Combined stacking system based on machine vision for irregular tobacco packets

Abstract

The invention provides a combined stacking system based on machine vision for irregular tobacco packets. The combined stacking system is characterized in that an irregular tobacco packet image is processed through a visual system so as to obtain a target binary image, then the angular point features of the tobacco packets are extracted so as to perform feature point matching, in addition, error matching point pairs are eliminated by using an improved RANSAC algorithm, so that recognition matching of the tobacco packets can be realized, and the recognition result is then proofread with the order tobacco packet information in an upper computer database; and after proofreading is completed, the tobacco packets enter the combined stacking system, adjusting and accurate positioning are carriedout according to pre-arrangement algorithm combined stacking of the upper computer, and finally the tobacco packets are grabbed the stacked by a stacking robot. The combined stacking system has the advantages that the correct recognition rate of the irregular tobacco packets reaches 100%, and proofreading and combined stacking of the irregular tobacco packets can be efficiently and rapidly completed; and a novel automatic tobacco packet stacking mode is created, and the tobacco logistics industry is promoted to make one essential step towards intelligentization.

Description

technical field [0001] The invention belongs to the field of irregular cigarette pack control, in particular to a combined stacking system for irregular cigarette packs based on machine vision. Background technique [0002] In the stacking assembly of tobacco logistics, due to the complexity and randomness of customer orders, different quantities of cigarettes will be packaged into cigarette packs of different shapes. The cigarette industry requires 5 layers to be stacked as a whole and stacked cross-stacked to facilitate stacking. Stability while avoiding damage to the rod. Therefore, the entire 5X5 cigarette pack consisting of 25 cigarettes can be stacked directly and simply, while other irregularly shaped cigarette packs need to be matched into five-layer cigarette packs before palletizing. At present, the commonly used palletizing system is the same as the traditional palletizing machine. It generally handles and palletizes single or regular objects, and the action is f...

AI Technical Summary

Problems solved by technology

[0003] In the process of combined stacking, a very critical factor is to ensure that the real-time information of the cigarette packs on the conveyor belt is correct. Once the real-time cigarette packs on the conveyor belt are different from the original cigarette pack information in the database due to manual errors or errors in packaging Deviations will lead to continuous errors in subsequent processes

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