, the tenth power device is fixedly mounted on the second slide, the tenth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices capable of driving the third slide to move linearly, the third slide is driven to move linearly by the tenth power device, a limit device 333 is provided on one side of the third slide, and the limit device is arranged on the movement path of the third slide.
[0043] In this embodiment, if Fig.19 , 20 As shown, the bag opening module includes: A thirteenth power device 510, the thirteenth power device is fixedly mounted on the frame; A movable rod 520, which is slidably connected to the frame through a guide structure, and driven by a thirteenth power device to move linearly, and a second vacuum suction cup 530 is provided at one end of the movable rod; A fourteenth power device 550 is fixedly mounted on the frame; The third vacuum suction cup 540 is driven by the fourteenth power device to move linearly.
[0044] The thirteenth power device can be a motor, with a gear installed on the rotating shaft of the motor, and a rack meshing with the gear is set on the side of the movable rod. The gear is driven to rotate by the motor, and the movable rod is driven to move linearly under the transmission of the gear rack. In addition, the thirteenth power device can also select a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the movable rod to move linearly. The fourteenth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the third vacuum suction cup to move linearly.
[0045] In this embodiment, if Figure 4 As shown, the packaging unit may further include a bag sealing module 400, which is disposed above the bag opening module. Fig.18 As shown, the bag sealing module includes: A twelfth power device 420, the twelfth power device is fixedly mounted on the frame; A fixed bag sealing block 440, which is fixedly mounted on the frame; A movable bag sealing block 430, which is arranged opposite to the fixed bag sealing block, is slidably connected to the frame through a guide rod, and is driven to move linearly by a twelfth power device; The second power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices capable of driving the movable bag sealing block to move linearly.
[0046] like Figure 3 , 4 As shown, the packaging unit in this embodiment may further include a bag feeding module 200 and a bag feeding module 100, wherein the bag feeding module is arranged at one side of the bag clamping module, and the bag feeding module is arranged below the bag feeding module; like Fig. 9 As shown, the bag delivery module includes: A bag suction device, wherein the bag suction device sucks the packaging bag in the bag feeding module; A second power unit 240; The bag feeding device 220 drives the bag suction device to rotate through the second power device to feed the packaging bag sucked by the bag suction device to the bag clamping module; like Fig.13 , 14 As shown, the bag suction device comprises: The third power unit 225; The first vacuum suction cup 228 is driven to slide vertically by the third power device; like Fig.13 , 14 As shown, the bag delivery device comprises: The rotating frame 224 is driven to pivot by the second power device; A fifth power device 229, which is mounted on the rotating frame; A first slide 223, which is mounted on the rotating frame and slides relative to the rotating frame, and is driven to move linearly by a fifth power device; A fourth power device 226, the fourth power device is mounted on the first carriage; The first clamping jaw 227 is driven to open or close by the fourth power device; Specifically, the bag feeding module may further include a mounting frame 250, and the third power device is fixedly mounted on the mounting frame. The third power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the first vacuum suction cup to move linearly. The first vacuum suction cup can be slidably connected to the mounting frame through a guide structure. The second power device is movably mounted on the mounting frame. The second power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the linear movement of parts. The rotating frame is rotatably connected to the mounting frame through a rotating shaft. The second power device is connected to the rotating shaft of the rotating frame through a connecting rod structure. The second power device can also select a motor, a rotary cylinder or other device that can drive the parts to rotate. The rotating frame is driven to rotate by the second power device. In this embodiment, Fig.13 As shown, the first slide is slidably connected to the rotating frame through a guide structure, and the fifth power device is fixedly installed on the first slide. The fifth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the first slide to move linearly. The above-mentioned fourth power device and the first clamp are installed on the first slide, and the connection method and the structure of the first clamp can refer to the connection method and structure of the above-mentioned eleventh power device and the second clamp.
[0047] like Figure 5 , 6 As shown, the bag feeding device comprises: Into the bag conveyor 110, such as Figure 7 As shown, the bag feeding conveyor includes at least two groups of first conveyor belts arranged in parallel up and down; Lifting conveyor 120, which is arranged below the bag feeding module and connected with the bag feeding conveyor; like Figure 8 , 9 As shown, the lifting and conveying comprises: A first power device 123, which includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices capable of driving the second conveyor belt to move; The second conveyor belt 121 is connected with the bag feeding conveyor and driven by the first power device to slide vertically. A limit plate 122 is provided at one end of the second conveyor belt away from the bag feeding conveyor.
[0048] like Fig. 9 , 10 As shown, the bag delivery module also includes: A first position adjustment device 210, which drives the bag suction device and the bag removal device to move horizontally as a whole; The second position adjustment device 230 drives the bag suction device and the bag taking device to slide vertically as a whole.
[0049] Specifically, if Fig.11 As shown, the first position adjustment device may include: A second power device 211, which is fixedly mounted on the frame 800; The sliding mounting frame 212 is driven by the second power device to move horizontally linearly; In this embodiment, the second power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power devices that can drive the sliding mounting frame to move linearly. The second power device can be connected to the sliding mounting frame via a belt drive mechanism 213, and can also realize power transmission through a screw structure, a gear rack structure, etc. The sliding mounting frame can be maintained in connection with the frame body through a first guide structure 214, and the first guide structure can be designed with reference to the third guide structure.
[0050] like Fig.12 As shown, the second position adjustment device includes: A connecting block 234, which is fixed to the sliding mounting frame; Sixth power unit 233; A connecting plate 231, wherein the connecting plate is connected to the connecting block via a second guide structure 232; In this embodiment, the sixth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other power device that can drive the connecting plate to move linearly. The sixth power device is installed on the connecting plate, and the output end is connected to the sliding mounting frame. The connecting plate is fixedly connected to the mounting frame.
[0051] The packaging process of the packaging unit is as follows: The pallet with the packaging bags is placed on the upper first conveyor belt of the bag inlet conveyor, the pallet is driven to move by the first conveyor belt, the first power device drives the second conveyor belt to slide vertically, so that the second conveyor line is connected with the first conveyor belt of the upper middle layer of the bag inlet conveyor, the first conveyor belt sends the pallet to the second conveyor belt of the bag inlet conveyor, the second conveyor belt continues to drive the pallet to move to the position of the limit plate, and the pallet stops moving under the blocking effect of the limit plate; The third power device drives the first vacuum suction cup to descend, and the first vacuum suction cup absorbs the surface packaging bag. Then the third power device drives the first vacuum suction cup to rise to a preset height. At the same time, the second power device drives the rotating frame to rotate at a preset angle, so that the bag feeding device rotates to the position of the first vacuum suction cup. The fourth power device is actuated to drive the first clamping claw to clamp both sides of the packaging bag. Then the second power device drives the rotating frame to rotate to a horizontal position. The fifth power device drives the first slide to move horizontally to send the packaging bag to the bag clamping module position. The eleventh power device is actuated to drive the second clamping jaws to clamp the two sides of the packaging bag. At the same time, the fourth power device is actuated to drive the first clamping jaws to release the packaging bag. During this process, the ninth power device drives the bag supporting plate to rotate to a horizontal position. The thirteenth power device and the fourteenth power device act simultaneously, driving the second vacuum suction cup and the third vacuum suction cup to move simultaneously, contacting the surface of the packaging bag, and the vacuum suction cups adsorb the surface of the packaging bag, and then the thirteenth power device and the fourteenth power device drive the second vacuum suction cup and the third vacuum suction cup to retreat, and pull the packaging bag open; The feeding module feeds the product into the weighing module. When the product in the weighing module reaches a preset weight, the feeding module stops feeding, and the fifteenth power device drives the hopper down to allow the hopper door to partially enter the packaging bag. Then the sixteenth power device drives the hopper door to open, and the product enters the packaging bag under the action of gravity, completing the product bagging. After bagging is completed, the sixteenth power device drives the bucket door to close, the fifteenth power device drives the hopper to rise, the twelfth power device drives the movable bag sealing block to approach the fixed bag sealing block, and the packaging bag is sealed under the action of the fixed bag sealing block and the movable bag sealing block. After sealing is completed, the fifteenth power device drives the movable bag sealing block to retreat, the ninth power device drives the bag supporting plate to reverse, and the eleventh power device drives the second clamp to release the packaging bag. The packaging bag is released under the action of gravity and falls to the conveying device below.
[0052] Embodiment 2: Based on a product packaging system provided in Example 1, this embodiment provides a product packaging method, which includes: Bag feeding: Place the pallet with packaging bags on the upper first conveyor belt of bag feeding conveyor, and drive the pallet to move through the first conveyor belt. The first power device drives the second conveyor belt to slide vertically, so that the second conveyor line is connected with the first conveyor belt of the upper middle layer of bag feeding conveyor. The first conveyor belt sends the pallet to the second conveyor belt of bag feeding conveyor, and the second conveyor belt continues to drive the pallet to move to the position of the limit plate, and the pallet stops moving under the blocking effect of the limit plate; Bag delivery: The third power device drives the first vacuum suction cup to descend, and the first vacuum suction cup absorbs the surface packaging bag. Then the third power device drives the first vacuum suction cup to rise to a preset height. At the same time, the second power device drives the rotating frame to rotate at a preset angle, so that the bag delivery device rotates to the position of the first vacuum suction cup. The fourth power device is activated to drive the first clamping claw to clamp both sides of the packaging bag. Then the second power device drives the rotating frame to rotate to a horizontal position. The fifth power device drives the first slide to move horizontally to deliver the packaging bag to the bag clamping module position. Bag clamping: The eleventh power device is activated to drive the second clamping jaw to clamp the two sides of the packaging bag. At the same time, the fourth power device is activated to drive the first clamping jaw to release the packaging bag. During this process, the ninth power device drives the bag supporting plate to rotate to a horizontal position. Bag opening: The thirteenth power device and the fourteenth power device act simultaneously, driving the second vacuum suction cup and the third vacuum suction cup to move simultaneously, contacting with the surface of the packaging bag, and the vacuum suction cups adsorb the surface of the packaging bag, and then the thirteenth power device and the fourteenth power device drive the second vacuum suction cup and the third vacuum suction cup to retreat, and pull the packaging bag open; After the second vacuum suction cup and the third vacuum suction cup retreat to the preset position, the image acquisition unit acquires the target area image; The control unit acquires a target area image, identifies a first feature based on the target area image, extracts the first feature, performs grayscale processing on the first feature, obtains a first feature grayscale image, detects the first feature grayscale image, obtains a target feature line, and extracts a target feature line coordinate point; In this embodiment, the image acquisition unit may select a high-resolution camera or image acquisition device, and use the high-resolution camera or image acquisition device to photograph the product packaging, ensuring that the shooting environment has sufficient and uniform light to avoid the impact of shadows and reflections on the image quality. When shooting, special attention is paid to the key parts of the packaging, which are the opening positions of the packaging bag.
[0053] Based on the target area image, a first feature is identified, the first feature is extracted, the first feature is grayed, a first feature gray image is obtained, the first feature gray image is detected, a target feature line is obtained, and coordinate points of the target feature line are extracted; In this embodiment, the image processing module pre-processes the grayscale packaging image, including operations such as cropping, resizing, and denoising to improve the image quality. For example, the image has uneven brightness due to light, shooting angle, etc., which causes the image resolution to decrease, thereby affecting the subsequent first feature detection. Therefore, the grayscale image needs to be enhanced in grayscale to enhance the image contrast and highlight the first feature area. After pre-processing, the pre-processed first feature grayscale image is binarized using an image binarization processing algorithm (for example, bimodal method, P parameter method, iteration method, and OTSU method) to reduce the amount of data and highlight the target feature line in the first feature grayscale image. For example, there is a significant difference in grayscale between the first feature and the background, so the crack and the background can be separated by binarization, that is, a suitable threshold is selected, and then the crack grayscale image is segmented into a black and white image according to the threshold. After binarization, mathematical morphology is used to remove isolated noise points in the background area after binarization and some small burrs on the crack boundary. Finally, the target feature line in the image is identified and extracted by the image recognition algorithm to obtain the image of the target feature line. The target feature line is the edge line on both sides of the opening of the packaging bag, which are the first edge line and the second edge line. By scanning the extracted first edge line and second edge line line by line, the coordinates of the pixel points of the first edge line and the second edge line are extracted and the pixel points corresponding to the first edge line and the second edge line are separated.
[0054] Calculate the bag opening width according to the target characteristic line coordinate points to obtain the bag opening width calculation result; In this embodiment, the bag opening width is calculated as follows: ； in,H a The width value corresponding to each pixel point, in millimeters, x n , y n are the horizontal and vertical coordinates of the pixel points in the first edge line, x m , y m are the horizontal and vertical coordinates of the pixel points in the second edge line.
[0055] Perform bag opening judgment according to the bag opening width calculation result to obtain the bag opening judgment result; In this embodiment, the bag opening judgment according to the bag opening width calculation result includes: The pixels are sorted according to a preset rule to form a set of width values corresponding to each pixel point. The preset rule is to take one of the intersections of the first edge line and the second edge line as the starting point and arrange them in order toward the other starting point.
[0056] Each width value in the width value set is compared as follows: ; Wherein, A is the preset width value in millimeters.
[0057] Determine whether the above inequality holds. If so, keep the pixel points corresponding to the width value. If not, remove them. When the retained pixel points are 0, it is determined to be an open bag. The continuity of the retained pixels is judged. If the pixels are discontinuous, the bag opening is judged to be incomplete. If the pixels are continuous, the endpoint distance of the continuous pixels is calculated. The specific calculation method is as follows: ; in, L is the endpoint distance of consecutive pixel points, in millimeters. x b is the starting point abscissa of the continuous pixel points on the first edge line; x c is the abscissa of the end points of the continuous pixel points on the first edge line; x d is the horizontal coordinate of the starting point of the continuous pixel points on the second edge line; x e is the horizontal coordinate of the end point of the continuous pixel points on the second edge line.
[0058] L is obtained by the above calculation method, and it is determined whether L is greater than a preset length value. If so, it is determined that the packaging bag is completely opened. If not, it is determined that the packaging bag is not completely opened.
[0059] A first control signal is generated according to the bag opening judgment result, and the first control signal is sent to the packaging unit, so that the packaging unit performs an action corresponding to the first control signal according to the first control signal.
[0060] Specifically, if the packaging bag is not fully opened or not opened, the packaging unit is controlled to stop feeding and execute the packaging bag replacement procedure. If the packaging bag is fully opened, the feeding procedure continues.
[0061] The packaging bag replacement procedure is as follows: the ninth power device drives the bag supporting plate to reverse, and the eleventh power device drives the second clamp to loosen the packaging bag, and the packaging bag is loosened under the action of gravity, so that it falls to the conveying device below.
[0062] The feeding procedure is as follows: the feeding module feeds the product into the weighing module. When the product in the weighing module reaches a preset weight, the feeding module stops feeding, and the fifteenth power device drives the hopper to descend so that the hopper door partially enters the packaging bag. Then, the sixteenth power device drives the hopper door to open, and the product enters the packaging bag under the action of gravity, completing the product bagging. After bagging is completed, the sixteenth power device drives the bucket door to close, the fifteenth power device drives the hopper to rise, the twelfth power device drives the movable bag sealing block to approach the fixed bag sealing block, and the packaging bag is sealed under the action of the fixed bag sealing block and the movable bag sealing block. After sealing is completed, the fifteenth power device drives the movable bag sealing block to retreat, the ninth power device drives the bag supporting plate to reverse, and the eleventh power device drives the second clamp to release the packaging bag. The packaging bag is released under the action of gravity and falls to the conveying device below.
[0063] When loading is completed, the weight comparison calculation module compares and calculates the first weight data with the second weight data to obtain a comparison calculation result, performs a comparison judgment based on the comparison calculation result to obtain a comparison judgment result, and sends the comparison judgment result to the packaging control module, so that the packaging control module generates a second control signal based on the comparison judgment result and sends it to the packaging unit, so that the packaging unit performs an action corresponding to the second control signal based on the second control signal.
[0064] Specifically, the weight comparison calculation module performs comparison calculation on the first weight data and the second weight data in the following manner: ; Where, s is the product loss rate; m 1 is the first weight data, in kilograms; m 2 It is the second weight data, in kilograms.
[0065] Then determine whether the loss rate is greater than the preset loss rate. If so, an alarm is issued, otherwise it moves normally.
[0066] By comparing and calculating the weight of the product before and after bagging, the product loss rate is determined based on the results of the comparative calculation, thereby facilitating decision-making based on the product loss rate.
Claims
1. A product packaging system, characterized in that: include: An image acquisition unit, which acquires an image of a target area; A control unit is provided to obtain a target area image, identify a first feature based on the target area image, extract the first feature, grayscale the first feature, obtain a first feature grayscale image, detect the first feature grayscale image, obtain a target feature line, extract the target feature line coordinate points, calculate the bag opening width according to the target feature line coordinate points, obtain a bag opening width calculation result, perform bag opening judgment according to the bag opening width calculation result, obtain a bag opening judgment result, and generate a first control signal according to the bag opening judgment result; The packaging unit obtains a first control signal and executes an action corresponding to the first control signal according to the first control signal.
2. A product packaging system according to claim 1, characterized in that: The control unit comprises: Data acquisition module, acquiring the target area image; An image processing module, which identifies a first feature based on a target area image, extracts the first feature, performs grayscale processing on the first feature, obtains a first feature grayscale image, detects the first feature grayscale image, obtains a target feature line, and extracts coordinate points of the target feature line; The bag opening width calculation module calculates the bag opening width according to the target characteristic line coordinate points to obtain the bag opening width calculation result; The bag opening judgment module performs bag opening judgment according to the bag opening width calculation result to obtain the bag opening judgment result; The packaging control module generates a first control signal according to the bag opening judgment result, and sends the first control signal to the packaging unit, so that the packaging unit performs an action corresponding to the first control signal according to the first control signal.
3. A product packaging system according to claim 2, characterized in that: The product packaging system further includes a sensing unit, wherein the sensing unit includes a first weight sensing module and a second weight sensing module, and the first weight data and the second weight data are collected respectively by the first weight sensing module and the second weight sensing module; The control unit also includes a weight comparison module, which performs a comparison calculation on the first weight data and the second weight data to obtain a comparison calculation result, performs a comparison judgment based on the comparison calculation result to obtain a comparison judgment result, and sends the comparison judgment result to the packaging control module, so that the packaging control module generates a second control signal based on the comparison judgment result and sends it to the packaging unit, so that the packaging unit executes an action corresponding to the second control signal based on the second control signal.
4. A product packaging system according to claim 1, characterized in that: The packaging unit includes: Feed module; A weighing module, which is arranged below the feeding module and in which a first weight sensing module is arranged; A bag clamping module, which is arranged below the weighing module and in which a second weight sensing module is arranged; The bag opening module is arranged between the bag clamping module and the weighing module.
5. A product packaging system according to claim 4, characterized in that: The weighing module comprises: A hopper, the hopper is integrally arranged below the feed module, a hopper door is arranged at the bottom of the hopper, and the hopper door is driven to move by a sixteenth power device installed on one side of the hopper to close or open the bottom of the hopper; The fifteenth power device drives the entire hopper to move vertically and linearly through the fifth power device.
6. A product packaging system according to claim 4, characterized in that: The bag clamping module comprises a bag clamping device and a bag supporting device, and the bag supporting device is arranged below the bag clamping device; The bag clamping device includes: 11th power unit; The second clamping jaw is driven by the eleventh power device to move the second clamping jaw so as to open or close the second clamping jaw; The bag holding device includes: The ninth power unit; The bag holding plate is driven to rotate by the ninth power device; The bag holding device has a bag holding state and a material discharging state. When the bag holding device is in the bag holding state, the bag holding plate is arranged horizontally as a whole.
7. A product packaging system according to claim 6, characterized in that: The bag clamping module also includes: a width adjustment device on which the bag clamping device is mounted; a height adjustment device, on which the width adjustment device is mounted; The width adjustment device comprises: tenth power unit; A third slide, the bag clamping device is mounted on the third slide, and the slide is driven to move horizontally linearly by a tenth power device; The height adjustment device comprises: a second slide, the third slide being slidably connected to the second slide, and the tenth power device and the bag holding device being both mounted on the second slide; An eighth power device is used to drive the second slide frame to slide vertically.
8. A product packaging system according to claim 4, characterized in that: The packaging unit further comprises a bag feeding module and a bag feeding module, wherein the bag feeding module is arranged at one side of the bag clamping module, and the bag feeding module is arranged below the bag feeding module; The bag delivery module comprises: A bag suction device, wherein the bag suction device sucks the packaging bag in the bag feeding module; Second power unit; The bag feeding device drives the bag suction device to rotate through the second power device to feed the packaging bag sucked by the bag suction device to the bag clamping module; The bag suction device comprises: The third power unit; The first vacuum suction cup is driven to slide vertically by the third power device; The bag delivery device comprises: The rotating frame is driven to pivot by the second power device; a fifth power device, the fifth power device being mounted on the rotating frame; a first slide, the first slide being mounted on the rotating frame and sliding relative to the rotating frame, and the first slide being driven to move linearly by a fifth power device; a fourth power device, the fourth power device being mounted on the first slide; The first clamping jaw is driven to open or close by the fourth power device; The bag feeding device comprises: Bag feeding conveying, the bag feeding conveying comprises at least two groups of first conveyor belts arranged in parallel up and down; Lifting conveyor, the lifting conveyor is arranged below the bag feeding module and connected with the bag feeding conveyor; The lifting and conveying comprises: The first power unit; The second conveyor belt is connected with the bag feeding conveyor and driven by the first power device to slide vertically. A limit plate is provided at one end of the second conveyor belt away from the bag feeding conveyor.
9. A product packaging system according to claim 8, characterized in that: The bag delivery module also includes: A first position adjustment device, which drives the bag suction device and the bag removal device to move horizontally as a whole; The second position adjustment device drives the bag suction device and the bag taking device to slide vertically as a whole.
10. A product packaging method, characterized in that: The product packaging method uses a product packaging system as described in any one of claims 1 to 9, and the product packaging method includes: Acquire the target area image; Based on the target area image, a first feature is identified, the first feature is extracted, the first feature is grayed, a first feature gray image is obtained, the first feature gray image is detected, a target feature line is obtained, and coordinate points of the target feature line are extracted; Calculate the bag opening width according to the target characteristic line coordinate points to obtain the bag opening width calculation result; Perform bag opening judgment according to the bag opening width calculation result to obtain the bag opening judgment result; A first control signal is generated according to the bag opening judgment result, and the first control signal is sent to the packaging unit, so that the packaging unit performs an action corresponding to the first control signal according to the first control signal.