Research on Filling and Sealing Robot Positioning Algorithm with Gaussian Mixture Model

Pharmaceutical manufacturing is a basic yet important industry for human health. And many pharmaceutical manufacturers using robots to ensure pharmaceutical quality and safety. This paper focuses on the Filling and Sealing Robot for Abe bottle pharmaceutical product manufacture. The inaccurate positioning of the bottle mouth will lead to robot operation error. So, we proposed an accurate positioning method for the Filling and Sealing Robot by applying the Gaussian mixture model (GMM). The bottle mouth image was radially expanded with a selected positioning coordinate and clustered by the GMM. The Euclidean metric distance between each cluster center and the mean of input data was calculated and modeled by multiple linear regression and then given the predicted position. Experimental results showed that this method accurately detects the center position of the bottle mouth, which guaranteed successful automatic filling and sealing by the Filling and Sealing Robot within the pharmaceutical assembly line.