Automatic cutting method and system for cargo packaging film

Abstract

The invention relates to the technical field of cargo packaging film cutting, and particularly provides an automatic cargo packaging film cutting method and system.The method comprises the steps that after cargoes to be subjected to film disassembling are moved to a rotating assembly, image information containing the cargoes to be subjected to film disassembling is collected through an image collecting assembly, generating moving track information of the cutting assembly according to the image information and a preset rotation angular velocity; the rotating assembly is controlled to drive the goods to be subjected to film removal to rotate according to the preset rotating angular speed, the cutting assembly is controlled to move according to the moving track information, and a first notch and a second notch are formed in the packaging film; the cutting assembly is controlled to form a third notch in the side film part of the packaging film; the first packaging film stripping assembly is controlled to adsorb the side film part, and then the first packaging film stripping assembly is controlled to move away from the goods to be subjected to film removal, so that the top film part and the side film part are removed from the goods body; according to the method, the cargoes to be subjected to film removal can be subjected to automatic film removal treatment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cutting of goods packaging film, in particular to a goods packaging film automatic cutting method and system. BACKGROUND

[0002] In modern industrial production, especially in the filling process of beverage and food processing plants, it is often necessary to carry out film removal processing on the incoming filling bottles (measured by stacking) to remove the outer packaging film. At present, this film removal process mainly relies on manual operation.

[0003] However, the manual film removal method has significant limitations. First, manual cutting is inefficient, and it takes a long time to process each stack of goods, making it difficult to meet the high throughput requirements of the operation. With the continuous improvement of the automation level of the production line, manual film removal has become a bottleneck restricting the overall production efficiency. Second, manual operation is easily affected by factors such as the proficiency and fatigue level of the operator, resulting in unstable cutting quality, which may result in incomplete cutting, residual packaging film, or damage to the goods body. In addition, long-term repetitive manual film removal operations can also have adverse effects on the health of the operator.

[0004] There is currently no effective technical solution to the above problems. SUMMARY

[0005] The purpose of the present application is to provide a goods packaging film automatic cutting method and system that can automatically remove the film from the goods to be removed.

[0006] In a first aspect, the present application provides a goods packaging film automatic cutting method applied in a goods packaging film automatic cutting system, the goods packaging film automatic cutting system comprising a rotating assembly, a cutting assembly, a first packaging film peeling assembly, and an image acquisition assembly, and the goods packaging film automatic cutting method comprising the following steps: S1, after the goods to be removed are moved onto the rotating assembly, the image acquisition assembly is used to acquire image information containing the goods to be removed, and the movement trajectory information of the cutting assembly is generated according to the image information and a preset rotation angular velocity; the goods to be removed include a packaging film and a goods body; S2, the rotating assembly is controlled to drive the goods to be removed to rotate at a preset rotation angular velocity, and the cutting assembly is controlled to move according to the movement trajectory information to form a first cut and a second cut on the packaging film; the movement trajectory information is used to make the cutting point of the cutting assembly fit the surface of the goods body during the rotation of the goods to be removed, the first cut is used to separate the bottom film part of the packaging film from the side film part of the packaging film, and the second cut is used to connect the top film part of the packaging film to one side film part and separate it from other side film parts; S3. Control the cutting assembly to form a third cut at both ends of the side film portion of the packaging film, which are respectively connected to the first cut and the second cut; S4. Control the first packaging film peeling assembly to adsorb the side film portion, and then control the first packaging film peeling assembly to move away from the goods to be peeled, so as to remove the top film portion and the side film portion from the goods body.

[0007] This application provides an automatic cutting method for cargo packaging film. By introducing image acquisition, trajectory generation, and an automated cutting and peeling mechanism, the method enables automatic film removal of goods to be unwrapped. Therefore, this application can effectively solve the problems of low film removal efficiency, unstable quality, and adverse effects on the health of operators caused by manual film removal. This effectively improves the automation level of the production line and reduces labor costs and labor intensity.

[0008] Optionally, after the goods to be unwrapped are moved onto the rotating assembly, the center position of the goods to be unwrapped is a preset position and remains unchanged during rotation. Step S1 includes: S11. After the goods to be unwrapped are moved onto the rotating component, the image acquisition component is used to acquire image information containing the goods to be unwrapped. S12. Obtain cargo size information based on image information; S13. Calculate the movement trajectory information of the cutting component based on the cargo size information and the preset rotational angular velocity.

[0009] Optionally, the cross-sectional shape of the goods to be unwrapped is rectangular, and the goods size information includes the length and width of the goods. The movement trajectory information consists of multiple movement coordinate points, and the calculation formula for the movement coordinate points is shown in the following formula: ; Where (x,y) represents the coordinates of the moving coordinate point, L represents the length of the goods, W represents the width of the goods, θ represents the rotation angle of the goods to be unwrapped, α1 represents the first azimuth angle, t represents time, and ω represents the preset rotation angular velocity. The formula for calculating the first azimuth angle is as follows: .

[0010] Optionally, step S13 includes: S131. Calculate the preliminary trajectory information of the cutting component based on the cargo size information and the preset rotational angular velocity; S132. Obtain the pixel coordinates of the first reference point and the second reference point in the image information, and calculate the pixel coordinates of the center point according to the size of the image information; S133. Obtain the first coordinate deviation based on the pixel coordinates corresponding to the first reference point and the pixel coordinates of the center point, and obtain the second coordinate deviation based on the pixel coordinates corresponding to the second reference point and the pixel coordinates of the center point. S134. Obtain the physical coordinates of the first reference point based on the first coordinate deviation and the preset pixel size, and obtain the physical coordinates of the second reference point based on the second coordinate deviation and the preset pixel size; S135. Calculate the cargo tilt angle based on the physical coordinates of the first reference point and the physical coordinates of the second reference point; S136. Compensate the preliminary trajectory information based on the cargo tilt angle to obtain the movement trajectory information.

[0011] This technical solution, by introducing steps such as image recognition, coordinate transformation, and tilt angle compensation, can effectively address the tilting or misalignment issues that may occur during the placement of goods to be unwound. This allows the movement trajectory of the cutting component to more accurately conform to the actual contour of the goods. Therefore, this technical solution can effectively avoid cutting deviations, packaging film residue, or damage to goods caused by tilting, thereby effectively improving unwound quality and reducing scrap rate.

[0012] Optionally, the dimensions of the image information include the image length and the image width, and the formula for calculating the center point pixel coordinates is as follows: ; Where (u0, v0) represents the center pixel coordinates, width represents the image width, and length represents the image length; Both the first and second coordinate deviations include deviations in the width direction and deviations in the length direction. The calculation formulas for the first and second coordinate deviations are the same, and the calculation formula for the first coordinate deviation is as follows: ; Where Δu represents the deviation in the width direction, and Δv represents the deviation in the length direction, (u A ,v A () represents the pixel coordinates corresponding to the first reference point; The preset pixel size includes the pixel size in the x-direction and the pixel size in the y-direction. The calculation formula for the physical coordinates of the first reference point is the same as that for the physical coordinates of the second reference point. The calculation formula for the physical coordinates of the first reference point is as follows: ; Where, (x A ,y A ) represents the physical coordinates of the first reference point, s x Indicates the cell size in the x-direction, s y Indicates the cell size in the y direction; The formula for calculating the cargo tilt angle is as follows: ; Where, θ 倾 α2 represents the second azimuth angle, W represents the width of the cargo, and L represents the length of the cargo. The formula for calculating the second azimuth angle is as follows: ; in, This represents the vector pointing from the first reference point to the second reference point. Let x represent the magnitude of the vector pointing from the first reference point to the second reference point. B ,y B () represents the physical coordinates of the second reference point; The compensation for the initial trajectory information is shown in the following formula: ; Where, (x 移 ,y 移 (x) represents the coordinates of each cutting point in the movement trajectory information. 初 ,y 初 ) represents the coordinates of each cutting point in the preliminary trajectory information.

[0013] Optionally, the automatic cutting system for cargo packaging film also includes a conveying assembly and a lifting assembly, the lifting assembly being installed below the conveying assembly and the rotating assembly being installed on the lifting assembly. Step S11 includes: S111, Control the conveying assembly to move the goods to be unwrapped above the rotating assembly; S112. Control the lifting component to lift the goods to be unwrapped by rotating the component, so that the goods to be unwrapped are removed from the conveying component; S113. Use an image acquisition component to acquire image information of the goods to be unwrapped after being lifted; The automatic cutting method for cargo packaging film also includes steps performed after step S4: S5. Control the lifting component to reset so that the unwrapped goods can be placed on the conveying component, and then control the conveying component to move the unwrapped goods to the preset position.

[0014] Optionally, the automatic cutting system for packaging film also includes a blocking mechanism. The blocking mechanism is located on the side of the rotating assembly away from the feeding direction of the goods to be unwrapped. The blocking mechanism can switch between blocking the goods to be unwrapped and not blocking the goods to be unwrapped. Step S111 includes: A1. Control the blocking mechanism to switch to the blocking state of the goods to be unwrapped, and then control the conveying component to move the goods to be unwrapped above the rotating component until the goods to be unwrapped come into contact with the blocking mechanism. Step S112 includes: B1. Control the lifting component to lift the goods to be unwrapped so that the goods are removed from the conveying component, and then control the blocking mechanism to switch to the state of not blocking the goods to be unwrapped.

[0015] Optionally, the automatic cutting system for cargo packaging film further includes a second packaging film peeling assembly, which is positioned above the cargo to be unwrapped. Step S4 includes: S41. Control the second packaging film peeling assembly to adsorb the top film portion of the packaging film, then control the second packaging film peeling assembly to move away from the goods to be peeled off, so as to remove the top film portion from the goods body, and then control the second packaging film peeling assembly to reset. S42. Control the first packaging film peeling component to adsorb the side film portion, and then control the first packaging film peeling component to move away from the goods to be peeled so as to remove the side film portion from the goods body, thereby completing the peeling of the goods to be peeled.

[0016] This technical solution introduces a second packaging film peeling component, which is used to peel off the top film first. This ensures that the top film is completely detached from the cargo body before the side film is peeled off. That is, when the first packaging film peeling component adsorbs and peels off the side film, the edge of the top film no longer hinders the peeling of the side film. Therefore, this technical solution can effectively avoid the problem of incomplete peeling of the side packaging film and the top film due to the residual connection between the top film and the cargo body, thereby effectively improving the efficiency and integrity of the cargo packaging film removal.

[0017] Optionally, the automatic cutting system for cargo packaging film further includes a frame, a first packaging film peeling assembly mounted on the frame, and a cutting assembly including a first cutting blade, a second cutting blade, a first horizontal drive assembly, a second horizontal drive assembly, and a lifting assembly. The first horizontal drive assembly is mounted on the frame, the second horizontal drive assembly is slidably mounted on the frame and located above the first horizontal drive assembly, the first cutting blade is mounted on the first horizontal drive assembly, the second cutting blade is mounted on the second horizontal drive assembly, and the lifting assembly is mounted on the frame and connected to the second horizontal drive assembly. The movement trajectory information includes the movement trajectory of the first blade and the movement trajectory of the second blade. Step S2 includes: S21. Control the rotating component to drive the goods to be unwrapped to rotate according to a preset rotational angular velocity, and control the first horizontal driving component to drive the first cutting blade to move according to the first cutting blade movement trajectory to form a first cut on the packaging film. Control the second horizontal driving component to drive the second cutting blade to move according to the second cutting blade movement trajectory to form a second cut on the packaging film. Step S3 includes: S31. Control the second horizontal drive assembly to drive the second cutting tool to move toward the side film portion until the second cutting tool contacts the side film portion; S32. The control lifting assembly drives the second cutting tool to descend through the second horizontal drive assembly to form a third cut on the side membrane portion, with both ends connected to the first cut and the second cut respectively.

[0018] Secondly, this application also provides an automatic cutting system for cargo packaging film, including a rotating component, a cutting component, a first packaging film peeling component, an image acquisition component, and a controller. The cutting component and the first packaging film peeling component are disposed on both sides of the rotating component, and the image acquisition component is disposed above the rotating component. The controller is used to perform the steps in the automatic cutting method for cargo packaging film provided in the first aspect.

[0019] This application provides an automatic cutting system for cargo packaging film. By introducing image acquisition, trajectory generation, and an automated cutting and peeling mechanism, it realizes the automatic removal of film from goods to be removed. Therefore, this application can effectively solve the problems of low removal efficiency, unstable quality, and adverse effects on the health of operators caused by manual removal. Thus, it can effectively improve the automation level of the production line and reduce labor costs and labor intensity.

[0020] As can be seen from the above, the automatic cutting method and system for cargo packaging film provided in this application realizes the automatic film removal process for goods to be removed by introducing image acquisition, trajectory generation and automatic cutting and peeling mechanism. Therefore, this application can effectively solve the problems of low film removal efficiency, unstable quality and adverse effects on the health of operators caused by manual film removal. Thus, it can effectively improve the automation level of the production line and reduce labor costs and labor intensity. Attached Figure Description

[0021] Figure 1 A flowchart illustrating an automatic cutting method for cargo packaging film provided in this application embodiment.

[0022] Figure 2 This is a schematic diagram of an automatic cutting system for cargo packaging film provided in an embodiment of this application.

[0023] Figure 3 for Figure 2 A magnified structural diagram of point A in the diagram.

[0024] Figure 4 This is a schematic diagram of the structure of the rotating component and the lifting component provided in the embodiments of this application.

[0025] Figure 5 This is a schematic diagram of the connection relationship of an automatic cutting system for cargo packaging film provided in an embodiment of this application.

[0026] Reference numerals: 1. Rotating assembly; 2. Cutting assembly; 21. First cutting blade; 22. Second cutting blade; 23. First horizontal drive assembly; 24. Second horizontal drive assembly; 25. Lifting assembly; 3. First packaging film peeling assembly; 4. Image acquisition assembly; 5. Conveying assembly; 6. Lifting assembly; 7. Blocking mechanism; 8. Second packaging film peeling assembly; 9. Frame; 10. Controller. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Firstly, such as Figures 1-4 As shown, this application provides an automatic cutting method for cargo packaging film, applied in an automatic cargo packaging film cutting system. The automatic cargo packaging film cutting system includes a rotating component 1, a cutting component 2, a first packaging film peeling component 3, and an image acquisition component 4. The automatic cutting method for cargo packaging film includes the following steps: S1. After the goods to be unwrapped are moved onto the rotating component 1, the image acquisition component 4 acquires image information containing the goods to be unwrapped, and generates the movement trajectory information of the cutting component 2 based on the image information and the preset rotation angular velocity; the goods to be unwrapped include the packaging film and the goods body. S2. Control the rotating component 1 to drive the goods to be unwrapped to rotate according to a preset rotational angular velocity, and control the cutting component 2 to move according to the movement trajectory information to form a first cut and a second cut on the packaging film; the movement trajectory information is used to make the cutting point of the cutting component 2 adhere to the surface of the goods body during the rotation of the goods to be unwrapped, the first cut is used to separate the bottom film part of the packaging film from the side film part of the packaging film, and the second cut is used to connect the top film part of the packaging film to one side film part of the packaging film and separate it from other side film parts; S3. Control the cutting component 2 to form a third cut at both ends of the side film portion of the packaging film, which are respectively connected to the first cut and the second cut; S4. Control the first packaging film peeling component 3 to adsorb the side film portion, and then control the first packaging film peeling component 3 to move away from the goods to be peeled, so as to remove the top film portion and the side film portion of the packaging film from the goods body.

[0030] To better understand the technical solution proposed in this application, the following will explain some key terms and implementation environments involved. The core of the automatic cargo packaging film cutting system provided in this application lies in the automated and precise cutting and peeling of the packaging film wrapped around the cargo body. In this embodiment, the cargo to be unwrapped refers to cargo whose packaging film has not yet been removed. This cargo consists of the cargo body and the packaging film wrapped around it. The packaging film can be subdivided into a top film portion, a bottom film portion, and multiple side film portions according to its position on the cargo. The rotating component 1 in this embodiment is the mechanism used to drive the rotation of the cargo to be unwrapped in the automatic cargo packaging film cutting system. Its function is to enable the cargo to rotate precisely at a preset angular velocity during the cutting process, thereby cooperating with the cutting component 2 to complete the circumferential cutting. The cutting component 2 in this embodiment is the core component performing the cutting operation. It typically contains a cutting blade (preferably a utility knife). The cutting component 2 can move according to the movement trajectory information to cooperate with the rotating component 1 to form a first cut and a second cut on the packaging film. The first packaging film peeling component 3 in this embodiment is responsible for adsorbing the side film portions after cutting and peeling their combination with the top film portion from the cargo body. In this embodiment, the image acquisition component 4 acts as the "eye" of the automated cargo packaging film cutting system. This component acquires image information of the goods to be unwrapped, providing a data foundation for subsequent cutting trajectory generation. The implementation environment of this application is typically an automated production line. The goods to be unwrapped enter the system via a conveyor mechanism, undergo image acquisition, rotary cutting, and packaging film peeling, and are then unwrapped and transported to the next process. The entire process aims to reduce manual intervention and improve unwrapping efficiency and accuracy.

[0031] The core of the automatic cutting method for cargo packaging film proposed in this application lies in achieving precise cutting and peeling of the packaging film through a series of automated steps.

[0032] First, in step S1, after the goods to be unwrapped are moved onto the rotating assembly 1, the system uses the image acquisition component 4 to acquire image information containing the goods. The image acquisition component 4 in this embodiment can be implemented in several ways: 1. A high-resolution industrial camera, which connects to the control system via a USB or Ethernet interface to transmit image data in real time; 2. A vision system equipped with a depth sensor, which can acquire not only two-dimensional images but also three-dimensional contour information of the goods. After acquiring the image information, the system generates the movement trajectory information of the cutting assembly 2 based on this image information and a preset rotational angular velocity. For example, the system obtains the size of the goods to be unwrapped based on the image information, and then queries a pre-built mapping table of goods size, rotational angular velocity, and movement trajectory based on the size of the goods and the preset rotational angular velocity to obtain the corresponding movement trajectory information. This mapping table stores the movement trajectories corresponding to different combinations of goods size and rotational angular velocity.

[0033] Secondly, in step S2, the system controls the rotating component 1 to drive the goods to be unwrapped to rotate at a preset rotational angular velocity. Simultaneously, the cutting component 2 moves according to the movement trajectory information generated in step S1, thereby forming a first and second incision on the packaging film. In this embodiment, the rotating component 1 can be a turntable driven by a servo motor. By precisely controlling the speed and angle of the servo motor, stable rotation of the goods to be unwrapped can be achieved. The movement of the cutting component 2 in this embodiment can be achieved through a multi-axis robotic arm. A cutting blade is installed at the end of the robotic arm. By controlling the joint movement of the robotic arm, the cutting blade moves along the generated movement trajectory information. The function of the first incision is to separate the bottom film from the side film, which can be achieved by the cutting blade making a circumferential cut near the bottom edge of the goods. The function of the second incision is to connect the top film to one side film while separating it from other side film parts. This can be achieved by the cutting blade making a cut near the top edge of the goods, while retaining the connecting part of the packaging film on one side.

[0034] Next, in step S3, a third incision is formed on the side film using the cutting assembly 2, with both ends of the third incision connected to the first and second incisions, respectively. This embodiment can form the third incision by vertically cutting the side of the goods using the cutting assembly 2. For example, after forming the second incision, a multi-axis robotic arm drives the cutting assembly 2 to descend to the height of the first incision, thus forming the third incision with both ends connected to the first and second incisions, respectively.

[0035] Finally, in step S4, the first packaging film peeling component 3 adsorbs the side film portion. After adsorption, the first packaging film peeling component 3 moves away from the goods to be peeled. Since the top film portion is connected to a side film portion, when the first packaging film peeling component 3 moves away from the goods to be peeled, the combination formed by the side film portion and the top film portion moves away from the goods body, thereby removing the top film portion and the side film portion from the goods body to complete the peeling of the goods. In this embodiment, the first packaging film peeling component 3 can be a vacuum suction cup array, which can be mounted on a linear module or robotic arm. A vacuum pump generates negative pressure, causing the suction cups to firmly adsorb onto the side film portion. The linear module or robotic arm moves the adsorbed side film portion away from the side of the goods body, thereby peeling the side film portion and the top film portion from the goods body. It should be understood that since the bottom film portion does not hinder the implementation of subsequent processes, this embodiment does not require peeling the bottom film portion. It should also be understood that the automatic cutting system for cargo packaging film in this embodiment also includes a recycling bin, into which the peeled side film portion and top film portion are placed.

[0036] This application aims to solve the problems of low efficiency, unstable quality, and adverse effects on the health of operators caused by manual film removal in the prior art by introducing image acquisition, trajectory generation, and automated cutting and peeling mechanisms. This application achieves precise, efficient, and automated cutting and peeling of cargo packaging film, thereby significantly improving production efficiency and film removal quality.

[0037] Specifically, after the goods to be unwrapped are moved onto the rotating assembly 1, the image acquisition assembly 4 acquires image information containing the goods. This image information is used to accurately identify the size, shape, and position of the goods, thus providing a data basis for the subsequent generation of the movement trajectory of the cutting assembly 2. Compared with traditional manual visual judgment or fixed trajectory cutting, this image-based trajectory generation method can significantly improve the accuracy and adaptability of cutting, and can generate customized cutting trajectories even for goods of different sizes or with slight deviations in placement. Subsequently, the system generates the movement trajectory information of the cutting assembly 2 based on the image information and the preset rotational angular velocity. During the cutting process, the rotating assembly 1 drives the goods to be unwrapped to rotate according to the preset rotational angular velocity, while the cutting assembly 2 moves according to the generated movement trajectory information. Through this coordinated movement, the cutting assembly 2 can form a first cut and a second cut on the packaging film. The first cut is used to separate the bottom film from all the side film parts to ensure that the bottom film does not obstruct the peeling of the side film and top film parts. The second incision connects the top film to one side film while separating it from the other side films. This clever design keeps the top film connected to the side films, creating a structure that facilitates complete peeling. Next, the cutting assembly 2 creates a third incision in the side film, connecting to the first and second incisions at both ends. This third incision, along with the first two, creates a peelable area on the goods, preparing for the subsequent peeling operation. Finally, the first packaging film peeling assembly 3 adheres to the side film and moves it away from the goods, thus removing both the top and side films from the goods. This automated peeling method avoids the tearing or residue that can occur with manual peeling, ensuring the integrity and efficiency of the peeling process.

[0038] The core innovation of this application lies in the introduction of an intelligent trajectory generation mechanism based on image information, combined with rotational cutting and automated peeling, forming a complete automated film removal solution. Compared with the closest existing technology, the advantages of this application are reflected in the following aspects: Firstly, in generating the cutting trajectory, this application utilizes the image acquisition component 4 to acquire image information of the goods to be unwrapped, and generates the movement trajectory of the cutting component 2 based on this information and a preset rotational angular velocity. This is fundamentally different from traditional fixed-trajectory cutting or manual teaching of trajectories. For example, in existing technologies, if there are slight deviations in the size or placement of the goods, fixed-trajectory cutting may lead to inaccurate cutting or damage to the goods, while manual teaching is inefficient and has limited accuracy. The image information-driven trajectory generation of this application enables adaptive cutting of goods of different specifications, significantly improving the accuracy and flexibility of cutting.

[0039] Secondly, this application uses the coordinated control of the rotating component 1 and the cutting component 2 to form a first, second, and third incision on the packaging film. The first incision separates the bottom film from the side film, the second incision connects the top film to one side film and separates it from the other side film, and the third incision connects the first two incisions, allowing the side film to be separated from the cargo body. This refined cutting strategy ensures that the packaging film can be completely separated, laying the foundation for subsequent automated peeling. Compared to the simple and crude cutting methods that may exist in the prior art, the cutting scheme of this application can effectively avoid packaging film residue or unnecessary damage to the cargo body.

[0040] Finally, this application introduces a first packaging film peeling component 3 to adsorb and peel off the side film portion. This automated peeling method avoids the inefficiency and quality instability that may occur with manual peeling. By peeling the top film portion and the side film portion as a whole, the operation process is further simplified and the film removal efficiency is improved.

[0041] Therefore, the automatic cutting method for cargo packaging film provided in this application realizes the automatic film removal process for goods to be removed by introducing image acquisition, trajectory generation and automatic cutting and peeling mechanism. Thus, this application can effectively solve the problems of low film removal efficiency, unstable quality and adverse effects on the health of operators caused by manual film removal. This effectively improves the automation level of the production line and reduces labor costs and labor intensity.

[0042] In some preferred embodiments, after the goods to be unwrapped are moved onto the rotating assembly 1, the center position of the goods to be unwrapped is a preset position and remains unchanged during rotation. Step S1 includes: S11. After the goods to be unwrapped are moved onto the rotating component 1, the image acquisition component 4 is used to acquire image information containing the goods to be unwrapped. S12. Obtain cargo size information based on image information; S13. Calculate the movement trajectory information of the cutting component 2 based on the cargo size information and the preset rotational angular velocity.

[0043] Step S11 refers to taking a picture of the entire goods to be unwrapped by the image acquisition component 4 before the goods are placed on the rotating component 1 and prepared for the cutting operation, in order to obtain visual data (image information, which includes the outline, position, and possible tilt of the goods) at its current position. Step S12 can be understood as processing and analyzing the above-acquired image information to identify the specific dimensions of the goods to be unwrapped. Step S12 uses existing image recognition algorithms, edge detection technology, or feature point matching technology to extract key dimensional parameters such as the length, width, and height of the goods from the image. The purpose of step S12 is to provide the necessary geometric data for subsequent accurate calculation of the cutting trajectory. Step S13 refers to calculating the precise movement path that the cutting component 2 should follow during the rotation of the goods based on the cargo size information obtained in step S12 and a preset rotational angular velocity using a specific algorithm. This movement trajectory information typically consists of a series of coordinate points or motion commands. This movement trajectory information ensures that the cutting point of the cutting component 2 adheres to the surface of the cargo body during the rotation of the goods to be unwrapped, ensuring that the cooperation between the cutting component 2 and the rotating component 1 can form the first and second cuts on the packaging film. Since the movement trajectory information in this embodiment is generated based on the actual size of the goods rather than a general or preset size, this embodiment can ensure that the generated movement trajectory information makes the cutting point of the cutting component 2 closely adhere to the surface of the cargo body, thereby ensuring that the cutting blade can accurately cut at the junction of the packaging film and the cargo body, effectively avoiding damage to the cargo body and improving the effectiveness of the cutting, thus ensuring that the side film and top film can be smoothly peeled off from the cargo body.

[0044] In some preferred embodiments, the cross-sectional shape of the goods to be unwrapped is rectangular, the goods size information includes the length and width of the goods, and the movement trajectory information consists of multiple movement coordinate points. The calculation formula for the movement coordinate points is shown in the following formula: ; Where (x,y) represents the coordinates of the moving coordinate point, L represents the length of the goods, W represents the width of the goods, θ represents the rotation angle of the goods to be unwrapped, α1 represents the first azimuth angle, t represents time, and ω represents the preset rotation angular velocity. The formula for calculating the first azimuth angle is as follows: .

[0045] In some preferred embodiments, step S13 includes: S131. Calculate the preliminary trajectory information of the cutting component 2 based on the cargo size information and the preset rotational angular velocity; S132. Obtain the pixel coordinates of the first reference point and the second reference point in the image information, and calculate the pixel coordinates of the center point according to the size of the image information; S133. Obtain the first coordinate deviation based on the pixel coordinates corresponding to the first reference point and the pixel coordinates of the center point, and obtain the second coordinate deviation based on the pixel coordinates corresponding to the second reference point and the pixel coordinates of the center point. S134. Obtain the physical coordinates of the first reference point based on the first coordinate deviation and the preset pixel size, and obtain the physical coordinates of the second reference point based on the second coordinate deviation and the preset pixel size; S135. Calculate the cargo tilt angle based on the physical coordinates of the first reference point and the physical coordinates of the second reference point; S136. Compensate the preliminary trajectory information based on the cargo tilt angle to obtain the movement trajectory information.

[0046] The preliminary trajectory information in step S131 refers to the ideal cutting path calculated solely based on the cargo size information and a preset rotational angular velocity, without considering cargo tilt. This preliminary trajectory information is equivalent to the path that the cutting component 2 should follow when the cargo body is in an ideal aligned state. The formula for calculating the preliminary trajectory information in this embodiment is the same as the formula for calculating the movement trajectory information in the above embodiment. The first reference point and the second reference point in step S132 are two specific points on the cargo to be unwrapped, used to determine its orientation. These first and second reference points are preferably two vertices of the top film portion. Step S132 uses existing image recognition technology to obtain the pixel coordinates of the first and second reference points in the image information. The center point pixel coordinates in step S132 refer to the position of the geometric center of the image information in the pixel coordinate system. This embodiment provides a reference point for subsequent coordinate deviation calculation by calculating the center point pixel coordinates. The first coordinate deviation and the second coordinate deviation in step S133 represent the offsets of the first and second reference points relative to the image center point in the pixel coordinate system, respectively. These first and second coordinate deviations are used to quantify the specific positions of the first and second reference points in the image, providing a data basis for subsequent physical coordinate transformation. The preset pixel size in step S134 refers to the actual physical size of each pixel in the image sensor. This embodiment can convert pixel coordinates into actual physical coordinates by multiplying the pixel coordinate deviation by the preset pixel size, thereby obtaining the precise position of the first reference point and the second reference point in physical space. The cargo tilt angle in step S135 refers to the rotation angle of the cargo to be unwrapped relative to the ideal alignment position. This angle is calculated based on the physical coordinates of the first reference point and the second reference point. This embodiment accurately quantifies the actual tilt degree of the cargo by calculating the cargo tilt angle. The compensation of the preliminary trajectory information in step S136 refers to rotating and transforming the coordinates of each cutting point in the preliminary trajectory information according to the calculated cargo tilt angle (equivalent to rotating all cutting points by the same angle) so that the actual movement trajectory of the cutting component 2 can accurately fit the contour of the cargo body in the tilted state.

[0047] This embodiment effectively solves the problem of insufficient cutting accuracy when the goods are tilted by introducing a mechanism for detecting and compensating for the tilt angle of the goods. Specifically, firstly, this embodiment acquires image information of the goods to be unwrapped using the image acquisition component 4, and identifies a first reference point and a second reference point. The pixel coordinates of these reference points are used to calculate their coordinate deviations relative to the image center point. Subsequently, this embodiment converts these pixel coordinate deviations into physical coordinates based on a preset pixel size, thereby determining the positions of the first and second reference points in actual physical space. Then, the tilt angle of the goods is calculated based on the physical coordinates of the first and second reference points. It is precisely because the tilt angle of the goods can be accurately obtained that subsequent compensation of the preliminary trajectory information becomes possible. This embodiment corrects the movement trajectory information of the cutting component 2 by rotating the preliminary trajectory information according to the tilt angle of the goods, so that the movement trajectory information can accurately follow the actual edge of the goods body in the tilted state, thereby ensuring the accuracy and consistency of the cutting. Therefore, by introducing steps such as image recognition, coordinate transformation and tilt angle compensation, this embodiment can effectively address the tilting or misalignment problems that may occur during the placement of goods to be unwrapped, so that the movement trajectory of the cutting component 2 can more accurately conform to the actual contour of the goods. Thus, this embodiment can effectively avoid cutting deviations, packaging film residues or goods damage caused by goods tilting, thereby effectively improving the unwrapping quality and reducing the scrap rate.

[0048] In some preferred embodiments, the dimensions of the image information include the image length and the image width, and the formula for calculating the center point pixel coordinates is as follows: ; Where (u0, v0) represents the center pixel coordinates, width represents the image width, and length represents the image length; Both the first and second coordinate deviations include deviations in the width direction and deviations in the length direction. The calculation formulas for the first and second coordinate deviations are the same, and the calculation formula for the first coordinate deviation is as follows: ; Where Δu represents the deviation in the width direction, and Δv represents the deviation in the length direction, (u A ,v A () represents the pixel coordinates corresponding to the first reference point; The preset pixel size includes the pixel size in the x-direction and the pixel size in the y-direction. The calculation formula for the physical coordinates of the first reference point is the same as that for the physical coordinates of the second reference point. The calculation formula for the physical coordinates of the first reference point is as follows: ; Where, (xA ,y A ) represents the physical coordinates of the first reference point, s x Indicates the cell size in the x-direction, s y Indicates the cell size in the y direction; The formula for calculating the cargo tilt angle is as follows: ; Where, θ 倾 α2 represents the second azimuth angle, W represents the width of the cargo, and L represents the length of the cargo. The formula for calculating the second azimuth angle is as follows: ; in, This represents the vector pointing from the first reference point to the second reference point. Let x represent the magnitude of the vector pointing from the first reference point to the second reference point. B ,y B () represents the physical coordinates of the second reference point; The compensation for the initial trajectory information is shown in the following formula: ; Where, (x 移 ,y 移 (x) represents the coordinates of each cutting point in the movement trajectory information. 初 ,y 初 ) represents the coordinates of each cutting point in the preliminary trajectory information.

[0049] In some preferred embodiments, the automatic cutting system for cargo packaging film further includes a conveying assembly 5 and a lifting assembly 6, the lifting assembly 6 being mounted below the conveying assembly 5 and the rotating assembly 1 being mounted on the lifting assembly 6. Step S11 includes: S111, Control the conveying assembly 5 to move the goods to be unwrapped to above the rotating assembly 1; S112. Control the lifting component 6 to lift the goods to be unwrapped by rotating component 1, so that the goods to be unwrapped are removed from conveying component 5; S113. Use image acquisition component 4 to acquire image information of the goods to be unwrapped after being lifted; The automatic cutting method for cargo packaging film also includes steps performed after step S4: S5. Control the lifting component 6 to reset so that the unwrapped goods can be placed on the conveying component 5, and then control the conveying component 5 to move the unwrapped goods to the preset position.

[0050] The conveying component 5 in this embodiment can be understood as a mechanism for horizontally moving goods. The conveying component 5 is preferably an existing roller conveyor. It is used to transport goods to be unwrapped from the external environment or upstream station to the rotating component 1 and to remove unwrapped goods from the rotating component 1. The lifting component 6 can be understood as a mechanism for vertically lifting goods (e.g., a cylinder-driven lifting platform, an electric screw lifting platform, etc.). The rotating component 1 is mounted on the lifting component 6, which is used to lift the goods to be unwrapped from the conveying component 5 via the rotating component 1, preparing them for subsequent rotation and cutting operations. In step S5, the reset operation of the lifting component 6 refers to its descent to the initial position to smoothly place the unwrapped goods (unwrapped goods) back onto the conveying component 5. Subsequently, the conveying component 5 removes the unwrapped goods from the cutting area and transports them to a preset position (e.g., the next station or storage area), thereby completing the entire automated unwrapping process.

[0051] This embodiment effectively solves the problem of low efficiency in cargo positioning and handling in traditional methods by introducing a conveying component 5 and a lifting component 6, and automating the cargo loading and unloading process. Specifically, the conveying component 5 efficiently transports the goods to be unwrapped to the predetermined position in the cutting area, avoiding the tediousness and uncertainty of manual handling. Subsequently, the lifting component 6 precisely lifts the goods from the conveying component 5, ensuring the goods are detached from the conveying component 5 and preventing collisions with it during subsequent rotation. After the unwrapping operation is completed, the lifting component 6 resets to smoothly place the unwrapped goods back onto the conveying component 5, which then removes the unwrapped goods from the work area, forming a complete automated cycle. It is precisely this collaborative working mechanism that enables a high degree of automation and streamlining of the entire automatic cutting process for cargo packaging film. This embodiment automates the loading of goods to be unwrapped and the unloading of goods that have already been unwrapped by introducing the conveying component 5 and the lifting component 6. This greatly reduces reliance on manual operation and lowers labor intensity and labor costs, thereby effectively avoiding stoppages and delays that may be caused by manual intervention, thus ensuring the continuity and high throughput of the production line.

[0052] In some preferred embodiments, the automatic cutting system for packaging film further includes a blocking mechanism 7, which is disposed on the side of the rotating assembly 1 away from the feeding direction of the goods to be unwrapped. The blocking mechanism 7 can switch between blocking the goods to be unwrapped and not blocking the goods to be unwrapped. Step S111 includes: A1. Control the blocking mechanism 7 to switch to the blocking state of the goods to be unwrapped, and then control the conveying component 5 to move the goods to be unwrapped above the rotating component 1 until the goods to be unwrapped come into contact with the blocking mechanism 7. Step S112 includes: B1. Control the lifting component 6 to lift the goods to be unwrapped so that the goods to be unwrapped are removed from the conveying component 5, and then control the blocking mechanism 7 to switch to the state of not blocking the goods to be unwrapped.

[0053] In this embodiment, the feeding direction is from back to front. The blocking mechanism 7 in this embodiment can be understood as a mechanical device for restricting the movement of goods to be unwrapped. It is set on the side of the rotating component 1 away from the conveying component 5 to provide a definite stop boundary for the goods to be unwrapped. The blocking mechanism 7 can be a telescopic baffle, a liftable limit block, or a rotatable arm, etc. The blocking mechanism 7 can switch between blocking the goods to be unwrapped and not blocking the goods to be unwrapped according to the control (taking the blocking mechanism 7 as a telescopic baffle as an example, the blocking state means that the baffle is extended so that the baffle can contact the goods to be unwrapped, and the non-blocking state means that the baffle is retracted so that the baffle cannot contact the goods to be unwrapped). This embodiment can use the blocking mechanism 7 to accurately position the goods to be unwrapped in a preset position when the conveying component 5 conveys the goods to be unwrapped, so as to ensure that the relative positional relationship between the goods to be unwrapped and the lifting component 6 is accurate. Step A1 involves lowering the blocking mechanism 7, switching it from a non-operating state to an operating state, so that it can physically block the moving goods to be unwrapped. Subsequently, the conveying assembly 5 moves the goods forward until the side of the goods contacts the lowered blocking mechanism 7 and stops. At this point, the goods are precisely positioned above the lifting assembly 6. In step B1, after the lifting assembly 6 lifts the goods to be unwrapped to detach them from the conveying assembly 5, the blocking mechanism 7 is retracted (switching it from an operating state back to a non-operating state, so that it no longer obstructs the movement of the goods), facilitating the removal of subsequently unwrapped goods.

[0054] This embodiment achieves precise physical positioning of the goods to be unwrapped by first lowering the blocking mechanism 7 when the goods move above the lifting assembly 6, and then having the conveying assembly 5 drive the goods to be unwrapped to contact the blocking mechanism 7. This positioning method avoids positioning errors that may arise from relying solely on the motion control of the conveying assembly 5, ensuring that the goods to be unwrapped have a consistent starting position on the lifting assembly 6. Subsequently, after the lifting assembly 6 completes its lifting operation and the goods to be unwrapped are removed from the conveying assembly 5, the blocking mechanism 7 is retracted to avoid interfering with subsequent rotation, cutting, and the removal of unwrapped goods. It is precisely because of this precise positioning mechanism that subsequent image acquisition can obtain image information of the standard position, thereby ensuring the accuracy of the generation of the movement trajectory information of the cutting assembly 2, and effectively improving the accuracy and reliability of the entire automatic cutting method.

[0055] In some preferred embodiments, the automatic cutting system for cargo packaging film further includes a second packaging film peeling assembly 8, which is disposed above the cargo to be unwrapped. Step S4 includes: S41. Control the second packaging film peeling assembly 8 to adsorb the top film portion of the packaging film, then control the second packaging film peeling assembly 8 to move away from the goods to be peeled off, so as to remove the top film portion from the goods body, and then control the second packaging film peeling assembly 8 to reset. S42. Control the first packaging film peeling component 3 to adsorb the side film portion, and then control the first packaging film peeling component 3 to move away from the goods to be peeled so as to remove the side film portion from the goods body, thereby completing the peeling of the goods to be peeled.

[0056] The second packaging film peeling assembly 8 in this embodiment can be understood as a mechanism specifically designed for peeling off the top film portion. The structure of the second packaging film peeling assembly 8 is preferably the same as that of the first packaging film peeling assembly 3. The second packaging film peeling assembly 8 is positioned above the goods to be peeled, allowing it to directly contact and adhere to the top film portion. After peeling off the top film portion, the second packaging film peeling assembly 8 resets, returning to its initial position to make room for subsequent side film peeling operations.

[0057] This embodiment ensures that the top film is completely detached from the cargo body before the side film is peeled off by introducing a second packaging film peeling component 8 and using it to peel off the top film first. That is, when the first packaging film peeling component 3 adsorbs and peels off the side film, the edge of the top film no longer hinders the peeling of the side film. Therefore, this embodiment can effectively avoid the problem of incomplete peeling of the side packaging film and the top film due to the residual connection between the top film and the cargo body, thereby effectively improving the efficiency and integrity of the cargo packaging film removal.

[0058] In some preferred embodiments, the automatic cutting system for cargo packaging film further includes a frame 9, a first packaging film peeling assembly 3 mounted on the frame 9, and a cutting assembly 2 including a first cutting blade 21, a second cutting blade 22, a first horizontal drive assembly 23, a second horizontal drive assembly 24, and a lifting assembly 25. The first horizontal drive assembly 23 is mounted on the frame 9, the second horizontal drive assembly 24 is slidably mounted on the frame 9 and located above the first horizontal drive assembly 23, the first cutting blade 21 is mounted on the first horizontal drive assembly 23, the second cutting blade 22 is mounted on the second horizontal drive assembly 24, and the lifting assembly 25 is mounted on the frame 9 and connected to the second horizontal drive assembly 24. The movement trajectory information includes the movement trajectory of the first blade and the movement trajectory of the second blade. Step S2 includes: S21. Control the rotating component 1 to drive the goods to be unwrapped to rotate according to the preset rotational angular velocity, and control the first horizontal driving component 23 to drive the first cutting blade 21 to move according to the first cutting blade movement trajectory to form a first cut on the packaging film. Control the second horizontal driving component 24 to drive the second cutting blade 22 to move according to the second cutting blade movement trajectory to form a second cut on the packaging film. Step S3 includes: S31. Control the second horizontal drive assembly 24 to drive the second cutting tool 22 to move toward the side film portion until the second cutting tool 22 contacts the side film portion; S32, the control lifting assembly 25 drives the second cutting tool 22 to descend via the second horizontal drive assembly 24 to form a third cut on the side membrane portion, with both ends connected to the first cut and the second cut respectively.

[0059] In this embodiment, the frame 9 serves as the support structure for the entire automatic cutting system for packaging film, providing a mounting base for each functional component. The cutting assembly 2 in this embodiment includes a first cutting blade 21, a second cutting blade 22, a first horizontal drive assembly 23, a second horizontal drive assembly 24, and a lifting assembly 25. The first horizontal drive assembly 23 drives the first cutting blade 21 to move horizontally. The second horizontal drive assembly 24 is slidably mounted on the frame 9 and positioned above the first horizontal drive assembly 23, allowing the second cutting blade 22 to operate at different heights and horizontal positions. The lifting assembly 25 provides the second cutting blade 22 with vertical movement capability. In step S21, the rotating assembly 1 drives the goods to be unwrapped to rotate according to a preset rotational angular velocity. Simultaneously, the first horizontal drive assembly 23 drives the first cutting blade 21 to move along a first blade movement trajectory to form a first cut on the packaging film. Simultaneously, the second horizontal drive assembly 24 drives the second cutting blade 22 to move along a second blade movement trajectory to form a second cut on the packaging film. This dual-blade collaborative operation allows for the efficient and precise formation of the first and second cuts. In step S31, the second horizontal drive assembly 24 drives the second cutting blade 22 toward the side membrane portion until it contacts the side membrane portion. Subsequently, in step S32, the lifting assembly 25 drives the second cutting blade 22 downward via the second horizontal drive assembly 24, thereby forming a third cut on the side membrane portion whose two ends are respectively connected to the first and second cuts. The introduction of the lifting assembly 25 allows the second cutting blade 22 to precisely adjust its vertical position to adapt to the cutting requirements of the side membrane portion and ensure the precise connection between the third cut and the first two cuts.

[0060] This embodiment effectively solves the efficiency and accuracy problems that may exist when a single cutting component 2 handles complex cutting tasks by introducing a dual-cutting-blade system and an independent lifting assembly 25. Specifically, the first cutting blade 21 and the second cutting blade 22 are independently controlled by their respective horizontal drive assemblies, allowing the first and second cuts to be formed in parallel without interference, thereby significantly improving cutting efficiency. That is, in this embodiment, the first cutting blade 21 focuses on forming the first cut that separates the bottom film portion from the side film portion, while the second cutting blade 22 focuses on forming the second cut that connects the top film portion to the side film portion and separates it from other side film portions. In addition, for the formation of the third cut, the second cutting blade 22 gains vertical movement capability through the lifting assembly 25, enabling the second cutting blade 22 to precisely adjust its cutting depth and position, thereby ensuring that the third cut can accurately connect the first and second cuts.

[0061] Therefore, the automatic cutting method for cargo packaging film provided in this application realizes the automatic film removal process for goods to be removed by introducing image acquisition, trajectory generation and automatic cutting and peeling mechanism. Thus, this application can effectively solve the problems of low film removal efficiency, unstable quality and adverse effects on the health of operators caused by manual film removal. This effectively improves the automation level of the production line and reduces labor costs and labor intensity.

[0062] Secondly, such as Figure 5 As shown, this application also provides an automatic cutting system for cargo packaging film, including a rotating component 1, a cutting component 2, a first packaging film peeling component 3, an image acquisition component 4, and a controller 10. The cutting component 2 and the first packaging film peeling component 3 are disposed on both sides of the rotating component 1, and the image acquisition component 4 is disposed above the rotating component 1. The controller 10 is used to execute the steps in the automatic cutting method for cargo packaging film provided in the first aspect above.

[0063] The automatic cutting system for cargo packaging film provided in this application includes a rotating component 1, a cutting component 2, a first packaging film peeling component 3, an image acquisition component 4, and a controller 10. The controller 10 is used to execute the steps in the automatic cutting method for cargo packaging film provided in the first aspect above. The principle of the automatic cutting system for cargo packaging film provided in this embodiment is the same as the principle of the automatic cutting method for cargo packaging film provided in the first aspect above, and will not be discussed in detail here.

[0064] As can be seen from the above, the automatic cutting method and system for cargo packaging film provided in this application realizes the automatic film removal process for goods to be removed by introducing image acquisition, trajectory generation and automatic cutting and peeling mechanism. Therefore, this application can effectively solve the problems of low film removal efficiency, unstable quality and adverse effects on the health of operators caused by manual film removal. Thus, it can effectively improve the automation level of the production line and reduce labor costs and labor intensity.

[0065] In the embodiments provided in this application, it should be understood that relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0066] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An automatic cutting method for cargo packaging film, characterized in that, An automatic cutting system for cargo packaging film is used, comprising a rotating assembly, a cutting assembly, a first packaging film peeling assembly, and an image acquisition assembly. The automatic cutting method for cargo packaging film includes the following steps: S1. After the goods to be unwrapped are moved onto the rotating component, the image acquisition component acquires image information containing the goods to be unwrapped, and generates the movement trajectory information of the cutting component based on the image information and a preset rotational angular velocity; the goods to be unwrapped include packaging film and the goods body; S2. Control the rotating component to drive the goods to be unwrapped to rotate according to the preset rotational angular velocity, and control the cutting component to move according to the movement trajectory information to form a first cut and a second cut on the packaging film; the movement trajectory information is used to make the cutting point of the cutting component adhere to the surface of the goods body during the rotation of the goods to be unwrapped, the first cut is used to separate the bottom film portion of the packaging film from the side film portion of the packaging film, and the second cut is used to connect the top film portion of the packaging film to one side film portion of the packaging film and separate it from other side film portions; S3. Control the cutting assembly to form a third cut on the side film portion of the packaging film, with both ends connected to the first cut and the second cut respectively; S4. Control the first packaging film peeling assembly to adsorb the side film portion, and then control the first packaging film peeling assembly to move away from the goods to be peeled so as to remove the top film portion and the side film portion from the goods body.

2. The automatic cutting method for cargo packaging film according to claim 1, characterized in that, After the goods to be unwrapped are moved onto the rotating assembly, the center position of the goods to be unwrapped is a preset position and remains unchanged during rotation. Step S1 includes: S11. After the goods to be unwrapped are moved onto the rotating assembly, the image acquisition assembly is used to acquire image information containing the goods to be unwrapped. S12. Obtain cargo size information based on the image information; S13. Calculate the movement trajectory information of the cutting component based on the cargo size information and the preset rotational angular velocity.

3. The automatic cutting method for cargo packaging film according to claim 2, characterized in that, The cross-sectional shape of the goods to be unwrapped is rectangular. The goods size information includes the length and width of the goods. The movement trajectory information consists of multiple movement coordinate points, and the calculation formula for the movement coordinate points is shown in the following formula: ； Where (x,y) represents the coordinates of the moving coordinate point, L represents the length of the goods, W represents the width of the goods, θ represents the rotation angle of the goods to be unwrapped, α1 represents the first azimuth angle, t represents time, and ω represents the preset rotation angular velocity. The formula for calculating the first azimuth angle is as follows: 。 4. The automatic cutting method for cargo packaging film according to claim 2, characterized in that, Step S13 includes: S131. Calculate the preliminary trajectory information of the cutting component based on the cargo size information and the preset rotational angular velocity; S132. Obtain the pixel coordinates of the first reference point and the second reference point in the image information, and calculate the pixel coordinates of the center point according to the size of the image information; S133. Obtain a first coordinate deviation based on the pixel coordinates corresponding to the first reference point and the pixel coordinates of the center point, and obtain a second coordinate deviation based on the pixel coordinates corresponding to the second reference point and the pixel coordinates of the center point; S134. Obtain the physical coordinates of the first reference point based on the first coordinate deviation and the preset pixel size, and obtain the physical coordinates of the second reference point based on the second coordinate deviation and the preset pixel size; S135. Calculate the cargo tilt angle based on the physical coordinates of the first reference point and the physical coordinates of the second reference point; S136. Compensate the preliminary trajectory information according to the cargo tilt angle to obtain movement trajectory information.

5. The automatic cutting method for cargo packaging film according to claim 4, characterized in that, The dimensions of the image information include the image length and the image width, and the formula for calculating the center point pixel coordinates is as follows: ； Where (u0, v0) represents the center pixel coordinates, width represents the image width, and length represents the image length; Both the first coordinate deviation and the second coordinate deviation include deviations in the width direction and deviations in the length direction. The calculation formulas for the first coordinate deviation and the second coordinate deviation are the same, and the calculation formula for the first coordinate deviation is as follows: ； Where Δu represents the deviation in the width direction, and Δv represents the deviation in the length direction, (u A ,v A () represents the pixel coordinates corresponding to the first reference point; The preset pixel size includes the pixel size in the x-direction and the pixel size in the y-direction. The calculation formula for the physical coordinates of the first reference point is the same as that for the physical coordinates of the second reference point. The calculation formula for the physical coordinates of the first reference point is as follows: ； Where, (x A ,y A ) represents the physical coordinates of the first reference point, s x Indicates the cell size in the x-direction, s y Indicates the cell size in the y direction; The formula for calculating the cargo tilt angle is as follows: ； Where, θ 倾 α2 represents the second azimuth angle, W represents the width of the cargo, and L represents the length of the cargo. The formula for calculating the second azimuth angle is as follows: ； in, This represents the vector pointing from the first reference point to the second reference point. Let x represent the magnitude of the vector pointing from the first reference point to the second reference point. B ,y B () represents the physical coordinates of the second reference point; The compensation for the preliminary trajectory information is shown in the following formula: ； Where, (x 移 ,y 移 (x) represents the coordinates of each cutting point in the movement trajectory information. 初 ,y 初 ) represents the coordinates of each cutting point in the preliminary trajectory information.

6. The automatic cutting method for cargo packaging film according to claim 2, characterized in that, The automatic cutting system for cargo packaging film further includes a conveying assembly and a lifting assembly. The lifting assembly is installed below the conveying assembly, and the rotating assembly is installed on the lifting assembly. Step S11 includes: S111. Control the conveying assembly to move the goods to be unwrapped to above the rotating assembly; S112. Control the lifting assembly to lift the goods to be unwrapped via the rotating assembly, so that the goods to be unwrapped are detached from the conveying assembly; S113. Use the image acquisition component to acquire image information of the goods to be unwrapped after being lifted; The automatic cutting method for cargo packaging film also includes steps performed after step S4: S5. Control the lifting component to reset so that the unwrapped goods can be placed on the conveying component, and then control the conveying component to move the unwrapped goods to a preset position.

7. The automatic cutting method for cargo packaging film according to claim 6, characterized in that, The automatic cutting system for packaging film also includes a blocking mechanism, which is located on the side of the rotating assembly away from the feeding direction of the goods to be unwrapped. The blocking mechanism can switch between blocking the goods to be unwrapped and not blocking the goods to be unwrapped. Step S111 includes: A1. Control the blocking mechanism to switch to blocking the goods to be unwrapped, and then control the conveying assembly to move the goods to be unwrapped above the rotating assembly until the goods to be unwrapped come into contact with the blocking mechanism; Step S112 includes: B1. Control the lifting component to lift the goods to be unwrapped so that the goods to be unwrapped are removed from the conveying component, and then control the blocking mechanism to switch to a state that does not block the goods to be unwrapped.

8. The automatic cutting method for cargo packaging film according to claim 1, characterized in that, The automatic cutting system for cargo packaging film further includes a second packaging film peeling component, which is disposed above the cargo to be unwrapped. Step S4 includes: S41. Control the second packaging film peeling assembly to adsorb the top film portion of the packaging film, then control the second packaging film peeling assembly to move away from the goods to be peeled off, so as to remove the top film portion from the goods body, and then control the second packaging film peeling assembly to reset. S42. Control the first packaging film peeling assembly to adsorb the side film portion, and then control the first packaging film peeling assembly to move away from the goods to be unwrapped, so as to remove the side film portion from the goods body, thereby completing the unwrapping of the goods to be unwrapped.

9. The automatic cutting method for cargo packaging film according to claim 1, characterized in that, The automatic cutting system for cargo packaging film further includes a frame, on which the first packaging film peeling assembly is mounted. The cutting assembly includes a first cutting blade, a second cutting blade, a first horizontal drive assembly, a second horizontal drive assembly, and a lifting assembly. The first horizontal drive assembly is mounted on the frame, and the second horizontal drive assembly is slidably mounted on the frame and located above the first horizontal drive assembly. The first cutting blade is mounted on the first horizontal drive assembly, and the second cutting blade is mounted on the second horizontal drive assembly. The lifting assembly is mounted on the frame and connected to the second horizontal drive assembly. The movement trajectory information includes the movement trajectory of the first blade and the movement trajectory of the second blade. Step S2 includes: S21. Control the rotating component to drive the goods to be unwrapped to rotate according to the preset rotational angular velocity, and control the first horizontal driving component to drive the first cutting tool to move according to the first tool moving trajectory to form a first cut on the packaging film, and control the second horizontal driving component to drive the second cutting tool according to the second tool moving trajectory to form a second cut on the packaging film. Step S3 includes: S31. Control the second horizontal drive assembly to drive the second cutting tool toward the side film portion until the second cutting tool contacts the side film portion; S32. Control the lifting assembly to drive the second cutting tool down through the second horizontal drive assembly to form a third cut on the side membrane portion, with both ends connected to the first cut and the second cut respectively.

10. An automatic cutting system for cargo packaging film, characterized in that, The method includes a rotating component, a cutting component, a first packaging film peeling component, an image acquisition component, and a controller. The cutting component and the first packaging film peeling component are disposed on both sides of the rotating component, and the image acquisition component is disposed above the rotating component. The controller is used to perform the steps in the automatic cutting method for cargo packaging film as described in any one of claims 1-9.

Images