A carton turnover device and carton turnover method based on visual detection

Abstract

This invention discloses a carton flipping device and method based on vision detection, belonging to the field of flipping device control technology. The invention obtains the defined carton edge and corresponding carton information and edge size information through carton image detection, and analyzes it to obtain the clamping strategy and robotic arm parameters including clamping force, clamping rod moving distance and clamping lifting height, thereby flipping the carton, improving the stability of the carton flipping process, and effectively avoiding damage caused during the carton flipping process.

Description

Technical Field

[0001] This invention relates to the field of flipping equipment control technology, and in particular to a carton flipping device and method based on vision detection. Background Technology

[0002] In the production of cardboard boxes, there are processes such as printing and labeling. Different processes may require the cardboard boxes to enter the corresponding workstation with a specific box surface. Therefore, it is necessary to flip the cardboard boxes, and thus automated cardboard box flipping equipment is put into the production line.

[0003] However, most existing carton flipping equipment only uses a simple flipping mechanism to perform unchanging flipping operations, and cannot make adaptive flipping strategies according to the carton, resulting in unstable carton flipping and easy damage during the carton flipping process. Summary of the Invention

[0004] To address the technical problems existing in the prior art, this invention provides a visual detection-based cardboard box flipping device, including a conveying device, an imaging device, a robotic arm flipping device, and a control and detection system. The imaging device is used to acquire images of the cardboard box to be flipped.

[0005] The control and detection system includes:

[0006] The box edge definition module is used to define the box edges of the box to be flipped based on the box image, including the length edge, width edge, and height edge.

[0007] The information acquisition module is used to acquire the carton information of the carton to be flipped based on the carton image, including the corrugated structure, corrugated type and three-dimensional dimensions;

[0008] The size matching module is used to match the dimensions of the edges of the carton to be flipped according to the three-dimensional dimensions, and obtain the edge dimension information of the carton to be flipped, including the length, width and height of the carton;

[0009] The strategy analysis module is used to select the gripping strategy of the robotic arm flipping device for the carton to be flipped based on the box edge size information, and to obtain the gripping surface. The gripping strategy includes a flat gripping strategy and a vertical gripping strategy.

[0010] The parameter analysis module is used to analyze the robot arm parameters based on carton information, gripping strategy, and carton edge size information, including gripping force, gripper movement distance, and gripping lifting height;

[0011] The first control module is used to control the robotic arm flipping device to flip the carton to be flipped according to the robotic arm parameters.

[0012] Furthermore, the box edge definition module defines the box edge of the box to be flipped based on the box image, specifically as follows:

[0013] The side of the carton along the conveying direction is taken as the length side, the side of the carton perpendicular to the horizontal plane of the conveying device is taken as the height side, and the side of the carton that is perpendicular to both the length side and the height side is taken as the width side.

[0014] Furthermore, the information acquisition module acquires the carton information of the carton to be flipped based on the carton image, specifically as follows:

[0015] Image analysis technology is used to compare the similarity of the cardboard box image with the stored images of each cardboard box model that needs to be flipped. The cardboard box model corresponding to the stored image with the highest similarity is used as the cardboard box model to be flipped.

[0016] Based on the carton model, the corresponding corrugated structure, corrugated type, and three-dimensional dimensions are obtained from a preset database.

[0017] Furthermore, the size matching module performs size matching on the edges of the carton to be flipped based on its three-dimensional dimensions, specifically as follows:

[0018] Image analysis technology is used to compare the lengths of the three sides of the cardboard box in the image to obtain the longest side, the middle side, and the shortest side.

[0019] The maximum, median, and minimum values ​​in the three-dimensional dimensions are matched with the longest, middle, and shortest carton edges, respectively.

[0020] Furthermore, the strategy analysis module analyzes the gripping strategy of the robotic arm flipping device for the carton to be flipped based on the box edge size information, specifically as follows:

[0021] When the length of the carton is greater than or equal to the maximum gripping width of the robotic arm flipping device, and / or the ratio of the carton length to the carton height is greater than a preset threshold, a flat clamping strategy is adopted, with the carton surface composed of the length side and the width side as the gripping surface;

[0022] When the height of the carton is greater than or equal to the maximum gripping width of the robotic arm flipping device, and / or the ratio of the carton height to the carton length is greater than a preset threshold, a vertical gripping strategy is adopted, using the carton surface composed of the height side and the width side as the gripping surface.

[0023] Furthermore, the robotic arm flipping device includes:

[0024] Main lifting mechanism and tilting clamp;

[0025] The main lifting mechanism is equipped with a main slide rail, and a main moving slider is mounted on the main slide rail; a rotating device is located in the middle of the main moving slider.

[0026] The flipping clamp includes a secondary lifting mechanism, a first fixing component, a first clamping rod assembly, a second fixing component, and a second clamping rod assembly;

[0027] The auxiliary lifting mechanism is connected to the main moving slider via the rotating device.

[0028] Furthermore, the auxiliary lifting mechanism is provided with an auxiliary slide rail, on which a first auxiliary sliding block and a second auxiliary sliding block are provided; the first fixing member is connected to the first auxiliary sliding block, and the second fixing member is connected to the second auxiliary sliding block;

[0029] The first clamping rod group includes a first intermediate clamping rod and two first side clamping rods, and the second clamping rod group includes a second intermediate clamping rod and two second side clamping rods;

[0030] The first intermediate clamping rod is provided with a first sub-slide rail on each side of the first fixing member, and a first sub-moving slider is provided on the first sub-slide rail; the second intermediate clamping rod is provided with a second sub-slide rail on each side of the second fixing member, and a second sub-moving slider is provided on the second sub-slide rail.

[0031] The two first side clamps are respectively connected to the corresponding first sub-moving sliders, and the two second side clamps are respectively connected to the corresponding second sub-moving sliders.

[0032] Furthermore, the parameter analysis module analyzes the movement distance of the clamping rod, specifically as follows:

[0033] When using a flat clamping strategy, the length of the carton is divided into three equal parts; when using a vertical clamping strategy, the height of the carton is divided into three equal parts.

[0034] After dividing the object into three equal parts, mark the center point and the side point. Align the middle positions of the first and second middle clamps with the corresponding center points. At this point, the distance between the middle position of the first side clamp and the nearest side point is the clamp movement distance of the corresponding first side clamp. The distance between the middle position of the second side clamp and the nearest side point is the clamp movement distance of the corresponding second side clamp.

[0035] If the side point is outside the track range of the nearest first sub-slide rail, then the corresponding first side clamp is moved to the track end point of the first sub-slide rail that is farthest from the corresponding center point; if the side point is outside the track range of the nearest second sub-slide rail, then the corresponding second side clamp is moved to the track end point of the second sub-slide rail that is farthest from the corresponding center point.

[0036] Furthermore, the parameter analysis module analyzes the clamping force, specifically as follows:

[0037] Using a pre-trained deep learning model, based on the carton information and the side length of the gripping surface, the optimized gripping force is output as the gripping force for the carton to be flipped.

[0038] The parameter analysis module analyzes the clamping height, specifically as follows:

[0039] When using a flat clamping strategy, the clamping height is the sum of the preset lifting height and the length of the carton;

[0040] When using a vertical clamping strategy, the clamping height is the sum of the preset lifting height and the height of the carton.

[0041] The present invention also provides a visual detection-based carton flipping method, applicable to any of the visual detection-based carton flipping devices described above, specifically including the following steps:

[0042] Obtain an image of the cardboard box to be flipped;

[0043] The sides of the cardboard box to be flipped are defined based on the cardboard box image, and the cardboard box information of the cardboard box to be flipped is obtained. The cardboard box sides include length, width, and height. The cardboard box information includes corrugated structure, corrugated type, and three-dimensional dimensions.

[0044] Based on the three-dimensional dimensions, the edges of the carton to be flipped are matched to obtain the edge dimension information of the carton to be flipped, including the carton length, carton width and carton height;

[0045] Based on the box edge size information, select the gripping strategy of the robotic arm flipping device for the carton to be flipped, and obtain the gripping surface. The gripping strategy includes a flat gripping strategy and a vertical gripping strategy.

[0046] Analyze the robot arm parameters based on carton information, gripping strategy, and carton edge dimensions, including gripping force, gripper movement distance, and gripping lifting height;

[0047] The robotic arm flipping device is controlled according to the robotic arm parameters to flip the carton to be flipped.

[0048] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0049] This invention obtains defined carton edges and corresponding carton information and edge size information through carton image detection. Based on this, it analyzes and obtains clamping strategies and robotic arm parameters, including clamping force, clamping rod movement distance, and clamping lifting height, thereby flipping the carton, improving the stability of the carton flipping process, and effectively avoiding damage caused during the carton flipping process.

[0050] By comparing the length and height of the carton with the maximum gripping width of the robotic arm's flipping device, the appropriate gripping strategy is selected to improve the efficiency and stability of carton flipping.

[0051] By adjusting the gripping positions of the first and second side clamps on the carton according to different gripping strategies, the force-bearing surface of the carton is balanced and stable, thereby improving the carton's flipping efficiency and stability. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a structural block diagram of a carton flipping device based on vision detection according to the present invention;

[0055] Figure 2 This is a structural block diagram of the robotic arm flipping device in this invention;

[0056] Figure 3 This is a structural block diagram of the flipping fixture in this invention;

[0057] Figure 4 This is a side view of the main moving slider and the flipping fixture in this invention. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0059] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0060] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0061] Example 1

[0062] See Figures 1 to 4 As shown, the present invention also provides a visual detection-based cardboard box flipping device, specifically comprising:

[0063] The device includes a conveying device, a shooting device, a robotic arm flipping device, and a control and detection system that is connected in communication with the above devices.

[0064] The shooting device is used to acquire an image of the cardboard box to be flipped.

[0065] The control and detection system includes:

[0066] The box edge definition module is used to define the box edges of the box to be flipped based on the box image, including the length edge, width edge, and height edge.

[0067] The information acquisition module is used to acquire the carton information of the carton to be flipped based on the carton image, including the corrugated structure, corrugated type and three-dimensional dimensions;

[0068] The size matching module is used to match the dimensions of the edges of the carton to be flipped according to the three-dimensional dimensions, and obtain the edge dimension information of the carton to be flipped, including the length, width and height of the carton;

[0069] The strategy analysis module is used to select the gripping strategy of the robotic arm flipping device for the carton to be flipped based on the box edge size information, and to obtain the gripping surface. The gripping strategy includes a flat gripping strategy and a vertical gripping strategy.

[0070] The parameter analysis module is used to analyze the robot arm parameters based on carton information, gripping strategy, and carton edge size information, including gripping force, gripper movement distance, and gripping lifting height;

[0071] The first control module is used to control the robotic arm flipping device to flip the carton to be flipped according to the robotic arm parameters.

[0072] The box edge definition module defines the box edge of the box to be flipped based on the box image, specifically as follows:

[0073] The side of the carton along the conveying direction is taken as the length side, the side of the carton perpendicular to the horizontal plane of the conveying device is taken as the height side, and the side of the carton that is perpendicular to both the length side and the height side is taken as the width side.

[0074] The information acquisition module obtains the carton information of the carton to be flipped based on the carton image, specifically:

[0075] Image analysis technology is used to compare the similarity of the cardboard box image with the stored images of each cardboard box model that needs to be flipped. The cardboard box model corresponding to the stored image with the highest similarity is used as the cardboard box model to be flipped.

[0076] Based on the carton model, the corresponding corrugated structure, corrugated type, and three-dimensional dimensions are obtained from a preset database.

[0077] The corrugated structure is divided into single-wall corrugated board (i.e., one layer of face paper plus one layer of corrugated core paper), single-wall corrugated board (i.e., two layers of face paper plus one layer of corrugated core paper), double-wall corrugated board (i.e., two layers of corrugated core paper plus three layers of face paper), and triple-wall corrugated board (i.e., three layers of corrugated core paper), etc.

[0078] The corrugated types are classified according to international standards, such as A-flute, B-flute, C-flute and E-flute. The flute height of A-flute is 4.5-5.0mm, and the number of flutes per 30cm is 34±2.

[0079] The size matching module performs size matching on the edges of the carton to be flipped based on its three-dimensional dimensions, specifically as follows:

[0080] Image analysis technology is used to compare the lengths of the three sides of the cardboard box in the image to obtain the longest side, the middle side, and the shortest side.

[0081] The maximum, median, and minimum values ​​in the three-dimensional dimensions are matched with the longest, middle, and shortest carton edges, respectively.

[0082] If the three dimensions are equal, there is no need to compare the lengths; the values ​​can be directly matched with the edges of each carton.

[0083] The strategy analysis module analyzes the gripping strategy of the robotic arm flipping device for the carton to be flipped based on the carton edge size information, specifically:

[0084] When the length of the carton is greater than or equal to the maximum gripping width of the robotic arm flipping device, and / or the ratio of the carton length to the carton height is greater than a preset threshold, a flat clamping strategy is adopted, with the carton surface composed of the length side and the width side as the gripping surface;

[0085] When the height of the carton is greater than or equal to the maximum gripping width of the robotic arm flipping device, and / or the ratio of the carton height to the carton length is greater than a preset threshold, a vertical gripping strategy is adopted, using the carton surface composed of the height side and the width side as the gripping surface.

[0086] The robotic arm flipping device includes:

[0087] Main lifting mechanism 1 and tilting clamp;

[0088] The main lifting mechanism 1 is provided with a main slide rail 11, and a main moving slider 12 is provided on the main slide rail 11, which moves along the direction of the main slide rail 11;

[0089] A rotating device 6 is provided in the middle of the main moving slider 12. The flipping fixture is connected to the main moving slider 12 through the rotating device 6. The rotating device 6 drives the flipping fixture to rotate 360 ​​degrees.

[0090] The flipping clamp includes: a secondary lifting mechanism 3, a first fixing member 4, a first clamping rod group, a second fixing member 5, and a second clamping rod group;

[0091] The auxiliary lifting mechanism 3 is connected to the main moving slider 12 through the rotating device 6; the auxiliary lifting mechanism 3 is provided with an auxiliary slide rail 31, on which a first auxiliary moving slider and a second auxiliary moving slider are provided, both of which move along the direction of the auxiliary slide rail 31;

[0092] The first clamping rod group includes a first intermediate clamping rod 41 and two first side clamping rods 42, and the second clamping rod group includes a second intermediate clamping rod 51 and two second side clamping rods 52;

[0093] The first fixing member 4 and the second fixing member 5 have the same size and specifications; the first intermediate clamping rod 41, the two first side clamping rods 42, the second intermediate clamping rod 51 and the two second side clamping rods 52 have the same size and specifications.

[0094] The first fixing member 4 is connected to the first auxiliary movable slider, and the second fixing member 5 is connected to the second auxiliary movable slider;

[0095] The first intermediate clamping rod 41 is fixedly disposed in the middle of the first fixing member 4, and the second intermediate clamping rod 51 is fixedly disposed in the middle of the second fixing member 5;

[0096] The first intermediate clamping rod 41 has a first sub-slide rail 44 on each side of the first fixing member 4, and a first sub-moving slider 43 is provided on the first sub-slide rail 44. The second intermediate clamping rod 51 has a second sub-slide rail 54 on each side of the second fixing member 5, and a second sub-moving slider 53 is provided on the second sub-slide rail 54. The first sub-moving slider 43 moves along the direction of the first fixing member 4, and the second sub-moving slider 53 moves along the direction of the second fixing member 5.

[0097] The two first side clamps 42 are respectively connected to the corresponding first sub-moving sliders 43, and the two second side clamps 52 are respectively connected to the corresponding second sub-moving sliders 53; the sides of the two first side clamps 42 facing the carton and the sides of the first intermediate clamp 41 facing the carton are all on the same horizontal plane, and the sides of the two second side clamps 52 facing the carton and the sides of the second intermediate clamp 51 facing the carton are all on the same horizontal plane.

[0098] The conveying device conveys materials by the rolling of multiple conveying rollers, and three slots are provided between the multiple conveying rollers for the first clamping rod group or the second clamping rod group to be inserted.

[0099] The interval between the three slots is the initial interval between the first intermediate clamping rod 41 and the two first side clamping rods 42, and also the initial interval between the second intermediate clamping rod 51 and the two second side clamping rods 52.

[0100] The rotating device 6 uses an existing electrically controlled rotating device, and its specific structure and installation are existing technologies. All the sliders mentioned above are electrically driven on the slide rails, and existing electrically controlled slide rails are selected according to the required dimensions. Their specific structure and installation are also existing technologies and will not be described further here. The first set of moving sliders, the second set of moving sliders, the first sub-slider, and the second sub-slider are not shown in the figure due to perspective. These sliders and slide rails all use existing technologies, and their specific installation and connection methods are conventional and will not be described further here.

[0101] The parameter analysis module analyzes the clamping force, specifically as follows:

[0102] Using a pre-trained deep learning model, the system outputs an optimized gripping force based on the cardboard box information and the side length of the gripping surface, which is then used as the gripping force for the cardboard box to be flipped.

[0103] The deep learning model is trained using multiple sets of different historical cardboard box information, historical clamping surface side lengths, and historical qualified clamping forces as training samples.

[0104] The parameter analysis module analyzes the movement distance of the clamping rod, specifically as follows:

[0105] When using a flat clamping strategy, the length of the carton is divided into three equal parts; when using a vertical clamping strategy, the height of the carton is divided into three equal parts.

[0106] After dividing into three equal parts, mark the center point and side point. Align the middle positions of the first middle clamping rod 41 and the second middle clamping rod 51 with the corresponding center point. At this time, the distance between the middle position of the first side clamping rod 42 and the nearest side point is the clamping rod movement distance of the corresponding first side clamping rod 42. The distance between the middle position of the second side clamping rod 52 and the nearest side point is the clamping rod movement distance of the corresponding second side clamping rod 52.

[0107] If the side point is outside the track range of the nearest first sub-slide rail 44, then the corresponding first side clamp 42 is moved to the track end point of the first sub-slide rail 44 that is farthest from the corresponding center point; if the side point is outside the track range of the nearest second sub-slide rail 54, then the corresponding second side clamp 52 is moved to the track end point of the second sub-slide rail 54 that is farthest from the corresponding center point.

[0108] The parameter analysis module analyzes the clamping height, specifically as follows:

[0109] When using a flat clamping strategy, the clamping height is the sum of the preset lifting height and the length of the carton;

[0110] When using a vertical clamping strategy, the clamping height is the sum of the preset lifting height and the height of the carton.

[0111] The clamping height is the height at which the main moving slider 12 drives the flipping fixture to continue rising along the main slide rail 11 after clamping the carton and before flipping it. The purpose is to avoid collisions during the flipping process of the carton.

[0112] In this scheme, the initial state of the flipping clamp is that the first intermediate clamping rod 41 and the two first side clamping rods 42 are respectively embedded in the three slots of the conveying device, or the second intermediate clamping rod 51 and the two second side clamping rods 52 are respectively embedded in the three slots of the conveying device, that is, the initial state of the flat clamping strategy. The preset rising height is intended to allow each clamping rod to rise from the slot first.

[0113] The control and detection system also includes a second control module for controlling the start and stop of the transmission device.

[0114] Example 2

[0115] The present invention provides a visual detection-based cardboard box flipping method, which specifically includes the following steps:

[0116] Obtain an image of the cardboard box to be flipped;

[0117] The sides of the cardboard box to be flipped are defined based on the cardboard box image, and the cardboard box information of the cardboard box to be flipped is obtained. The cardboard box sides include length, width, and height. The cardboard box information includes corrugated structure, corrugated type, and three-dimensional dimensions.

[0118] Based on the three-dimensional dimensions, the edges of the carton to be flipped are matched to obtain the edge dimension information of the carton to be flipped, including the carton length, carton width and carton height;

[0119] Based on the box edge size information, select the gripping strategy of the robotic arm flipping device for the carton to be flipped, and obtain the gripping surface. The gripping strategy includes a flat gripping strategy and a vertical gripping strategy.

[0120] Analyze the robot arm parameters based on carton information, gripping strategy, and carton edge dimensions, including gripping force, gripper movement distance, and gripping lifting height;

[0121] The robotic arm flipping device is controlled according to the robotic arm parameters to flip the carton to be flipped.

[0122] Example 3

[0123] The present invention also provides an electronic device, including: a processor, a transmitting device, an input device, an output device, and a memory. The processor may be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit, or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory may be implemented using a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), and is used to store computer program code. The computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes a method as described in any of the above possible implementation methods.

[0124] Example 4

[0125] The present invention also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor of an electronic device, cause the processor to perform a method as described in any of the above possible implementations.

[0126] The beneficial effects of this invention are as follows:

[0127] This invention obtains defined carton edges and corresponding carton information and edge size information through carton image detection. Based on this, it analyzes and obtains clamping strategies and robotic arm parameters, including clamping force, clamping rod movement distance, and clamping lifting height, thereby flipping the carton, improving the stability of the carton flipping process, and effectively avoiding damage caused during the carton flipping process.

[0128] By comparing the length and height of the carton with the maximum gripping width of the robotic arm's flipping device, the appropriate gripping strategy is selected to improve the efficiency and stability of carton flipping.

[0129] By adjusting the gripping positions of the first and second side clamps on the carton according to different gripping strategies, the force-bearing surface of the carton is balanced and stable, thereby improving the carton's flipping efficiency and stability.

[0130] In the description of this specification, the references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0131] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0132] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vision-based cardboard box flipping device, comprising a conveying device, an imaging device, a robotic arm flipping device, and a control and detection system, characterized in that, The shooting device is used to acquire an image of the cardboard box to be flipped. The control and detection system includes: The box edge definition module is used to define the box edges of the box to be flipped based on the box image, including the length edge, width edge, and height edge. The information acquisition module is used to acquire the carton information of the carton to be flipped based on the carton image, including the corrugated structure, corrugated type and three-dimensional dimensions; The size matching module is used to match the dimensions of the edges of the carton to be flipped according to the three-dimensional dimensions, and obtain the edge dimension information of the carton to be flipped, including the length, width and height of the carton; The strategy analysis module is used to select the gripping strategy of the robotic arm flipping device for the carton to be flipped based on the box edge size information, and to obtain the gripping surface. The gripping strategy includes a flat gripping strategy and a vertical gripping strategy. The parameter analysis module is used to analyze the robot arm parameters based on carton information, gripping strategy, and carton edge size information, including gripping force, gripper movement distance, and gripping lifting height; The first control module is used to control the robotic arm flipping device to flip the carton to be flipped according to the robotic arm parameters.

2. The cardboard box flipping device based on vision detection according to claim 1, characterized in that, The box edge definition module defines the box edge of the box to be flipped based on the box image, specifically as follows: The side of the carton along the conveying direction is taken as the length side, the side of the carton perpendicular to the horizontal plane of the conveying device is taken as the height side, and the side of the carton that is perpendicular to both the length side and the height side is taken as the width side.

3. The cardboard box flipping device based on vision detection according to claim 1, characterized in that, The information acquisition module obtains the carton information of the carton to be flipped based on the carton image, specifically: Image analysis technology is used to compare the similarity of the cardboard box image with the stored images of each cardboard box model that needs to be flipped. The cardboard box model corresponding to the stored image with the highest similarity is used as the cardboard box model to be flipped. Based on the carton model, the corresponding corrugated structure, corrugated type, and three-dimensional dimensions are obtained from a preset database.

4. The visual detection-based carton flipping device according to claim 1, characterized in that, The size matching module performs size matching on the edges of the carton to be flipped based on its three-dimensional dimensions, specifically as follows: Image analysis technology is used to compare the lengths of the three sides of the cardboard box in the image to obtain the longest side, the middle side, and the shortest side. The maximum, median, and minimum values ​​in the three-dimensional dimensions are matched with the longest, middle, and shortest carton edges, respectively.

5. The cardboard box flipping device based on vision detection according to claim 1, characterized in that, The strategy analysis module analyzes the gripping strategy of the robotic arm flipping device for the carton to be flipped based on the carton edge size information, specifically: When the length of the carton is greater than or equal to the maximum gripping width of the robotic arm flipping device, and / or the ratio of the carton length to the carton height is greater than a preset threshold, a flat clamping strategy is adopted, with the carton surface composed of the length side and the width side as the gripping surface; When the height of the carton is greater than or equal to the maximum gripping width of the robotic arm flipping device, and / or the ratio of the carton height to the carton length is greater than a preset threshold, a vertical gripping strategy is adopted, using the carton surface composed of the height side and the width side as the gripping surface.

6. The visual detection-based carton flipping device according to claim 1, characterized in that, The robotic arm flipping device includes: Main lifting mechanism and tilting clamp; The main lifting mechanism is equipped with a main slide rail, and a main moving slider is mounted on the main slide rail; a rotating device is located in the middle of the main moving slider. The flipping clamp includes a secondary lifting mechanism, a first fixing component, a first clamping rod assembly, a second fixing component, and a second clamping rod assembly; The auxiliary lifting mechanism is connected to the main moving slider via the rotating device.

7. The visual detection-based carton flipping device according to claim 6, characterized in that, The auxiliary lifting mechanism is provided with an auxiliary slide rail, on which a first auxiliary sliding block and a second auxiliary sliding block are provided; the first fixing member is connected to the first auxiliary sliding block, and the second fixing member is connected to the second auxiliary sliding block; The first clamping rod group includes a first intermediate clamping rod and two first side clamping rods, and the second clamping rod group includes a second intermediate clamping rod and two second side clamping rods; The first intermediate clamping rod is provided with a first sub-slide rail on each side of the first fixing member, and a first sub-moving slider is provided on the first sub-slide rail; the second intermediate clamping rod is provided with a second sub-slide rail on each side of the second fixing member, and a second sub-moving slider is provided on the second sub-slide rail. The two first side clamps are respectively connected to the corresponding first sub-moving sliders, and the two second side clamps are respectively connected to the corresponding second sub-moving sliders.

8. The visual detection-based carton flipping device according to claim 7, characterized in that, The parameter analysis module analyzes the movement distance of the clamping rod, specifically as follows: When using a flat clamping strategy, the length of the carton is divided into three equal parts; when using a vertical clamping strategy, the height of the carton is divided into three equal parts. After dividing the object into three equal parts, mark the center point and the side point. Align the middle positions of the first and second middle clamps with the corresponding center points. At this point, the distance between the middle position of the first side clamp and the nearest side point is the clamp movement distance of the corresponding first side clamp. The distance between the middle position of the second side clamp and the nearest side point is the clamp movement distance of the corresponding second side clamp. If the side point is outside the track range of the nearest first sub-slide rail, then the corresponding first side clamp is moved to the track end point of the first sub-slide rail that is farthest from the corresponding center point; if the side point is outside the track range of the nearest second sub-slide rail, then the corresponding second side clamp is moved to the track end point of the second sub-slide rail that is farthest from the corresponding center point.

9. The cardboard box flipping device based on vision detection according to claim 1, characterized in that, The parameter analysis module analyzes the clamping force, specifically as follows: Using a pre-trained deep learning model, based on the carton information and the side length of the gripping surface, the optimized gripping force is output as the gripping force for the carton to be flipped. The parameter analysis module analyzes the clamping height, specifically as follows: When using a flat clamping strategy, the clamping height is the sum of the preset lifting height and the length of the carton; When using a vertical clamping strategy, the clamping height is the sum of the preset lifting height and the height of the carton.

10. A visual detection-based carton flipping method, applied to the visual detection-based carton flipping device according to any one of claims 1 to 9, characterized in that, Specifically, the following steps are included: Obtain an image of the cardboard box to be flipped; The sides of the cardboard box to be flipped are defined based on the cardboard box image, and the cardboard box information of the cardboard box to be flipped is obtained. The cardboard box sides include length, width, and height. The cardboard box information includes corrugated structure, corrugated type, and three-dimensional dimensions. Based on the three-dimensional dimensions, the edges of the carton to be flipped are matched to obtain the edge dimension information of the carton to be flipped, including the carton length, carton width and carton height; Based on the box edge size information, select the gripping strategy of the robotic arm flipping device for the carton to be flipped, and obtain the gripping surface. The gripping strategy includes a flat gripping strategy and a vertical gripping strategy. Analyze the robot arm parameters based on carton information, gripping strategy, and carton edge dimensions, including gripping force, gripper movement distance, and gripping lifting height; The robotic arm flipping device is controlled according to the robotic arm parameters to flip the carton to be flipped.

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