A multi-station robot vision-assisted packaging method and apparatus

Abstract

This application relates to the field of packaging technology, specifically to a multi-station robot vision-assisted packaging method and equipment; the method includes conveying a first specification item to a first loading station; acquiring visual images of all the first specification items located on the first loading station; determining the first specification items that meet the gripping conditions based on the visual images; gripping the first specification items that meet the gripping conditions onto a packaging conveyor line; and packaging the materials on the packaging conveyor line; the materials include the first specification items; thereby solving the problem of not being able to effectively handle overlapping materials for gripping.

Description

Technical Field

[0001] This application relates to the field of packaging technology, and more specifically, to a multi-station robot vision-assisted packaging method and equipment. Background Technology

[0002] In the field of industrial automation, automated material handling is one of the core links to ensure the continuous and efficient operation of the production line. Currently, robotic arms combined with machine vision recognition technology are commonly used to achieve automated material identification, gripping, and conveying operations. Gripping methods can include grippers or vacuum suction cups. An automated material handling system mainly consists of four parts: a vision acquisition module, an image processing unit, a motion control module, and a robotic arm actuator. The vision acquisition module uses an industrial camera installed above the area to be gripped to acquire image data of the material in real time and transmits it to the image processing unit. The image processing unit, based on pre-entered standard material feature templates, extracts, compares, and matches features from the acquired images to identify key parameters such as the spatial position and placement posture of the target material. The motion control module calculates the robotic arm's movement path and gripping sequence based on the identification results, driving the robotic arm to precisely move to the target material to complete the gripping action and smoothly place the material on the designated conveyor belt, thus completing the automated material handling process from the waiting area to the subsequent process.

[0003] However, when multiple identical materials are stacked or overlapped in the area to be grasped, the upper layer of material physically occludes the lower layer, preventing the image processing unit from acquiring complete feature information of a single material. Simultaneously, the edge contours of different materials in a stacked or overlapping state merge and become blurred, making it difficult for the algorithm to accurately delineate the boundaries of each material. This can lead to situations where the material's location cannot be identified, or multiple overlapping materials are mistakenly identified as a single material, ultimately causing the robotic arm to fail to grasp the target material. The core problem lies in the fact that existing recognition algorithms cannot effectively handle the feature loss and boundary confusion issues in scenarios where materials are stacked and overlapping. Summary of the Invention

[0004] To address the problem of ineffective handling of overlapping materials during grasping, this application provides a multi-station robot vision-assisted packaging method and equipment.

[0005] In a first aspect, this application provides a multi-station robot vision-assisted packaging method, the multi-station robot vision-assisted packaging method comprising:

[0006] The first specification item is conveyed to the first loading platform;

[0007] Obtain visual images of all first-specification items located on the first loading platform; wherein, the state of the first-specification items located on the first loading platform includes a discrete state and an overlapping state; the first-specification items in the discrete state have gaps between them and other first-specification items; the first-specification items in the overlapping state have an overlapping area with at least one other first-specification item; the first-specification items in the discrete state appear as quadrilaterals with two long sides and two short sides in the visual image; the length of the long side is greater than the length of the short side.

[0008] The first specification item is determined based on the visual image; the grasping conditions include that one long side and one short side of the first specification item are displayed in the visual image, and the overlapping area between the other long side of the first specification item and another first specification item does not exceed 30% of the length of the long side.

[0009] Grab the first specification item that meets the grabbing conditions and place it on the packaging conveyor line;

[0010] The materials on the packaging conveyor line are packaged; the materials include the first specification item.

[0011] Optionally, the material further includes a second specification item and a third specification item; the surface flatness of the first specification item is less than the surface flatness of the second specification item; the size of the third specification item is smaller than the size of the second specification item; the size of the third specification item is smaller than the size of the first specification item.

[0012] The multi-station robot vision-assisted packaging method also includes:

[0013] The second-specification item is picked up and placed onto the packaging conveyor line; wherein, the packaging conveyor line includes a carrying track and a pushing unit; multiple pushing units are distributed at intervals along the length direction of the carrying track;

[0014] The pusher is controlled to move the second-specification item on the packaging conveyor line; wherein the top of the pusher is higher than the upper surface of the second-specification item on the packaging conveyor line.

[0015] Grab the third-specification item onto the upper surface of the second-specification item on the packaging conveyor line;

[0016] The step of grasping the first specification item that meets the grasping conditions onto the packaging conveyor line is performed; wherein the first specification item on the packaging conveyor line is located above the second specification item and the third specification item.

[0017] Optionally, the step of packaging the materials on the packaging conveyor line includes:

[0018] The first specification item on the packaging conveyor line is pushed along a preset direction so that the first specification item abuts against the pushing part. The preset direction is opposite to the feeding direction of the packaging conveyor line.

[0019] The first-specification item, the second-specification item, and the third-specification item stacked on the packaging conveyor line are packaged.

[0020] Optionally, the step of picking up the third-specification item and placing it onto the upper surface of the second-specification item on the packaging conveyor line includes:

[0021] Two third-specification items are sequentially picked up and placed on the upper surface of the second-specification item on the packaging conveyor line; wherein, the two third-specification items above the second-specification item are arranged sequentially along the feeding direction of the packaging conveyor line.

[0022] Optionally, the two third-specification items above the second-specification item are offset from the same side of the centerline of the second-specification item, so that the first-specification item is inclined downward away from the first side of the third-specification item, and the top of the pushing part is higher than the first side; the first side is parallel to the feeding direction of the packaging conveyor line; the centerline is parallel to the feeding direction of the packaging conveyor line; the centerline is located in the middle of the second-specification item;

[0023] The first side is the long side of the first specification item.

[0024] Optionally, the third specification item on the packaging conveyor line is located at the end of the second specification item away from the pusher.

[0025] Optionally, the step of picking up the first specification item that meets the picking conditions and placing it onto the packaging conveyor line includes:

[0026] The first specification item that meets the grasping conditions is grasped and moved upward and horizontally away from the packaging conveyor line to the target height.

[0027] The first specification item, which has been moved to the target height, is then moved onto the packaging conveyor line.

[0028] Optionally, the multi-station robot vision-assisted packaging method further includes:

[0029] When the number of the first specification items that meet the grabbing conditions on the first loading platform is 0, control the first loading platform to return the remaining first specification items to the storage bin.

[0030] Once the first specification item on the first loading platform is cleared, the process returns to conveying the first specification item to the first loading platform.

[0031] Secondly, this application provides a multi-station robot vision-assisted packaging device, applied to the multi-station robot vision-assisted packaging method described in any one of the first aspects; the multi-station robot vision-assisted packaging device includes:

[0032] A packaging conveyor line for conveying materials; the materials include single items of a first specification.

[0033] The first feeding assembly includes a first feeding platform, a first robotic arm, and a vision camera. The first feeding platform is used to supply the first specification item and is located on one side of the packaging conveyor line. The vertical projection of the first specification item placed on the first feeding platform is a quadrilateral with two long sides and two short sides. The first robotic arm is used to grasp the first specification item on the first feeding platform. The vision camera is located above the first feeding platform and is used to capture visual images of the upper surface of the first feeding platform.

[0034] Optionally, the material further includes a second specification item and a third specification item; the surface flatness of the first specification item is less than the surface flatness of the second specification item; the size of the third specification item is smaller than the size of the second specification item; the size of the third specification item is smaller than the size of the first specification item.

[0035] The packaging conveyor line includes a support track and a pushing unit; multiple pushing units are distributed at intervals along the length direction of the support track; the pushing units are slidably arranged along the length direction of the support track;

[0036] The multi-station robot vision-assisted packaging equipment also includes:

[0037] The second feeding assembly includes a second feeding platform and a second robotic arm. The second feeding platform is used to supply the second specification item. The second feeding platform is located on one side of the packaging conveyor line. The second robotic arm is used to grab the second specification item on the second feeding platform.

[0038] The third feeding assembly includes a third feeding platform and a third robotic arm; the third feeding platform is used to supply the third specification item; the third feeding platform is located on one side of the packaging conveyor line; the third robotic arm is used to grab the third specification item on the third feeding platform.

[0039] Optionally, the multi-station robot vision-assisted packaging equipment further includes a pushing component; the pushing component is connected to the packaging conveyor line; the pushing component includes a pushing plate and a driving unit; the driving unit drives the pushing plate to rotate or move horizontally to push the first specification single item on the packaging conveyor line in a preset direction; the preset direction is opposite to the feeding direction of the packaging conveyor line.

[0040] To address the problem of ineffective handling of overlapping material stacks during grasping, this application offers the following advantages:

[0041] By feeding a first-specification item to the first loading platform and acquiring visual images of all first-specification items located on the platform, image information of the first-specification items, including both discrete and overlapping states, is collected. Based on the visual images, first-specification items meeting the gripping conditions are identified. These gripping conditions precisely filter out first-specification items with identifiable and complete features, thereby accurately determining the geometric center of the first-specification items and ensuring the gripping accuracy of the robotic arm. Finally, by gripping the first-specification items that meet the gripping conditions and transferring them to the packaging conveyor line, the materials on the packaging conveyor line are packaged. This effectively solves the technical problems of difficulty in identification, misidentification, and failure to grip materials when multiple identical materials are stacked or overlapped, improving the overall reliability of automatic material identification and gripping operations. Attached Figure Description

[0042] Figure 1 A flowchart of the multi-station robot vision-assisted packaging method of Embodiment 1 is shown;

[0043] Figure 2 An isometric view of the multi-station robot vision-assisted packaging equipment of Embodiment 2 is shown;

[0044] Figure 3 It shows Figure 2 A top view of a multi-station robot vision-assisted packaging equipment;

[0045] Figure 4 It shows Figure 2 A schematic diagram of the conveyor chain and pusher unit of a multi-station robot vision-assisted packaging equipment;

[0046] Figure 5 It shows Figure 2 A schematic diagram of the support track for a multi-station robot vision-assisted packaging equipment;

[0047] Figure 6 It shows Figure 2 A schematic diagram of a material placement and conveying line for a multi-station robot vision-assisted packaging equipment;

[0048] Figure 7 A simplified diagram illustrating that the first-size item meets the grasping conditions is shown;

[0049] Figure 8 A simplified diagram is shown illustrating a single item of the first specification that does not meet the picking criteria.

[0050] Reference numerals: 10 for first specification item; 20 for second specification item; 30 for third specification item; 40 for packaging conveyor line; 41 for carrying track; 42 for pushing unit; 43 for conveyor chain; 50 for pushing assembly; 51 for pushing plate; 52 for drive unit. Detailed Implementation

[0051] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0052] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0053] In the multi-station robot vision-assisted packaging process, after the first specification item 10 is fed to the first loading station, the first specification item 10 located on the first loading station will be in a discrete state and an overlapping state. In the discrete state, the first specification item 10 has gaps between it and other first specification items 10, appearing as a quadrilateral with two long sides and two short sides in the visual image. In the overlapping state, the first specification item 10 has an overlapping area with at least one other first specification item 10. When multiple first specification items 10 overlap, the overlapping area will obscure part of the outline features of the first specification item 10, causing the visual image to fail to fully present all the side information of a single first specification item 10. This makes it difficult for the visual image-based recognition process to accurately distinguish the boundaries of each first specification item 10, leading to difficulties in recognizing the first specification item 10, or misidentifying multiple overlapping first specification items 10 as a single first specification item 10. Ultimately, this results in the subsequent grasping action failing to accurately grasp the target first specification item 10, causing recognition errors and grasping failures.

[0054] Example 1:

[0055] In this embodiment, a multi-station robot vision-assisted packaging method is provided, such as... Figure 1 As shown, the multi-station robot vision-assisted packaging method includes steps S10 to S50. The multi-station robot vision-assisted packaging method executes steps S10, S20, S30, S40, and S50 sequentially.

[0056] Step S10: Convey the first specification single item 10 to the first loading platform to provide the material base to be processed for subsequent visual recognition and grasping operations.

[0057] Step S20 involves acquiring visual images of all first-specification individual items 10 located on the first loading platform. This comprehensively collects the appearance information of all first-specification individual items 10 on the first loading platform, providing data for subsequent state judgment and grasping condition filtering. The states of the first-specification individual items 10 located on the first loading platform include discrete states and overlapping states. Discrete first-specification individual items 10 have gaps between them and other first-specification individual items 10, while overlapping first-specification individual items 10 have overlapping areas with at least one other first-specification individual item 10. Discrete first-specification individual items 10 appear as quadrilaterals with two long sides and two short sides in the visual image. The length of the long sides is greater than the length of the short sides.

[0058] Step S30: Determine the first specification item 10 that meets the grasping conditions based on the visual image. For example... Figure 7As shown, the grasping conditions include that one long side and one short side of the first specification item 10 are displayed in the visual image, and the overlap area between the other long side of the first specification item 10 and another first specification item 10 does not exceed 30% of the length of the long side. By setting the above grasping conditions, the first specification item 10 whose geometric center is not easily affected by other materials can be accurately selected. That is, when the overlap area of ​​the first specification item 10 does not exceed 30% of the long side, the risk of the geometric center of the target grasping material being affected by the corners of other stacked materials can be reduced, thereby achieving stable grasping without having to judge the upper and lower layer relationships of the stack. The first specification item 10 is divided into discrete state and overlapping state for differentiated processing. Only the first specification item 10 that meets the grasping conditions is processed subsequently. At the same time, the geometric center of the first specification item 10 can be accurately determined based on the display of a complete long side and one short side, ensuring the accuracy of grasping. Figure 8 The first specification item 10 does not meet the grabbing conditions, so it will not be grabbed. It will be broken up in the subsequent reflow process and then re-evaluated.

[0059] Step S40: Grab the first specification item 10 that meets the grabbing conditions and transfer it to the packaging conveyor line 40. This ensures that the selected qualified first specification item 10 is accurately transferred to the packaging conveyor line 40, avoiding invalid grabbing of first specification items 10 that do not meet the conditions and reducing grabbing failures.

[0060] Step S50: Pack the materials on the packaging conveyor line 40. The materials include a first-specification single item 10. This completes the final packaging process for the first-specification single item 10, realizing a complete multi-station robot vision-assisted packaging process.

[0061] This application precisely filters out first-specification single items 10 with identifiable and complete features by using gripping conditions, thereby accurately determining the geometric center of the first-specification single item 10 and ensuring the gripping accuracy of the robotic arm. Finally, by gripping the first-specification single item 10 that meets the gripping conditions onto the packaging conveyor line 40 and packaging the materials on the packaging conveyor line 40, this effectively solves the technical problems of difficulty in identification, misidentification, and failure to grip materials when multiple identical materials are stacked or overlapped, and improves the overall reliability of automatic material identification and gripping operations.

[0062] Furthermore, the material also includes a second-specification item 20 and a third-specification item 30. The surface flatness of the first-specification item 10 is less than that of the second-specification item 20. The dimensions of the third-specification item 30 are smaller than those of the second-specification item 20. The dimensions of the third-specification item 30 are smaller than those of the first-specification item 10.

[0063] The multi-station robot vision-assisted packaging method also includes steps S60 to S80. The execution order of steps S60 to S80 is step S60, step S70, step S80. Steps S60 to S80 are all executed before step S40.

[0064] In step S60, the second-specification item 20 is picked up and placed onto the packaging conveyor line 40. The second-specification item 20 is placed on the packaging conveyor line 40 as the bottom layer material, providing a stable foundation for subsequent material stacking. The packaging conveyor line 40 includes a carrying track 41 and multiple pushing units 42 spaced apart along the length of the carrying track 41. The multiple pushing units 42 spaced apart enable continuous and orderly pushing of materials on the packaging conveyor line 40, ensuring the consistency of the material conveying rhythm.

[0065] In step S70, the pusher unit 42 is controlled to move the second-specification item 20 on the packaging conveyor line 40. This moves the second-specification item 20 along the carrying track 41 to the designated station, providing an accurate positional reference for the subsequent precise placement of the third-specification item 30 and the first-specification item 10. The top of the pusher unit 42 is higher than the upper surface of the second-specification item 20 on the packaging conveyor line 40, ensuring that the pusher unit 42 can reliably contact the side of the second-specification item 20 and apply a stable thrust, preventing slippage or failure.

[0066] In step S80, the third specification item 30 is picked up and placed on the upper surface of the second specification item 20 on the packaging conveyor line 40, and the small-sized third specification item 30 is precisely placed on the bearing surface of the second specification item 20.

[0067] Step S40 is executed after steps S80 and S30, where the first-specification item 10 is placed after the second-specification item 20 and the third-specification item 30 have been placed. The first-specification item 10 on the packaging conveyor line 40 is positioned above the second-specification item 20 and the third-specification item 30. By placing the first-specification item 10, which has a lower surface flatness, on the top layer, its surface characteristics are prevented from affecting the placement stability of the materials below. Simultaneously, the second-specification item 20 and the third-specification item 30 are fed before the first-specification item 10, completing the orderly stacking and packaging process for multiple item sizes.

[0068] Further, step S50 includes steps S51 and S52. Steps S51 to S52 are executed sequentially. Both steps S51 and S52 are executed after step S40.

[0069] In step S51, the first specification item 10 on the packaging conveyor line 40 is pushed along a preset direction so that the first specification item 10 abuts against the pushing part 42. The preset direction is opposite to the feeding direction of the packaging conveyor line 40. This pushes and positions the first specification item 10, ensuring the neatness of the stacked materials, and at the same time, aligns the first specification item 10 with the second specification item 20 and the third specification item 30 below it, using the pushing part 42 as a reference.

[0070] Step S52 involves packaging the first-specification item 10, the second-specification item 20, and the third-specification item 30 stacked on the packaging conveyor line 40. The packaging operation is completed after the materials are neatly aligned, ensuring the orderly placement of the packaged materials and improving packaging quality.

[0071] In some embodiments, step S80 includes step S81. Step S81 is performed after step S70.

[0072] Step S81: Two third-specification items 30 are sequentially picked up and placed on the upper surface of the second-specification item 20 on the packaging conveyor line 40. By placing two third-specification items 30 above the second-specification item 20, two supporting bases can be provided for the subsequent placement of the first-specification item 10. The two third-specification items 30 above the second-specification item 20 are arranged sequentially along the feeding direction of the packaging conveyor line 40. This ensures that the pushing force is evenly distributed during the subsequent pushing of the first-specification item 10 in a preset direction to abut against the pushing part 42, avoiding uneven force distribution caused by single-point support. This provides stable support for the first-specification item 10 and effectively solves the problem of the topmost first-specification item 10 being knocked away during the pushing action.

[0073] Furthermore, such as Figure 6 As shown, the two third-specification items 30 above the second-specification item 20 are offset from the same side of the center line of the second-specification item 20, thereby providing concentrated support on one side for the first-specification item 10. This causes the first-specification item 10 to be tilted downwards on its first side away from the third-specification item 30, resulting in a tilted placement with one side higher than the other. The top of the pushing part 42 is higher than the first side, ensuring that the pushing part 42 can effectively block the tilted downward position. The first side is parallel to the feeding direction of the packaging conveyor line 40, and the center line is parallel to the feeding direction of the packaging conveyor line 40, located in the middle of the second-specification item 20.

[0074] The first side is the long side of the first specification item 10. One side of the first specification item 10 is supported by two third specification items 30, while the opposite side, i.e. the first side, falls down and is lower than the pushing part 42, effectively avoiding the problem of the first specification item 10 going over the top of the pushing part 42 when pushed in the preset direction.

[0075] In other embodiments, the third-sized item 30 on the packaging conveyor line 40 is located at the end of the second-sized item 20 furthest from the pusher 42. This ensures that the end of the first-sized item 10 facing the pusher 42 is tilted downwards, so that the height of the side of the first-sized item 10 near the pusher 42 is lower than the top of the pusher 42, thereby preventing the first-sized item 10 from passing over the top of the pusher 42 when pushed in the reverse direction. Furthermore, since the end of the first-sized item 10 facing the pusher 42 is naturally tilted downwards, there is no need to increase the height of the pusher 42 to achieve a blocking effect, which reduces the height restriction of the pusher 42, reduces the clearance space required when the pusher 42 falls, and reduces the manufacturing cost of the equipment.

[0076] In some other embodiments, step S40 includes steps S41 and S42, and the multi-station robot vision-assisted packaging method sequentially executes steps S10, S20, S30, S41, S42, and S50.

[0077] Step S41: The first specification item 10 that meets the gripping conditions is grasped and moved upward and along the horizontal direction away from the packaging conveyor line 40 to the target height. This effectively solves the problem that when gripping a single first specification item 10, stacked first specification items 10 are easily gripped together. Since a baffle is set along the horizontal direction away from the packaging conveyor line 40, it can prevent the stacked first specification items 10 that are carried along from flying out of the conveyor line, so that the stacked first specification items 10 can fall back to the gripping station.

[0078] Step S42: Move the first specification item 10, which has been moved to the target height, onto the packaging conveyor line 40. This completes the transfer and placement of the first specification item 10 onto the packaging conveyor line 40, ensuring the continuity of material conveying and avoiding material loss and production line interruption caused by stacked materials being thrown away.

[0079] In some other embodiments, the multi-station robot vision-assisted packaging method further includes steps S90 and S100, in which steps S10, S20, S30, S40, S50, S90 and S100 are executed sequentially.

[0080] In step S90, when the quantity of first-specification single-item 10 meeting the gripping conditions on the first loading platform is 0, the first loading platform is controlled to return the remaining first-specification single-item 10 to the storage bin. At this time, it means that there are 0 first-specification single-item 10 meeting the gripping conditions on the first loading platform, and the remaining items are all first-specification single-item 10 that cannot meet the gripping requirements due to being stacked. By returning the remaining first-specification single-item 10 to the storage bin, the stacked materials that cannot be directly gripped can be redistributed, avoiding the accumulation of materials on the first loading platform.

[0081] In step S100, after the first specification item 10 on the first loading platform is cleared, the process returns to feeding the first specification item 10 back to the first loading platform. This enables the cyclical feeding of the first loading platform, completing the cyclical work of this station and ensuring the continuous and stable operation of the multi-station robot vision-assisted packaging production line.

[0082] Example 2:

[0083] In this embodiment, a multi-station robot vision-assisted packaging device is provided, which is applied to a multi-station robot vision-assisted packaging method. For example... Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the multi-station robot vision-assisted packaging equipment includes a packaging conveyor line 40 and a first feeding component.

[0084] Packaging conveyor line 40 is used to transport materials, providing a stable conveying medium for material transfer, stacking, and packaging processes, ensuring the orderly flow of materials between workstations. Materials include single items of the first specification 10.

[0085] The first feeding component includes a first feeding platform, a first robotic arm, and a vision camera, integrating feeding, recognition, and gripping functions to form an independent feeding unit for the first specification item 10. The first feeding platform is used to supply the first specification item 10. Located on one side of the packaging conveyor line 40, it provides an independent gripping area for the first specification item 10, avoiding interference with the normal operation of the packaging conveyor line 40 during the feeding process. The vertical projection of the first specification item 10 placed on the first feeding platform is a quadrilateral with two long sides and two short sides, clearly defining the standard shape characteristics of the first specification item 10 and providing a unified feature matching benchmark for the visual recognition algorithm. The first robotic arm is used to grip the first specification item 10 on the first feeding platform, realizing the automated transfer of the first specification item 10 from the first feeding platform to the packaging conveyor line 40, replacing manual operation and improving production efficiency. The vision camera is located above the first feeding platform and is used to capture visual images of the surface of the first feeding platform. This allows for the comprehensive and clear collection of the appearance and position information of all first-specification single items 10 on the first loading platform, providing accurate data for distinguishing between discrete and overlapping first-specification single items 10 and screening first-specification single items 10 that meet the grasping conditions. This ensures the accuracy of grasping first-specification single items 10 and solves the problems of difficulty in identification, misidentification, and failure to grasp materials when multiple identical materials are stacked or overlapped.

[0086] Furthermore, the materials also include second-specification item 20 and third-specification item 30. The surface flatness of the first-specification item 10 is less than that of the second-specification item 20. During placement, the second-specification item 20 is placed at the bottom first to ensure the stability of the material stacking. The size of the third-specification item 30 is smaller than that of the second-specification item 20, and the size of the third-specification item 30 is smaller than that of the first-specification item 10. This clarifies the size hierarchy of the different item sizes, ensuring that smaller items can be stably placed on the surface of larger items, providing a structural basis for multi-layer stacking.

[0087] The packaging conveyor line 40 includes a support track 41 and a pushing unit 42. Multiple pushing units 42 are spaced apart along the length of the support track 41. The pushing units 42 are slidably arranged along the length of the support track 41. Through the spaced and slidable pushing units 42, continuous and orderly pushing of materials on the packaging conveyor line 40 can be achieved, ensuring the consistency of the material conveying rhythm, and providing a reference for the pushing and positioning of subsequent materials.

[0088] The multi-station robot vision-assisted packaging equipment also includes a second feeding component and a third feeding component.

[0089] The second feeding assembly includes a second feeding platform and a second robotic arm. The second feeding platform is used to supply the second specification item 20. The second feeding platform is located on one side of the packaging conveyor line 40. The second robotic arm is used to grab the second specification item 20 from the second feeding platform. Setting up an independent second feeding assembly enables automated supply and grabbing of the second specification item 20, providing a bottom layer of material for the orderly stacking of multi-specification materials and improving production efficiency.

[0090] The third feeding assembly includes a third feeding platform and a third robotic arm. The third feeding platform is used to supply the third specification item 30. The third feeding platform is located on one side of the packaging conveyor line 40. The third robotic arm is used to grab the third specification item 30 from the third feeding platform. Setting up an independent third feeding assembly enables automated supply and precise placement of the third specification item 30, providing a stable support foundation for the first specification item 10 and ensuring the stability of multi-layer stacking.

[0091] Furthermore, the multi-station robotic vision-assisted packaging equipment also includes a pushing component 50. The pushing component 50 is connected to the packaging conveyor line 40, forming an integrated structure that ensures the synchronization of the pushing action with the material conveying action. The pushing component 50 includes a pushing plate 51 and a drive unit 52. The pushing plate 51 makes large-area contact with the first specification item 10, allowing for uniform application of pushing force and preventing localized force that could cause material deformation or displacement. The drive unit 52 provides a controllable power source for the pushing action, enabling automated and precise control. The drive unit 52 drives the pushing plate 51 to rotate or move horizontally, pushing the first specification item 10 on the packaging conveyor line 40 along a preset direction. It provides both rotational and horizontal pushing motion modes, adapting to different production line layouts and material characteristics to meet diverse pushing operation needs. The preset direction is opposite to the feeding direction of the packaging conveyor line 40. This allows the first specification item 10 to finally come into contact with the pushing part 42 on the packaging conveyor line 40, thereby aligning the stacked first specification item 10, second specification item 20 and third specification item 30 as a whole, ensuring the neatness of the stacked materials and improving the packaging quality of subsequent packaging processes.

[0092] In other embodiments, the packaging conveyor line 40 further includes a conveyor chain 43. The conveyor chain 43 is located below the support track. A pusher 42 is connected to the conveyor chain 43, and the conveyor chain 43 drives the pusher 42 to move along the length of the support track.

[0093] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.

Claims

1. A multi-station robot vision-assisted packaging method, characterized in that, The multi-station robot vision-assisted packaging method includes: The first specification item is conveyed to the first loading platform; Obtain visual images of all first-specification items located on the first loading platform; wherein, the state of the first-specification items located on the first loading platform includes a discrete state and an overlapping state; the first-specification items in the discrete state have gaps between them and other first-specification items; the first-specification items in the overlapping state have an overlapping area with at least one other first-specification item; the first-specification items in the discrete state appear as quadrilaterals with two long sides and two short sides in the visual image; the length of the long side is greater than the length of the short side. The first specification item is determined based on the visual image; the grasping conditions include that one long side and one short side of the first specification item are displayed in the visual image, and the overlapping area between the other long side of the first specification item and another first specification item does not exceed 30% of the length of the long side. Grab the first specification item that meets the grabbing conditions and place it on the packaging conveyor line; The materials on the packaging conveyor line are packaged; the materials include the first specification item. The material also includes a second specification item and a third specification item; the surface flatness of the first specification item is less than that of the second specification item; the size of the third specification item is smaller than that of the second specification item; the size of the third specification item is smaller than that of the first specification item. The multi-station robot vision-assisted packaging method also includes: The second-specification item is picked up and placed onto the packaging conveyor line; wherein, the packaging conveyor line includes a carrying track and a pushing unit; multiple pushing units are distributed at intervals along the length direction of the carrying track; The pusher is controlled to move the second-specification item on the packaging conveyor line; wherein the top of the pusher is higher than the upper surface of the second-specification item on the packaging conveyor line. Grab the third-specification item onto the upper surface of the second-specification item on the packaging conveyor line; The step of grasping the first specification item that meets the grasping conditions onto the packaging conveyor line is performed; wherein the first specification item on the packaging conveyor line is located above the second specification item and the third specification item.

2. The multi-station robot vision-assisted packaging method according to claim 1, characterized in that, The process of packaging the materials on the packaging conveyor line includes: The first specification item on the packaging conveyor line is pushed along a preset direction so that the first specification item abuts against the pushing part. The preset direction is opposite to the feeding direction of the packaging conveyor line. The first-specification item, the second-specification item, and the third-specification item stacked on the packaging conveyor line are packaged.

3. The multi-station robot vision-assisted packaging method according to claim 2, characterized in that, Grabbing a third-specification item onto the upper surface of a second-specification item on the packaging conveyor line includes: Two third-specification items are sequentially picked up and placed on the upper surface of the second-specification item on the packaging conveyor line; wherein, the two third-specification items above the second-specification item are arranged sequentially along the feeding direction of the packaging conveyor line.

4. The multi-station robot vision-assisted packaging method according to claim 3, characterized in that, The two third-specification items above the second-specification item are offset from the center line of the second-specification item on the same side, so that the first-specification item is tilted downward away from the first side of the third-specification item, and the top of the pushing part is higher than the first side; the first side is parallel to the feeding direction of the packaging conveyor line; the center line is parallel to the feeding direction of the packaging conveyor line; the center line is located in the middle of the second-specification item; The first side is the long side of the first specification item.

5. The multi-station robot vision-assisted packaging method according to claim 3, characterized in that, The third specification item on the packaging conveyor line is located at the end of the second specification item away from the pusher.

6. The multi-station robot vision-assisted packaging method according to claim 1, characterized in that, The step of picking up the first specification item that meets the picking conditions and placing it onto the packaging conveyor line includes: The first specification item that meets the grasping conditions is grasped and moved upward and horizontally away from the packaging conveyor line to the target height. The first specification item, which has been moved to the target height, is then moved onto the packaging conveyor line.

7. The multi-station robot vision-assisted packaging method according to claim 1, characterized in that, The multi-station robot vision-assisted packaging method also includes: When the number of the first specification items that meet the grabbing conditions on the first loading platform is 0, control the first loading platform to return the remaining first specification items to the storage bin. Once the first specification item on the first loading platform is cleared, the process returns to conveying the first specification item to the first loading platform.

8. A multi-station robot vision-assisted packaging device, applied to the multi-station robot vision-assisted packaging method according to any one of claims 1-7; characterized in that, The multi-station robot vision-assisted packaging equipment includes: A packaging conveyor line for conveying materials; the materials include single items of a first specification. The first feeding assembly includes a first feeding platform, a first robotic arm, and a vision camera. The first feeding platform is used to supply the first specification item and is located on one side of the packaging conveyor line. The vertical projection of the first specification item placed on the first feeding platform is a quadrilateral with two long sides and two short sides. The first robotic arm is used to grasp the first specification item on the first feeding platform. The vision camera is located above the first feeding platform and is used to capture visual images of the upper surface of the first feeding platform.

9. A multi-station robot vision-assisted packaging device according to claim 8, characterized in that, The material also includes a second specification item and a third specification item; the surface flatness of the first specification item is less than that of the second specification item; the size of the third specification item is smaller than that of the second specification item; the size of the third specification item is smaller than that of the first specification item. The packaging conveyor line includes a support track and a pushing unit; multiple pushing units are distributed at intervals along the length direction of the support track; the pushing units are slidably arranged along the length direction of the support track; The multi-station robot vision-assisted packaging equipment also includes: The second feeding assembly includes a second feeding platform and a second robotic arm. The second feeding platform is used to supply the second specification item. The second feeding platform is located on one side of the packaging conveyor line. The second robotic arm is used to grab the second specification item on the second feeding platform. The third feeding assembly includes a third feeding platform and a third robotic arm; the third feeding platform is used to supply the third specification item; the third feeding platform is located on one side of the packaging conveyor line; the third robotic arm is used to grab the third specification item on the third feeding platform.

10. A multi-station robot vision-assisted packaging equipment according to claim 8, characterized in that, The multi-station robot vision-assisted packaging equipment also includes a pushing component; the pushing component is connected to the packaging conveyor line; the pushing component includes a pushing plate and a drive unit; The drive unit drives the push plate to rotate or move horizontally, so as to push the first specification item on the packaging conveyor line in a preset direction; The preset direction is opposite to the feeding direction of the packaging conveyor line.

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