摘要
为解决条盒填充机在人工供应硬质空条盒过程中存在自动化水平低、劳动强度大等问题,基于高精度视觉相机设计了一种硬质空条盒机器人拆垛系统。通过在YOLO v8模型中添加混合注意力机制模块(CBAM)和动态卷积模块(C2fDynamic),建立了YOLO v8-CBAM-C2fDynamic模型;利用视觉相机自带的模板匹配模型识别出拆垛工位托盘上有待转移空条盒后,由YOLO v8-CBAM-C2fDynamic模型对空条盒放置方向及位置进行识别,指导机器人准确抓取一组空条盒并将其转移至套膜去除工位,待套膜去除后经皮带输送至条盒填充机。以武汉卷烟厂生产的“黄鹤楼1916”牌卷烟所使用的空条盒为对象进行测试,结果表明:(1)YOLO v8-CBAM-C2fDynamic模型可准确、快速地识别出空条盒放置方向及位置,mAP为0.904,FPS达到约120帧/s;(2)与人工供应方式相比,基于模板匹配+YOLO v8-CBAM-C2fDynamic模型的拆垛系统可减少人工3人/班次;(3)相比模板匹配模型,加入YOLO v8-CBAM-C2fDynamic模型后的拆垛系统拆垛成功率由67%提高至100%,拆垛效率由40条/min提高至64条/min,满足了条盒填充机的供料需求。该技术可为提高硬质条盒卷烟自动化生产水平提供支持。
To promote the automation level,the process of empty cartons handling was upgraded with an unstacking system based on a high-precision camera.A YOLO v8-CBAM-C2fDynamic model was established by adding a CBAM(Convolutional Block Attention Module)and a C2fDynamic(Dynamic Convolution Module)to the YOLO v8 model.The template matching model along with the visual camera is used to identify the presence of empty cartons on the pallet in the unstacking station,the YOLO v8-CBAM-C2fDynamic model is used to identify the orientation and positions of the empty carton group and guide the robot to accurately pick up the empty carton group and transfer it to the film wrapper removal station.The empty cartons were transported by a conveyor belt to a carton filler after the film wrapper was removed from the carton group.The designed system was tested with the empty hard cartons of"Yellow Crane Tower 1916"cigarette brands in Wuhan Cigarette Factory.The results showed that:1)YOLO v8-CBAM-C2fDynamic model could accurately and quickly identify the orientation and positions of empty cartons,with mAP(Mean Average Precision)of 0.904 and FPS(Frames Per Second)of about 120 frames per second.2)Compared to manual feeding,the designed system reduced the number of workers by 3 per shift.3)Compared with the template matching model,the success rate of the designed system increased from 67%to 100%,and the unstacking efficiency increased from 40 to 64 pieces/min,meeting the feeding requirement of a carton filler.This technology supports the promotion of the automation level of cigarette cartoning.
作者
沈伟
石德伦
余震安
邵力波
尹亮
庞浩
李星珂
马士欣
SHEN Wei;SHI Delun;YU Zhenan;SHAO Libo;YIN Liang;PANG Hao;LI Xingke;MA Shixin(Wuhan Cigarette Factory,China Tobacco Hubei Industrial Co.,Ltd.,Wuhan 430048,China;Xiangyang Cigarette Factory,China Tobacco Hubei Industrial Co.,Ltd.,Xiangyang 441021,Hubei,China;China Tobacco Hubei Industrial Co.,Ltd.,Wuhan 430040,China)
出处
《烟草科技》
CAS
CSCD
北大核心
2024年第10期94-100,共7页
Tobacco Science & Technology
基金
湖北中烟工业有限责任公司重点科技项目“卷烟硬质条盒自动化配送系统研发”(2023JSGY3WH2C100)。
