Integrated packing equipment for stuffed toys and packing method thereof

Abstract

The invention relates to integrated packing equipment for stuffed toys and a packing method of the integrated packing equipment, and belongs to the technical field of logistics packaging. The integrated packing equipment comprises a visual identification module, a packing planning module, a multi-axis mechanical arm, a flexible box sealing module, a first conveyor and a second conveyor; the multi-axis mechanical arm is arranged at the joint of the first conveyor and the second conveyor, the visual recognition module adopts a 3D structured light scanner and an RGB-D camera, a space division algorithm is built in the boxing planning module, and the flexible box sealing module is arranged on the second conveyor. According to the method, the dynamic gap filling technology is set, the irregular contour of the plush toy and the gap of the container are accurately matched through dynamic octree space modeling, and therefore the space utilization rate can be effectively increased, and the effective volume of the container is effectively increased by combining the placement posture optimization with the portion-based differential compression strategy based on material elasticity.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics packaging, and in particular to an integrated plush toy packing device and a packing method thereof. Background Art

[0002] Plush toys, also known as stuffed toys, puppets, soft toys, and plush dolls, are toys made of textiles such as plush cloth, knitted cloth, velvet, etc. as the outer shell and filled with soft materials such as PP cotton, down, foam particles, etc. They are usually designed into the images of various cute animals, cartoon characters, fantasy creatures or everyday objects.

[0003] Due to the fluffy volume and irregular shape of plush toys, the clamping and packing of plush toys is more complicated than the packing of other commodities. If manual packing is used, not only is the efficiency low, but irregular plush toys will also cause a large waste of space. In actual use, mechanical compression packing equipment is prone to cause deformation of toys, irreversible damage such as fluff lodging, etc., which affects product quality. For this reason, an integrated plush toy packing equipment and a packing method are proposed. Dynamic gap filling technology is set. Through dynamic octree space modeling, the irregular contours of plush toys and the gaps in containers are accurately matched, thereby effectively improving space utilization. A differentiated compression strategy based on material elasticity is adopted, combined with placement posture optimization, to effectively improve the effective volume of packing. A flexible sealing module is set with progressive pressure control. Through two-stage compression and real-time fusing of the piezoresistive sensor array, permanent deformation of the material is prevented. Summary of the Invention

[0004] The present invention provides an integrated packing device for plush toys and a packing method thereof, which solve the problems of wasted space when packing special-shaped toys, the risk of permanent deformation of plush toys caused by mechanical compression equipment, low efficiency of small-batch customization, and easy damage to hard-soft mixed structures. It significantly improves space utilization, reduces damage to plush toys during packing, reduces packing errors, improves packing efficiency, and controls packing costs.

[0005] The present invention solves the above technical problems with the following solution: an integrated plush toy packing device, comprising a visual recognition module, a packing planning module, a multi-axis robotic arm, a flexible sealing module, a No. 1 conveyor, and a No. 2 conveyor. The visual recognition module is arranged on the No. 1 conveyor, the multi-axis robotic arm is arranged at the connection between the No. 1 conveyor and the No. 2 conveyor, the visual recognition module uses a 3D structured light scanner and an RGB-D camera, the packing planning module has a built-in spatial segmentation algorithm, and the flexible sealing module is arranged on the No. 2 conveyor.

[0006] The packing method includes the following steps:

[0007] S1, visual recognition stage, the plush toy is placed on conveyor No. 1 for loading and transported to the visual recognition module for data collection, volume calculation, and a closed mesh model generated by the Poisson reconstruction algorithm. Finally, the compression coefficient is calculated;

[0008] In the packing planning stage, the remaining space in the container and the compression parameters of the plush toy are input into the packing planning module. Through dynamic octree spatial modeling and deformable mesh decomposition, the mass-spring model is applied to simulate the compression deformation to generate and optimize the packing planning scheme.

[0009] S3, the robotic arm execution phase, inputs the packing plan and outputs a safe packing path. The multi-axis robotic arm selects the grasping point based on texture analysis and obstacle avoidance path planning, and grasps the plush toy into the box placed at the exit of conveyor No. 2;

[0010] S4, the compression and sealing stage, uses the flexible sealing module to perform two-stage compression on the plush toys. After compression, the box body can be driven to move to the sealing machine for sealing. After sealing, the box body can be transferred out through the load-bearing frame to complete the unloading.

[0011] On the basis of the above technical solution, the present invention can also be improved as follows.

[0012] Furthermore, the multi-axis robotic arm is equipped with a vacuum adsorption gripper and an infrared locator.

[0013] Furthermore, the flexible carton sealing module includes a load-bearing frame, a hydraulic cylinder, a hydraulic pressure plate, and a carton sealing machine. The load-bearing frame is arranged on the No. 2 conveyor, the hydraulic cylinder and the carton sealing machine are both arranged on the load-bearing frame, the hydraulic pressure plate is installed on the driving end of the hydraulic cylinder, and the hydraulic pressure plate is provided with a piezoresistive sensor array.

[0014] Furthermore, auxiliary rollers are evenly arranged in the load-bearing frame.

[0015] Furthermore, the heating box is fixedly installed on the left side of the light immersion box.

[0016] Furthermore, in step S1, a 3D structured light scanner obtains a point cloud of the toy surface and captures texture features through an RGB-D camera.

[0017] Furthermore, in step S2, dynamic octree space modeling is performed to divide the container into multiple minimum cubic units, and real-time status annotation is performed, with occupied areas marked in red and fillable gaps marked in green.

[0018] Furthermore, in step S4, the flexible sealing module is provided with a deformation monitoring mechanism, and the piezoresistive sensor array detects local deformation. If the deformation of the suture area is greater than a preset value, the compression is immediately terminated, and if the deformation of the torso reaches a preset value, the whole process is stopped.

[0019] The beneficial effects of the present invention are as follows: the present invention provides an integrated plush toy packing device and a packing method thereof, which has the following advantages:

[0020] 1. Dynamic gap filling technology is set up to accurately match the irregular outline of plush toys with the gaps in the container through dynamic octree space modeling, thereby effectively improving space utilization;

[0021] 2. A differentiated compression strategy based on material elasticity, combined with optimized placement, effectively increases the effective volume of the packaging. A progressive pressure control system for the flexible sealing module is implemented, with two-stage compression and real-time fusing of the piezoresistive sensor array to prevent permanent material deformation.

[0022] 3. It effectively solves the problems of wasted space when packing special-shaped toys, the risk of permanent deformation of plush toys caused by mechanical compression equipment, low efficiency of small-batch customization, and easy damage of hard-soft mixed structures in traditional plush toy packing methods. It significantly improves space utilization, reduces damage to plush toys during packing, reduces packing errors, improves packing efficiency, and controls packing costs.

[0023] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and to implement it according to the contents of the description, the following preferred embodiments of the present invention are described in detail with reference to the accompanying drawings. The specific implementation methods of the present invention are given in detail by the following embodiments and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 A schematic structural diagram of an integrated plush toy packing device and a packing method thereof provided in one embodiment of the present invention;

[0026] Figure 2 A schematic structural diagram of a heterojunction solar cell discharging state in an integrated plush toy packaging device and packaging method provided by one embodiment of the present invention;

[0027] Figure 3 A front view of an integrated plush toy packing device and a packing method thereof provided in one embodiment of the present invention;

[0028] Figure 4 This is a flow chart of a method for an integrated plush toy packing device and a packing method thereof provided in one embodiment of the present invention.

[0029] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0030] 1. Conveyor No. 1; 2. Conveyor No. 2; 3. Visual recognition module; 4. Multi-axis robotic arm; 5. Load-bearing frame; 6. Hydraulic cylinder; 7. Hydraulic pressure plate; 8. Carton sealing machine; 9. Auxiliary roller. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-4 The principles and features of the present invention are described, and the examples given are only for the purpose of explaining the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are in a very simplified form and are not in exact proportions, and are only used for the purpose of conveniently and clearly assisting in illustrating the embodiments of the present invention.

[0032] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a central component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] like Figure 1-4 As shown, the present invention provides a visual recognition module 3, a packing planning module, a multi-axis robotic arm 4, a flexible sealing module, conveyor No. 1 and conveyor No. 2, the visual recognition module 3 is arranged on conveyor No. 1, the multi-axis robotic arm 4 is arranged at the connection between conveyor No. 1 and conveyor No. 2, the visual recognition module 3 adopts a 3D structured light scanner and an RGB-D camera, the packing planning module has a built-in space segmentation algorithm, and the flexible sealing module is arranged on conveyor No. 2.

[0035] Preferably, the multi-axis robotic arm 4 is equipped with a vacuum adsorption gripper and an infrared locator.

[0036] Preferably, the flexible carton sealing module includes a load-bearing frame 5, a hydraulic cylinder 6, a hydraulic pressure plate 7, and a carton sealing machine 8. The load-bearing frame 5 is arranged on the No. 2 conveyor 2, the hydraulic cylinder 6 and the carton sealing machine 8 are both arranged on the load-bearing frame 5, the hydraulic pressure plate 6 is installed on the driving end of the hydraulic cylinder 6, and the hydraulic pressure plate 6 is provided with a piezoresistive sensor array.

[0037] Preferably, auxiliary rollers 9 are evenly arranged in the load-bearing frame 5 .

[0038] The specific working principle and method of use of the present invention are as follows:

[0039] Take Teddy Bear Packing as an example

[0040] S1: visual recognition stage;

[0041] The teddy bear toy is loaded onto conveyor 1 and then transported to the visual recognition module 3 for data collection. A 3D structured light scanner acquires a point cloud of the toy surface with a resolution of ±0.1mm. The RGB-D camera captures texture features and identifies hard parts such as eyes and buttons.

[0042] Then perform volume calculation, generate a closed mesh model through the Poisson reconstruction algorithm, and calculate the original volume $V_1=\iiint_{\Omega}dxdydz$;

[0043] Calculate the compression factor;

[0044] Analysis of the torso reveals that the texture is short-pile (determined by the HSV color space: saturation < 0.3 & lightness > 0.7). The elasticity model is matched based on historical data, and the compression coefficient α is 0.7 (i.e., the volume is reduced to 70% after compression).

[0045] The output data structure is as follows:

[0046]

[0047] S2: packing planning stage;

[0048] The remaining space of the container is 0.35m 3 and Teddy Bear compression parameters are input to the packing planning module;

[0049] Dynamic octree spatial modeling divides the container into 512 minimum cubic units (voxel_size=5cm 3 ) to mark the real-time status, with occupied areas marked in red and fillable spaces marked in green;

[0050] Decompose the toy's deformable mesh;

[0051] Convert the Teddy Bear point cloud into a tetrahedral mesh with 856 vertices and 2152 surface triangles.

[0052] The mass-spring model was used to simulate the compression deformation, with the spring stiffness coefficients k = 50 N / m in the suture region and k = 15 N / m in the trunk region;

[0053] Solution generation and optimization: Solution A is upright (Z axis 0°), and the occupied space (before compression) is 0.12m 3 , compressed space 0.08m 3 , center of gravity offset 8.2cm;

[0054] Plan B: side lying (Z axis 55°), occupied space (before compression) 0.09m 3 , compressed space 0.07m 3 , center of gravity offset 3.1cm;

[0055] The optimization objective function is as follows,

[0056] \text{minimize}\Phi=w_1\cdot(1-\frac{V_{used}}{V_{total}})+w_2\cdot\Delta G

[0057] Weight settings: w1 = 0.7 (space utilization priority), w2 = 0.3 (center of gravity stability);

[0058] Calculation result: Φ_A=0.42,Φ_B=0.21→Select Option B

[0059] S3: During the execution phase of the robot arm, the posture command of solution B is input to lie on its side and rotate the Z axis 55°;

[0060] Output safe packing path;

[0061] The specific algorithm flow example is as follows:

[0062] defrobotic_arm_execution():

[0063] grasp_point=detect_grasp_point("ear")# Bear Ear coordinates (0.2, 0.1, 0.3)m

[0064] set_gripper_force(1.8N)#Based on fabric tensile strength threshold

[0065] #Path planning (RRT* algorithm)

[0066] path=RRT_star(start=current_pose,

[0067] goal=box_pose(rotation_z=55°),

[0068] obstacles = existing_toys)

[0069] execute_trajectory(path,velocity=0.5m / s)

[0070] release_object();

[0071] The multi-axis robotic arm selects the gripping point based on texture analysis and obstacle avoidance path planning, and then grabs the teddy bear and places it in a box at the exit of conveyor No. 2.

[0072] Texture analysis: Bear ear area stitch density > 5 stitches / cm (tensile strength > 4N); Force control strategy: Initial grip force = 1.5N → Pressure sensor detects slippage → Dynamically increase to 1.8N; Obstacle avoidance path planning; Environmental modeling: Boxed toys are simplified into a cylindrical bounding box (radius expanded by 10%).

[0073] S4: Compression and sealing stage,

[0074] Starting the hydraulic cylinder can drive the hydraulic pressure plate to press down, so that the box cover can stably compress the plush toys placed in the box.

[0075] Two-stage compression control: pre-compression stage with a pressure of 20 kPa, to exclude air and achieve initial densification until the deformation rate is less than 0.1% / s;

[0076] The main compression stage pressure is 35kPa, achieving the target total deformation ≥30%;

[0077] A deformation monitoring mechanism was set up, with a piezoresistive sensor array (16×16 grid) detecting local deformation. If the deformation of the suture area is greater than 5%, compression is immediately terminated (to prevent rupture). If the deformation of the torso reaches 30%, the compression is stopped globally.

[0078] After compression is completed, the No. 2 conveyor is started to drive the box to the carton sealing machine for sealing. The sealed box can be transferred out through the load-bearing frame to complete unloading.

[0079] It should be noted that, in this document, relational terms such as first and second are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Matters not described in detail in this specification are well known to those skilled in the art.

[0080] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. An integrated plush toy packing device, comprising a visual recognition module (3), a packing planning module, a multi-axis robotic arm (4), a flexible box sealing module, a first conveyor (1) and a second conveyor (2), characterized in that: The visual recognition module (3) is arranged on the No. 1 conveyor (1), the multi-axis robot arm (4) is arranged at the connection between the No. 1 conveyor (1) and the No. 2 conveyor (2), the visual recognition module (3) adopts a 3D structured light scanner and an RGB-D camera, the packing planning module has a built-in space segmentation algorithm, and the flexible box sealing module is arranged on the No. 2 conveyor (2); The packing method includes the following steps: S1, visual recognition stage, the plush toy is placed on conveyor No. 1 (1) for loading, and then transported to the visual recognition module (3) for data collection, volume calculation, generation of a closed grid model through the Poisson reconstruction algorithm, and finally calculation of the compression coefficient; In the packing planning stage, the remaining space in the container and the compression parameters of the plush toy are input into the packing planning module. Through dynamic octree spatial modeling and deformable mesh decomposition, the mass-spring model is applied to simulate the compression deformation to generate and optimize the packing planning scheme. S3, the robotic arm execution phase, inputs the packing planning scheme, outputs the safe packing path, and the multi-axis robotic arm (4) selects the grasping point based on texture analysis and obstacle avoidance path planning, and grasps the plush toy into the box placed at the exit of the second conveyor (2); S4, the compression and sealing stage, performs two-stage compression on the plush toys through the flexible sealing module, and after compression, the box body can be driven to move to the sealing machine (8) for sealing. After sealing, the box body can be transferred out through the load-bearing frame (5), completing the unloading.

2. The plush toy integrated packaging equipment according to claim 1, characterized in that: The multi-axis robotic arm (4) is equipped with a vacuum adsorption gripper and an infrared locator.

3. The plush toy integrated packaging equipment according to claim 1, characterized in that: The flexible carton sealing module comprises a load-bearing frame (5), a hydraulic cylinder (6), a hydraulic pressure plate (7), and a carton sealing machine (8); the load-bearing frame (5) is arranged on the second conveyor (2); the hydraulic cylinder (6) and the carton sealing machine (8) are both arranged on the load-bearing frame (5); the hydraulic pressure plate (6) is installed on the driving end of the hydraulic cylinder (6); and the hydraulic pressure plate (6) is provided with a piezoresistive sensor array.

4. The plush toy integrated packaging equipment according to claim 1, characterized in that: Auxiliary rollers (9) are evenly arranged in the load-bearing frame (5).

5. The plush toy integrated packaging equipment according to claim 1, characterized in that: In step S1, a 3D structured light scanner acquires a point cloud of the toy surface and captures texture features through an RGB-D camera.

6. The plush toy integrated packaging equipment according to claim 1, characterized in that: In step S2, dynamic octree space modeling is performed to divide the container into multiple minimum cubic units, and real-time status annotation is performed. The occupied area is marked in red, and the fillable gap is marked in green.

7. The plush toy integrated packaging equipment according to claim 1, characterized in that: In step S4, the flexible sealing module is provided with a deformation monitoring mechanism, and the piezoresistive sensor array detects local deformation. If the deformation of the suture area is greater than a preset value, compression is immediately terminated, and if the deformation of the torso reaches a preset value, the whole process is stopped.

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