CN110589124B - Intelligent visual packaging system - Google Patents
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- CN110589124B CN110589124B CN201910881931.XA CN201910881931A CN110589124B CN 110589124 B CN110589124 B CN 110589124B CN 201910881931 A CN201910881931 A CN 201910881931A CN 110589124 B CN110589124 B CN 110589124B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B13/00—Bundling articles
- B65B13/02—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes
- B65B13/16—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes with means for severing the binding material from supply and then applying it around the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B13/00—Bundling articles
- B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/24—Breaking creases to facilitate setting-up cartons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/18—Automatic control, checking, warning, or safety devices causing operation of audible or visible alarm signals
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/06—Recognition of objects for industrial automation
Abstract
The invention provides an intelligent visual packing system which comprises a controller, an industrial camera, an external sensor, a packing belt conveying device and a shearing device, wherein the controller receives a video shot by the industrial camera in real time and information measured by the external sensor in real time, the state and the size of a packing box in the video are identified, the external sensor mainly measures the position of the packing box on a conveying belt in real time, the controller judges whether the packing box is in a correct video shooting range according to the position information of the packing box, if not, an alarm is given, the packing belt conveying device calculates the required packing belt length according to the controller to convey a packing belt, and the shearing device cuts the packing belt after the packing belt is output. According to the intelligent visual packing system, the position, the state and the size of the packing box can be judged in real time, the controller can accurately calculate the length of the required packing belt, and the packing belt conveying device is controlled to output the packing belt with the corresponding length and cut the packing belt, so that accurate packing is realized, and waste is avoided.
Description
Technical Field
The invention relates to the field of automatic production lines, in particular to an intelligent visual packaging system.
Background
With the wider range of internet + technology and industry coverage, factories, shops, individuals and the like are closely linked together worldwide, and a large number of novel business models and opportunities such as B2B, B2C, C2C and the like emerge. With the continuous increase of the business volume, the product packaging business volume of mass product suppliers such as factories, shops and the like is also increased sharply, such as mobile phone manufacturers, cosmetic stores, e-commerce, bookshops, airports and the like.
In the case of small business volume, procedures such as manual folding out of a packaging box, packaging, express bill pasting, scanning, loading and the like are generally adopted, with the continuous increase of the business volume, the manual speed and quality cannot be guaranteed, and in order to improve the efficiency, an automatic production line is generally introduced, however, the production line is usually very complex and high in cost, cannot be borne by general shops and logistics enterprises, is not beneficial to large-area popularization of technology, and further cannot improve the effective utilization rate and the rapid conversion rate of the whole social resources; or can only adapt to processes such as packing box packing, pasting express waybill, the intelligent degree is low, and the strap can not accomplish accurate control, or too long, the wasting of resources, or too short, can not pack, therefore can not adapt to the producer, the electricity merchant etc. that the product kind is many, also can cause the wasting of resources. Therefore, the invention provides an intelligent visual packaging system.
Disclosure of Invention
The invention aims to provide an intelligent visual packaging system which is accurate and precise, can adapt to various packaging box sizes and can output precise packaging belts.
The invention provides an intelligent visual packing system which comprises a controller, an industrial camera, an external sensor, a packing belt conveying device and a shearing device, wherein the controller receives a video shot by the industrial camera in real time and information measured by the external sensor in real time, the state and the size of a packing box in the video are identified, the external sensor mainly measures the position of the packing box on a conveying belt in real time, the controller judges whether the packing box is in a correct video shooting range according to the position information of the packing box, if not, an alarm is given, the packing belt conveying device calculates the required packing belt length according to the controller to convey a packing belt, and the shearing device cuts the packing belt after the packing belt is output.
Further, the controller comprises an input interface connected with the industrial camera and the external sensor respectively and a communication interface connected with the superior controller, and mainly comprises a video signal conditioning circuit transmitted by the industrial camera, a signal conditioning circuit of the external sensor, a communication interface circuit and a central microprocessor MCU (microprogrammed control Unit) on hardware, wherein the video signal conditioning circuit, the external sensor signal conditioning circuit and the communication interface circuit are connected with the central microprocessor MCU respectively and carry out interaction of data and control instructions.
Furthermore, the controller mainly comprises functional modules on software, such as acquisition of 1 frame of data, box body identification, video processing, result display, parameter display and setting, template identification, state classification, image processing, exception handling and the like; the function module for acquiring 1 frame data extracts information contained in the video stream according to a frame format, and respectively sends the information to the two function modules for box body identification and image processing to realize box body state identification and image information processing; the parameter display and setting functional module can set information such as parameter content to be displayed, size and opening mode of a box to be identified and the like, then sends the information to the identification template functional module, a template for identification is prepared according to the set parameters, subsequent identification is carried out according to the template, and then template information is sent to the state classification functional module; the state classification functional module detects the state classification information of the box body according to the image information processing result and the identification template information and sends the state classification information to the box body identification functional module; the box body identification function module identifies the current state of the box body according to the video frame data and the box body state classification information, if the box covers on the upper side and the lower side of the box body are not folded, or one side of the box body is not folded or both sides of the box body are folded, the identification result is sent to the video processing function module, and after the identification result is processed, the identification result is displayed on the result display function module and/or sent to a superior controller; and the exception handling functional module is used for handling the exception condition of the system in the running process in real time and maintaining the normal running of the system.
Further, the software flow of the controller is as follows: firstly, according to information contained in video stream, size identification is carried out, an identification template function module is applied, then a state classification function module is entered, the state of upper and lower box covers of a box is judged, if the upper and lower sides are not folded, a program directly jumps back to the starting position, and a next program cycle is entered; if the box is folded at one side, outputting a signal to inform a superior controller, sealing or binding the folded side, loading articles, waiting for the superior controller to issue an instruction after the articles are loaded, jumping the program to the beginning after the controller receives the instruction, entering the next program cycle, and waiting for folding the unfolded side of the box; if both sides of the box are folded, the output signal informs the superior controller that the folding of both sides of the box is finished, and the next operation, such as sealing or binding, can be carried out.
Furthermore, the controller is provided with an input/output end for receiving the control instruction of the superior controller and sending information to the superior controller, and is connected with the communication interface circuit.
Further, the controller detects the length of the packing belt conveyed by the packing belt conveying device in real time, determines whether the packing belt needs to be replaced according to the accumulated length, sends a signal to the superior controller if the packing belt is used up, and simultaneously gives an alarm to prompt that the packing belt needs to be replaced.
Furthermore, the packing belt conveying device is provided with an input end and an output end which are used for receiving control instructions of the controller and sending information to the controller, and is connected with the shearing device. The packing belt conveying device calculates the required length of the packing belt according to the controller and conveys the packing belt, and the controller and the shearing device are informed of the information after the conveying is finished.
Furthermore, the shearing device is provided with an input end and an output end for receiving control instructions of the controller and sending information to the controller, and is connected with the packing belt conveying device. The shearing device detects whether the packing belt conveying device conveys the packing belt with the preset length in real time, the signals that the conveying of the packing belt is finished are sent according to the controller and the packing belt conveying device, only two signals are sent to the shearing device simultaneously in three signals of the two signals and the signals that the shearing device detects that the conveying of the packing belt is finished, a three-to-two fault-tolerant judgment strategy is adopted, the fact that the conveying of the packing belt is finished is confirmed, the shearing operation can be carried out, and the shearing misoperation can be avoided.
According to the intelligent visual packing system, the position, the state and the size of the packing box can be judged in real time, the controller can accurately calculate the length of the required packing belt, and the packing belt conveying device is controlled to output the packing belt with the corresponding length and cut the packing belt, so that accurate packing is realized, and waste is avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a system architecture diagram of an intelligent visual packaging system according to the present invention.
Fig. 2 is a diagram of the hardware architecture of the controller in the intelligent visual packaging system according to the present invention.
FIG. 3 is a software architecture diagram of the intelligent visual packaging system according to the present invention.
FIG. 4 is a software flow diagram of the intelligent visual packaging system according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the intelligent visual packaging system proposed by the present invention is illustrated in terms of packaging articles in the express industry. The intelligent visual packing system is characterized by comprising a controller 10, an industrial camera 20, an external sensor 30, a packing belt conveying device 40 and a shearing device 50, wherein the controller 10 receives videos shot by the industrial camera 20 in real time and information measured by the external sensor 30 in real time, the state and the size of a packing box in the videos are identified, the external sensor 30 mainly measures the position of the packing box on a conveyor belt in real time, the controller 10 judges whether the packing box is in a correct video shooting range according to the position information of the packing box, if not, an alarm is given, the packing belt conveying device 40 calculates the required packing belt length according to the controller to convey a packing belt, and the shearing device 50 cuts the packing belt after outputting the packing belt. According to the intelligent visual packing system, the position, the state and the size of the packing box can be judged in real time, the controller can accurately calculate the length of the required packing belt, and the packing belt conveying device is controlled to output the packing belt with the corresponding length and cut the packing belt, so that accurate packing is realized, and waste is avoided.
As shown in fig. 2, fig. 3 and fig. 4, the controller 10 includes an input interface connected to the industrial camera 20 and the external sensor 30, and a communication interface connected to a superior controller, and mainly includes, in hardware, a video signal conditioning circuit 12 transmitted by the industrial camera 20, a signal conditioning circuit 13 of the external sensor 30, a communication interface circuit 14, and a central microprocessor MCU 11, where the video signal conditioning circuit 12, the external sensor signal conditioning circuit 13, and the communication interface circuit 14 are connected to the central microprocessor MCU 11, respectively, and perform interaction between data and control instructions;
further, the controller 10 mainly includes functional modules in software, such as 1 frame data acquisition 111, box identification 112, video processing 113, result display 114, parameter display and setting 115, identification template 116, state classification 117, image processing 118, exception handling 119, and the like; the function module for acquiring 1 frame data 111 extracts information contained in the video stream according to a frame format, and respectively sends the information to two function modules, namely a box body identification module 112 and an image processing module 118, so as to realize box body state identification and image information processing; the parameter display and setting 115 function module can set the parameter content to be displayed and the information of the size, the opening mode and the like of the box to be identified, then sends the information to the identification template 116 function module, prepares an identification template according to the set parameters, and sends the template information to the state classification 117 function module according to the subsequent identification template; the state classification 117 function module detects the state classification information of the box body according to the image information processing result and the identification template information and sends the state classification information to the box body identification 112 function module; the box body identification 112 functional module identifies the current state of the box body according to the video frame data and the box body state classification information, such as whether the box covers on the upper side and the lower side of the box body are not folded, or whether one side of the box body is not folded or both sides of the box body are folded, sends an identification result to the video processing 113 functional module, and displays the identification result on the result display 114 functional module and/or sends the identification result to a superior controller after processing; the exception handling 119 function module handles the exception condition of the system in the running process in real time and maintains the normal running of the system;
further, the software flow of the controller 10 is: firstly, according to information contained in video stream, size identification is carried out, an identification template 116 function module is applied, then a state classification 117 function module is entered, the state of box covers on the upper side and the lower side of a box is judged, if the upper side and the lower side are not folded, a program directly jumps back to the starting position, and a next program cycle is entered; if the box is folded at one side, a signal is output to inform a superior controller, the folded side can be sealed or bound, then articles can be loaded, after the articles are loaded, the superior controller sends an instruction, after the controller 10 receives the instruction, the program jumps back to the beginning, the next program cycle is carried out, and the side of the box which is not folded is waited to be folded; if both sides of the box are folded, the output signal informs the superior controller that the folding of both sides of the box is finished, and the next operation, such as sealing or binding, can be carried out;
further, the controller 10 is provided with an input/output end for receiving a control instruction of the superior controller and sending information to the superior controller, and is connected with the communication interface circuit 14;
further, the controller 10 detects the length of the packing belt conveyed by the packing belt conveying device 40 in real time, determines whether the packing belt needs to be replaced according to the accumulated length, sends a signal to a superior controller if the packing belt is used up, and simultaneously gives an alarm to prompt that the packing belt needs to be replaced;
further, the strapping band feeding device 40 is provided with an input/output terminal for receiving control commands from the controller and sending information to the controller, and is connected to the shearing device 50. The packing belt conveying device 40 conveys the packing belt according to the length of the packing belt calculated by the controller, and the controller 10 and the shearing device 50 are informed of the information after the conveying is finished;
further, the shearing device 50 is provided with an input/output terminal for receiving control commands from the controller 10 and sending information to the controller 10, and is connected to the strapping band feeding device 40. The shearing device 50 detects whether the packing belt conveying device 40 has conveyed a packing belt with a preset length in real time, and simultaneously, according to signals sent by the controller 10 and the packing belt conveying device 40 that the conveying of the packing belt is finished, only two signals are sent to the shearing device 50 at the same time in the two signals and three signals of the signals sent by the shearing device 50 for detecting the conveying of the packing belt is finished, and a fault-tolerant judgment strategy of two out of three is adopted to confirm that the conveying of the packing belt is finished indeed, so that the shearing operation can be carried out, and the shearing misoperation can be avoided;
in the invention, the controller 10 can select MCU, ARM, DSP, CPLD or FPGA to realize the functions of resolving the video stream, data communication with the superior controller, information acquisition of external sensors and the like.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
according to the intelligent visual packing system, the position, the state and the size of the packing box can be judged in real time, the controller can accurately calculate the length of the required packing belt, and the packing belt conveying device is controlled to output the packing belt with the corresponding length and cut the packing belt, so that accurate packing is realized, and waste is avoided.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An intelligent visual packing system is characterized by comprising a controller (10), an industrial camera (20), an external sensor (30), a packing belt conveying device (40) and a shearing device (50), wherein the controller (10) receives videos shot by the industrial camera (20) in real time and information measured by the external sensor (30) in real time, the state and the size of a packing box in the videos are identified, the external sensor (30) mainly measures the position of the packing box on a conveying belt in real time, the controller (10) judges whether the packing box is in a correct video shooting range or not according to the position information of the packing box, if the packing box is not in the correct video shooting range, an alarm is given, the packing belt conveying device (40) calculates the required packing belt length according to the controller to convey a packing belt, and the shearing device (50) cuts the packing belt after the packing belt is output;
the controller (10) mainly comprises functional modules of acquiring 1 frame data (111), identifying a box body (112), processing a video (113), displaying a result (114), displaying and setting parameters (115), identifying a template (116), classifying states (117), processing an image (118) and processing an exception (119) on software; the function module for acquiring 1 frame data (111) extracts information contained in the video stream according to a frame format, and respectively sends the information to the two function modules of box body identification (112) and image processing (118) to realize box body state identification and image information processing; the parameter display and setting (115) function module can set parameter content to be displayed and information of the size and opening mode of a box to be identified, then sends the parameter content and the information to the identification template (116) function module, a template for identification is prepared according to the set parameters, subsequent identification is carried out according to the template, and then template information is sent to the state classification (117) function module; the state classification (117) functional module detects the state classification information of the box body according to the image information processing result and the identification template information and sends the state classification information to the box body identification (112) functional module; the box body identification (112) function module identifies the current state of the box body according to video frame data and box body state classification information, such as whether the box covers on the upper side and the lower side of the box body are not folded, or whether one side of the box body is not folded or both sides of the box body are folded, sends an identification result to the video processing (113) function module, and displays the identification result on the result display (114) function module and/or sends the identification result to a superior controller after processing; and the exception handling (119) functional module is used for handling the exception condition of the system in the running process in real time and maintaining the normal running of the system.
2. The intelligent visual packaging system of claim 1,
the controller (10) comprises an input interface and a communication interface, wherein the input interface is respectively connected with the industrial camera (20) and the external sensor (30), the communication interface is connected with a superior controller, the controller mainly comprises a video signal conditioning circuit (12) transmitted by the industrial camera (20), a signal conditioning circuit (13) of the external sensor (30), a communication interface circuit (14) and a central microprocessor MCU (11) in hardware, and the video signal conditioning circuit (12), the external sensor signal conditioning circuit (13) and the communication interface circuit (14) are respectively connected with the central microprocessor MCU (11) and carry out interaction of data and control instructions.
3. The intelligent visual packaging system of claim 2,
the software flow of the controller (10) is as follows: firstly, according to information contained in video stream, carrying out size identification and applying the identification template (116) function module, then entering the state classification (117) function module, judging the states of upper and lower box covers of the box, if the upper and lower sides are not folded, directly jumping back to the starting position by the program, and entering the next program cycle; if the box is folded at one side, a signal is output to inform a superior controller, the folded side can be sealed or bound, then articles can be loaded, after the articles are loaded, the superior controller sends an instruction, after the controller (10) receives the instruction, the program jumps back to the beginning, the next program cycle is carried out, and the side of the box which is not folded is waited to be folded; if both sides of the box are folded, the output signal informs the superior controller that the folding of both sides of the box is finished, and the next sealing or binding operation can be carried out.
4. The intelligent visual packaging system of claim 3,
the controller (10) is provided with an input end and an output end for receiving a control instruction of a superior controller and sending information to the superior controller, and is connected with the communication interface circuit (14).
5. The intelligent visual packaging system of claim 4,
the controller (10) detects the length of the packing belt conveyed by the packing belt conveying device (40) in real time, determines whether the packing belt needs to be replaced according to the accumulated length, sends a signal to a superior controller if the packing belt is used up, and simultaneously gives an alarm to prompt that the packing belt needs to be replaced.
6. The intelligent visual packaging system of claim 5,
the packing belt conveying device (40) is provided with an input end and an output end for receiving a control instruction of the controller (10) and sending information to the controller (10), and is connected with the shearing device (50); the packing belt conveying device (40) calculates the required packing belt length according to the controller (10) to convey the packing belt, and after conveying is finished, information is informed to the controller (10) and the shearing device (50).
7. The intelligent visual packaging system of claim 6,
the shearing device (50) is provided with an input end and an output end for receiving a control instruction of the controller (10) and sending information to the controller (10), and is connected with the packing belt conveying device (40); the shearing device (50) detects whether the packing belt conveying device (40) conveys the packing belt with a preset length in real time, meanwhile, according to the signals sent by the controller (10) and the packing belt conveying device (40) that the conveying of the packing belt is finished, only two signals in the two signals and three signals of the signals sent by the shearing device (50) for detecting the conveying of the packing belt are sent to the shearing device (50) at the same time, a three-to-two fault-tolerant judgment strategy is adopted, the fact that the conveying of the packing belt is finished is confirmed, the shearing operation can be carried out, and therefore the shearing misoperation can be avoided.
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| CN111776365B (en) * | 2020-01-16 | 2022-05-27 | 永丰余纸业（南京）有限公司 | Box body integrated automatic packaging platform and method |
| CN113104278B (en) * | 2021-04-06 | 2022-12-16 | 迅得机械（东莞）有限公司 | Full-automatic packaging process for hard board product |
| CN114655524A (en) * | 2022-03-28 | 2022-06-24 | 故城北新建材有限公司 | Automatic identification system and method |
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| CN202829102U (en) * | 2012-09-20 | 2013-03-27 | 珠海格力电器股份有限公司 | Automatic feeding machine for strapping tape |
| CN203078815U (en) * | 2012-12-18 | 2013-07-24 | 南京文采科技有限责任公司 | Cigarette box detection device matched with box packing and sealing machine |
| CN204750938U (en) * | 2015-07-30 | 2015-11-11 | 李强 | Independent pullover packing strapping |
| CN105730776A (en) * | 2016-05-04 | 2016-07-06 | 苏州爱及希自动化设备有限公司 | Intelligent box filling machine |
| CN108163447A (en) * | 2018-01-05 | 2018-06-15 | 特耐王包装（福州）有限公司 | Automatic packaging cardboard box printing device and application method |
| KR20190098592A (en) * | 2018-02-14 | 2019-08-22 | 옥현철 | Product automatic sorting input system |
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| CN110589124A (en) | 2019-12-20 |
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