An inkjet printing device based on profile attitude feedback

Abstract

The present invention provides an inkjet coding device based on profile attitude feedback. The inkjet coding device includes a roller path, a line laser scanner arranged above the roller path, a laser detector fixed to the side of the roller path, a rotational speed recorder fixed to the end of the roller, and an inkjet printer. The rotational speed of the roller path during operation is obtained in real time through the rotational speed recorder, and the profile travel length per unit time is restored through calculation. Then, a line laser three-dimensional scanning device can quickly obtain the contour point cloud data of the profile surface, and the shape of the section steel can be accurately restored by using a limited area denoising and straight line segment approximation fitting algorithm. Combining with the profile database management system, the profile inkjet coding information is automatically matched, and the high adaptability, rhythm, and batch processing of the robot inkjet coding process can be completed. The present invention has the characteristics of strong adaptability, safety and reliability, wide application range, etc., and can effectively improve the automation and adaptability level of the profile automatic inkjet coding process.

Description

Technical Field

[0001] The present invention relates to the technical field of marking, and particularly to an inkjet printing device based on profile attitude feedback. Background Art

[0002] Profile pretreatment is a key link in the shipbuilding process and is the previous process of section steel cutting and blanking. This process mainly consists of processes such as profile loading, sandblasting, painting, and writing. Among them, profile loading and writing have always used manual operation methods, which have disadvantages such as low efficiency, slow speed, and high risk coefficient, affecting the digital development of shipbuilding. With technological innovation, a batch of new profile automatic loading and inkjet printing devices have been developed in China, replacing the above manual operation process. However, due to the complex industrial control environment on site, the expected effect of automation and intelligence has not been achieved. Taking the profile automatic inkjet printing device as an example, the current control mode usually adopts robot teaching, that is, manual programming is carried out through the teaching machine provided by the robot, specifying fixed positions and offset angles, and then driving the robot to complete the inkjet printing operation of each profile. During actual operation, due to the different specifications of each profile loading, the positions and attitudes on the feeding roller table are different. Therefore, robot gun collision accidents often occur, causing damage to the printing head. In addition, since the fixed inkjet printing distance is used in teaching, there is a large gap from the actual required inkjet printing distance, either too far or too close, which is likely to cause text deformation and ultimately affect the inkjet printing effect. In view of the actual problems that occur, it is necessary to provide a method for attitude feedback during profile movement and adaptive positioning calculation for inkjet printing to solve the problems existing in the prior art. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the present invention provides an inkjet printing device based on profile attitude feedback, and the inkjet printing device includes:

[0004] A roller table, including a plurality of roller wheels arranged in parallel, for transporting profiles;

[0005] A line laser scanner, arranged above the roller table through a measuring bracket, for generating a laser and scanning the surface of the profile along the axis direction of the roller wheel to form contour point cloud data, and the contour point cloud data includes the point coordinates of multiple consecutive points on the profile surface;

[0006] At least two groups of laser detectors arranged along the roller table, fixed on the side of the roller table, for monitoring whether a profile passes by;

[0007] A rotation speed recorder, fixed at the end of the roller wheel, for obtaining the moving speed of the profile by measuring the rotation speed of the roller wheel;

[0008] The transverse movement rack is arranged above the roller path along the axis direction of the roller. The transverse movement slider is movably connected to the transverse movement rack. The industrial robot is fixed below the transverse movement slider, and the inkjet printer is connected to the moving end of the industrial robot for spraying codes on the profiles.

[0009] Preferably, it further includes:

[0010] The profile position trigger unit. When the laser detector senses that the profile passes through the roller path, the profile position trigger unit sends a feedback signal to the rotation speed recorder, and the rotation speed recorder starts to record data.

[0011] The profile movement acquisition unit receives the rotation speed of the roller within a unit time from the rotation speed recorder. Combining with the roller diameter, the movement data of the profile can be calculated and recorded in the data storage unit. Meanwhile, a signal is sent to start the profile contour acquisition unit.

[0012] Preferably, the calculation method for calculating the travel distance S of the profile by the rotation speed recorder is:

[0013] S1 = πd; d --- the diameter of the roller path, L1 --- the circumference of the roller path;

[0014] S = S1 × Q × T; Q --- the number of revolutions per unit time, T --- time.

[0015] Preferably, the inkjet device further includes:

[0016] The profile contour acquisition unit controls the start of the line laser scanner and makes it scan the surface of the profile along the axis direction of the roller to form contour point cloud data, which is recorded in the data storage unit. Among them, the X direction of the point coordinates is the axis direction of the roller, and the Y direction is the direction perpendicular to the roller path and upward.

[0017] The displacement positioning calculation unit accesses the contour point cloud data in the data storage unit, and uses the limited area denoising and straight line segment approximation fitting algorithm to restore the three-dimensional cross-sectional data of each profile in turn to obtain the contour dimension information, which is recorded in the data storage unit.

[0018] Preferably, the calculation method for the contour dimension information is:

[0019] 1) When the profile passes through the first group of laser detectors, the line laser scanner is started to form the first group of contour point cloud data. When the profile passes through the second group of laser detectors, the line laser scanner is started again to complete the second scan to obtain the second group of contour point cloud data; Set a limit value H to remove the noise data and retain the point coordinates with the Y value above the limit value H. The limit value H is the height value of the contact surface between the roller path and the profile.

[0020] 2) Sort the point coordinates of the point cloud data belonging to the same group of contour points in the X direction, then calculate the distance between adjacent two point coordinates. By setting the maximum gap value J, when the distance between adjacent two point coordinates is greater than J, it is considered that the gap between the two point coordinates is the gap between two profiles, thereby forming the point cloud separation segments belonging to each profile and completing the separation of adjacent profiles.

[0021] Preferably, the calculation method for the contour dimension information further includes:

[0022] 3) Process the point cloud separation segments in sequence, adopt the linear fitting algorithm, and calculate the width of the profile panel and the width of the web. The panel and the web are perpendicularly connected:

[0023] Assume that each point cloud separation segment includes m point coordinates, and their coordinates are (X1, Y1), (X2, Y2),..., (Xm, Ym) respectively. According to the linear equation ax + by + c = 0 and adjacent two point coordinates, the linear equation formed by these two points can be obtained;

[0024] Successively establish the first fitting line of the first point coordinate and the second point coordinate, the second fitting line of the second point coordinate and the third point coordinate,..., the (m - 1)th fitting line of the (m - 1)th point coordinate and the mth point coordinate of the point cloud separation segment;

[0025] The first fitting line of the first point coordinate (X1, Y1) and the second point coordinate (X2, Y2):

[0026] L1: A1x + B1y + C1 = 0

[0027] The second fitting line of the second point coordinate (X2, Y2) and the third point coordinate (X3, Y3):

[0028] L2: A2x + B2y + C2 = 0

[0029] Calculate the included angle between adjacent first fitting line and second fitting line according to the linear equation:

[0030]

[0031] Calculate the included angle between adjacent two fitting lines in sequence according to the above method. When the included angle α > 90 degrees, the two lines form a straight section. When the included angle ≤ 90 degrees, it is considered that there is a folding point. Find the coordinates (Xn, Yn) of the folding point, and then calculate the width B of the profile panel and the width A of the profile web according to the endpoint coordinates (X1, Y1), (Xm, Ym) at both ends of the point cloud separation segment:

[0032]

[0033] Preferably, the calculation method for the contour dimension information further includes:

[0034] 4) The angle formed by the working surface of the inkjet printer and the horizontal plane is the angle C between the profile web and the horizontal plane. Through the calculation formula it is obtained that the working surface of the inkjet printer is parallel to the web surface.

[0035] Preferably, the calculation method for the profile dimension information further includes:

[0036] By the coordinates of the web edge points of the first group of point cloud data and the second group of point cloud data, the offset angle is obtained. The offset angle is the angle formed by the profile and the arrangement direction of the rollers;

[0037] The offset angle is used to determine the displacement of the inkjet printer along the X direction during the inkjet process, ensuring that the inkjet characters are arranged parallel to the profile.

[0038] Preferably, the inkjet device further includes:

[0039] An inkjet data analysis and management unit, according to the calculated profile dimension information, retrieves the corresponding inkjet information for the later cutting of the profile by pre-providing material data, and forms a data packet to be sent to the robot encoder;

[0040] An inkjet execution unit. After the inkjet data analysis and management unit finishes processing, the inkjet execution unit sequentially reads in the inkjet information of the profile to be executed currently, and drives the industrial robot and the inkjet printer to complete the information inkjet in sequence until the end.

[0041] Preferably, during the time interval when the line laser scanner collects the first group and the second group of point cloud data, the profile moves a distance S, and the inkjet printer performs inkjet on the surface of the profile with a length of S.

[0042] As described above, the present invention provides a coding device based on profile attitude feedback. The coding device includes a roller path, a line laser scanner disposed above the roller path, a laser detector fixed to the side of the roller path, a rotational speed recorder fixed to the end of the roller, and a coding machine. The rotational speed of the roller path during operation is obtained in real time through the rotational speed recorder, and the traveling length of the profile per unit time is restored through calculation. Then, a line laser three-dimensional scanning device can quickly obtain the contour point cloud data of the profile surface, and the shape of the section steel can be accurately restored by using a limited area denoising and a straight-line segment approximation fitting algorithm. By establishing a robot operation coordinate system and combining the travel data of the profile per unit time and the profile surface shape data, the specific three-dimensional travel path and plane rotation parameters that the robot needs to code can be accurately calculated. By combining a profile database management system and automatically matching the profile coding information, the high adaptability, rhythm, and batch of the robot coding process can be completed. The present invention is applicable to the coding and printing of profiles of various types, shapes, specifications, and different position postures, and has the characteristics of strong adaptability, safety and reliability, and wide application range. It can effectively avoid technical problems such as the failure of the robot teaching program caused by the position deviation during the pre-treatment process of the profile, the easy collision of the gun during the coding process, and the poor coding effect, and can effectively improve the automation and adaptability level of the automatic profile coding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It shows a top view structural schematic diagram of the coding device in the present invention.

[0044] Figure 2 It shows a side view structural schematic diagram of the industrial robot in the present invention.

[0045] Figure 3 It shows a side view structural schematic diagram of the line laser scanner in the present invention.

[0046] Figure 4 It shows a schematic diagram of the logical relationship of each control unit.

[0047] Figure 5 It shows a working process flow diagram of the coding device.

[0048] Figure 6 It shows a schematic diagram of dividing the point cloud separation section.

[0049] Figure 7 It shows a schematic diagram of straight line fitting of multiple point coordinates.

[0050] Figure 8 It shows a coding schematic diagram of the coding machine.

[0051] Description of Component Labels

[0052] 1 Roller

[0053] 2 Laser detector

[0054] 3 Rotational speed recorder

[0055] 4 Measuring bracket

[0056] 5 Line laser scanner

[0057] 6 Transverse moving rack

[0058] 7 Transverse moving slider

[0059] 8 Control room

[0060] 9 Profile

[0061] 10 Industrial robot

[0062] 11 Inkjet printer

[0063] 20 Point cloud segmentation segment Detailed implementation manners

[0064] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0065] When detailing the embodiments of the present invention, for the convenience of description, the cross-sectional views showing the device structure will be enlarged locally in a non-general proportion, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0066] For the convenience of description, spatial relationship terms such as "under", "below", "lower than", "beneath", "above", "on" etc. may be used herein to describe the relationship between one element or feature shown in the drawings and other elements or features. It will be understood that these spatial relationship terms are intended to encompass other directions of the device in use or operation in addition to the directions depicted in the drawings. In addition, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or there can also be one or more intervening layers. As used herein, "between... and..." means including the endpoint values.

[0067] In the context of the present application, the structure in which the first feature is "above" the second feature described may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0068] It should be noted that the illustrations provided in this embodiment only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the illustrations, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0069] As Figures 1 - 3 shown, the present invention provides an inkjet coding device based on profile attitude feedback. The inkjet coding device includes:

[0070] A roller path, including a plurality of roller wheels 1 arranged in parallel, for transporting the profile 9;

[0071] A line laser scanner 5, which is arranged above the roller path through a measuring bracket 4, for generating laser and scanning the surface of the profile 9 along the axis direction of the roller wheel 1 to form profile point cloud data;

[0072] At least two groups of laser detectors 2 arranged along the roller path, which are fixed on the side of the roller path, for monitoring whether the profile 9 passes by;

[0073] A rotational speed recorder 3, which is fixed at the end of the roller wheel 1, and obtains the moving speed of the profile 9 by measuring the rotational speed of the roller wheel 1;

[0074] A transverse movement rack 6 is arranged above the roller path along the axis direction of the roller wheel 1. A transverse movement slider 7 is movably connected to the transverse movement rack 6. An industrial robot 10 is fixed below the transverse movement slider 7, and an inkjet printer 11 is connected to the movable end of the industrial robot 10, for spraying codes on the profile 9.

[0075] Further, as Figures 4 - 5 shown, it further includes a profile position trigger unit. When the laser detector 22 senses that the profile 9 passes through the roller path, the profile position trigger unit sends a feedback signal to the rotational speed recorder 33, and the rotational speed recorder 3 starts to record data.

[0076] It further includes a profile movement acquisition unit, which receives the rotational speed of the roller wheel 1 within a unit time from the rotational speed recorder 3, calculates the movement data of the profile 9 in combination with the diameter of the roller wheel 1, records it in the data storage unit, and simultaneously sends a signal to start the profile contour acquisition unit.

[0077] Specifically, the rotational speed of the roller wheel 1 within a unit time can be obtained and calculated through the rotational speed recorder 3, and the traveling distance S of the profile 9 can be calculated in combination with the diameter of the roller wheel 1. The calculation method is:

[0078] S1 = πd; d---the diameter of the roller path, L1---the circumference of the roller path

[0079] S = S1×Q×T; where Q is the number of revolutions per unit time and T is the time.

[0080] Furthermore, the inkjet coding device further includes:

[0081] A profile acquisition unit that controls the start of the line laser scanner 5 and makes it scan the surface of the profile 9 along the axis direction of the roller 1 to form profile point cloud data, and records it in the data storage unit. It should be noted that the profile point cloud data includes the point coordinates of multiple consecutive points on the surface of the profile 9. Among them, the X direction of the specified coordinate is the axis direction of the roller 1 in the horizontal plane, the Z direction is the arrangement direction of the roller 1 in the horizontal plane, and the Y direction is the direction perpendicular to the roller path upward. The X, Y, and Z directions are perpendicular to each other.

[0082] A displacement positioning calculation unit accesses the profile point cloud data in the data storage unit, uses the limited area denoising and straight line segment approximation fitting algorithm to accurately restore the three-dimensional cross-sectional data of each profile 9 in turn to obtain the profile dimension information, and combines the movement data of the profile 9 to obtain a three-dimensional inkjet travel path, which is recorded in the data storage unit.

[0083] Specifically, when the profile 9 passes through the first group of laser detectors 2, the line laser scanner 5 is started to quickly form the profile point cloud data of the surface of the profile 9, and it is recorded in the data storage unit. When the profile 9 passes through the second group of laser detectors 2, the line laser scanner 5 is started again to complete the second scan, obtain the second group of point cloud data, and record it in the data storage unit;

[0084] The calculation method for the profile dimension information is as follows:

[0085] 1) First, set a limit value H, analyze and organize the point cloud data of the first group and the second group, remove the redundant noise data, and retain the point coordinates above the limit value H. The limit value H is preferably the height value of the upper surface of the roller path, that is, the height value of the contact surface between the roller path and the profile 9.

[0086] 2) Sort the point coordinates belonging to the same group of profile point cloud data along the axis direction (X direction) of the roller 1, and then calculate the distance between adjacent two point coordinates. By setting a maximum gap value J, when the distance between adjacent two point coordinates is greater than J, it is considered that there is a gap between two profiles 9 between these two point coordinates, so as to form a point cloud separation segment 20 belonging to each profile 9, and complete the separation of adjacent profiles 9, as Figure 6 shown.

[0087] 3) Process the point cloud separation segments in turn, use the straight line fitting algorithm to calculate the panel width and web width of the profile 9, where the panel and the web are perpendicularly connected.

[0088] As Figure 7As shown in the figure, assume that each point cloud segment includes m point coordinates, which are (X1, Y1), (X2, Y2),..., (Xm, Ym) respectively. According to the straight-line equation ax + by + c = 0 and the coordinates of two adjacent points such as (X1, Y1) and (X2, Y2), the straight-line equation formed by these two points can be obtained.

[0089] Among them,

[0090]

[0091] c = -(aX1 + bY1).

[0092] According to the above method, the first fitting straight line between the first point coordinate and the second point coordinate, the second fitting straight line between the second point coordinate and the third point coordinate,..., and the (m - 1)th fitting straight line between the (m - 1)th point coordinate and the mth point coordinate of the point cloud segment are established in sequence.

[0093] For example, the first fitting straight-line equation of the first point coordinate (X1, Y1) and the second point coordinate (X2, Y2):

[0094] L1: A1x + B1y + C1 = 0

[0095] The second fitting straight-line equation of the second point coordinate (X2, Y2) and the third point coordinate (X3, Y3):

[0096] L2: A2x + B2y + C2 = 0

[0097] Calculate the angle between the adjacent first fitting straight line and the second fitting straight line according to the straight-line equation:

[0098]

[0099]

[0100] L1⊥L2: A1A2 + B1B2 = 0

[0101] Especially when the two fitting straight lines coincide.

[0102] If the included angle α > 90 degrees, the two straight lines form a straight section. It can be determined that the line segment from point (X1, Y1) to point (X3, Y3) is a straight line segment. Then, the third fitting line between point (X3, Y3) and point (X4, Y4) is established, and the included angle with the second fitting line formed by point (X2, Y2) and point (X3, Y3) is calculated. If the included angle α > 90 degrees, the two straight lines form a straight section. Calculate the included angles of adjacent fitting lines in sequence according to the above method until the included angle ≤ 90 degrees, then it is considered that a break point appears, and the coordinates (Xn, Yn) of the break point are found. Then, according to the endpoint coordinates at both ends of the point cloud separation section, the panel width B of profile 9 and the web width A of profile 9 can be calculated.

[0103]

[0104]

[0105] 4) The angle formed by the working surface of the inkjet printer 11 and the horizontal plane is the included angle C between the web of profile 9 and the horizontal plane, which is obtained through the following calculation formula.

[0106]

[0107] Furthermore, by analyzing and organizing the point cloud data of the first group and the second group according to the above algorithm, the coordinate information of two cross-sections of profile 9 can be obtained, and thus the offset angle between profile 9 and the arrangement direction (Z direction) of the roller 1 can be further obtained. For example, the offset angle can be calculated through the coordinates of the web edge points of the first group of point cloud data and the second group of point cloud data. Since profile 9 is not placed strictly in the arrangement direction (Z direction) of the roller 1, it is necessary to determine the displacement of the inkjet printer 11 along the X direction during the inkjet process according to the offset angle of profile 9 relative to the Z direction to ensure that the inkjet characters are arranged parallel to profile 9.

[0108] Furthermore, the inkjet device further includes:

[0109] An inkjet data analysis and management unit, according to the calculated profile size information, retrieves the corresponding inkjet information for the later cutting of the profile by pre-provided material data, and forms a data packet to be sent to the robot encoder.

[0110] An inkjet execution unit. After the inkjet data analysis and management unit finishes processing, the inkjet execution unit sequentially reads the inkjet information of the profile to be executed currently, and drives the industrial robot 10 and the inkjet printer 11 to complete the information inkjet in sequence until the end.

[0111] Specifically, as Figure 8As shown, within the time interval when the line laser scanner 5 collects the first and second sets of point cloud data, the profile 9 moves a distance S, and the inkjet printer 11 performs coding on the surface of the profile 9 of the length S. The starting spraying point K and the ending spraying point L of the inkjet printer 11 are determined according to the coding words, and the coding is completed. Because there are the first and second sets of point cloud data, the target spraying point of the inkjet printer 11 is located between the first and second sets of point cloud data, and the point coordinates of the starting and ending spraying points can be determined accordingly. Further, based on the preset distance between the spraying point and the inkjet printer 11, the specific position coordinates of the inkjet printer 11 are inferred, and at the same time, the rotation posture of the inkjet printer 11 is determined by combining the angle C between the working surface of the inkjet printer 11 and the horizontal plane and the offset angle of the profile 9 relative to the Z direction.

[0112] Furthermore, the inkjet printer also includes a control room 8 for realizing automatic control of each component unit. The control room 8 includes an encoder, a PLC controller, a computer, etc.

[0113] In summary, the present invention provides a coding device based on profile posture feedback, which includes a roller, a line laser scanner arranged above the roller, a laser detector fixed to the side of the roller, a speed recorder fixed to the end of the roller, and a coding machine. The speed recorder is used to obtain the speed of the roller in real time during operation, and the travel length of the profile per unit time is restored by calculation; then, a line laser three-dimensional scanning device is used to quickly obtain the contour point cloud data of the profile surface, and the shape of the steel section can be accurately restored by using a limited area denoising and a straight line segment approximation fitting algorithm. By establishing a robot operating coordinate system, combined with the travel data of the profile per unit time and the profile surface shape data, the specific three-dimensional travel path and plane rotation parameters that the robot needs to code can be accurately calculated. By combining the profile database management system and automatically matching the profile coding information, the robot coding process can be highly adaptive, rhythmic, and batch. The present invention can be applied to the coding and printing of profiles of various types, shapes, specifications and different positions and postures, and has the characteristics of strong adaptability, safety, reliability and wide application range. It can effectively avoid technical problems such as failure of the robot teaching program due to position deviation during profile pretreatment, easy gun collision and poor coding effect during coding, and can effectively improve the automation and adaptability level of the profile automatic coding process.

[0114] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An inkjet printing device based on profile attitude feedback, characterized in that The described inkjet printing device includes: A roller path, including a plurality of roller wheels arranged in parallel, for transporting profiles; A line laser scanner, arranged above the roller path through a measuring bracket, for generating laser and scanning the surface of the profile along the axis direction of the roller wheel to form profile point cloud data, and the profile point cloud data includes the point coordinates of a plurality of continuous points on the surface of the profile; At least two groups of laser detectors arranged along the roller path, fixed on the side of the roller path, for monitoring whether a profile passes by; A rotational speed recorder, fixed at the end of the roller wheel, for obtaining the moving speed of the profile by measuring the rotational speed of the roller wheel; A transverse movement rack, arranged above the roller path along the axis direction of the roller wheel, a transverse movement slider is movably connected to the transverse movement rack, an industrial robot is fixed below the transverse movement slider, and an inkjet printer is connected to the movable end of the industrial robot, for spraying codes on the profile; A displacement positioning calculation unit, accessing the profile point cloud data in the data storage unit, using a limited area denoising and straight line segment approximation fitting algorithm to sequentially restore the three-dimensional cross-sectional data of each profile to obtain profile dimension information, and recording it in the data storage unit; the calculation method for the profile dimension information is as follows: 1) When the profile passes through the first group of laser detectors, start the line laser scanner to form the first group of profile point cloud data. When the profile passes through the second group of laser detectors, start the line laser scanner again to complete the second scan to obtain the second group of profile point cloud data; set a limit value H, remove the noise point data, and retain the point coordinates with the Y value above the limit value H, and the limit value H is the height value of the contact surface between the roller path and the profile; 2) Sort the point coordinates belonging to the same group of profile point cloud data along the X direction, and then calculate the distance between adjacent two point coordinates. By setting a maximum gap value J, when the distance between adjacent two point coordinates is greater than J, it is considered that there is a gap between the two profiles between the two point coordinates, so as to form point cloud separation segments belonging to each profile and complete the separation of adjacent profiles; 3) Process the point cloud separation segments in sequence, adopt a straight line fitting algorithm, and calculate the width of the profile panel and the width of the web, and the panel and the web are vertically connected: Suppose each point cloud separation segment includes m point coordinates, and their coordinates are (X1, Y1), (X2, Y2)... (Xm, Ym) respectively. According to the straight line equation ax + by + c = 0 and adjacent two point coordinates, obtain the straight line equation formed by these two points; Sequentially establish the first fitting straight line between the first point coordinate and the second point coordinate of the point cloud separation segment, the second fitting straight line between the second point coordinate and the third point coordinate... the (m - 1)th fitting straight line between the (m - 1)th point coordinate and the mth point coordinate; The first fitting straight line of the first point coordinate (X1, Y1) and the second point coordinate (X2, Y2): L1: A1x + B1y + C1 = 0 The second fitting straight line of the second point coordinate (X2, Y2) and the third point coordinate (X3, Y3): L2: A2x + B2y + C2 = 0 Calculate the angle between adjacent first fitting straight line and second fitting straight line according to the straight line equation: Calculate the included angle between two adjacent fitting straight lines in sequence according to the above method. When the included angle α > 90 degrees, the two straight lines form a straight section. When the included angle ≤ 90 degrees, it is considered that a folding point appears. Find the coordinates (Xn, Yn) of the folding point, and then calculate the panel width B of the profile and the web width A of the profile according to the endpoint coordinates (X1, Y1) and (Xm, Ym) at both ends of the point cloud separation section:

2. The inkjet coding device according to claim 1, wherein, It also includes: A profile position trigger unit. When the laser detector senses that the profile passes through the roller path, the profile position trigger unit sends a feedback signal to the rotational speed recorder, and the rotational speed recorder starts to record data; A profile movement acquisition unit. It receives the rotational speed of the roller within a unit time from the rotational speed recorder, calculates the movement data of the profile in combination with the roller diameter, and records it into the data storage unit. At the same time, it sends a signal to start the profile contour acquisition unit.

3. The inkjet coding device according to claim 2, wherein, The calculation method for calculating the travel distance S of the profile by the rotational speed recorder is: S1 = πd; d---the diameter of the roller path, L1---the circumference of the roller path; S = S1 × Q × T; Q---the number of turns per unit time, T---time.

4. The inkjet printing device according to claim 1, wherein, The inkjet printing device also includes: A profile contour acquisition unit. It controls the start of the line laser scanner and makes it scan the surface of the profile along the axis direction of the roller to form contour point cloud data, and records it into the data storage unit. Among them, the X direction of the point coordinates is the axis direction of the roller, and the Y direction is the direction perpendicular to the roller path and upward.

5. The inkjet printing device according to claim 1, characterized in that, The calculation method for the contour dimension information also includes: 4) The angle formed by the working surface of the inkjet printer and the horizontal plane is the angle C between the profile web and the horizontal plane, and is obtained through the calculation formula It is concluded that the working surface of the inkjet printer is parallel to the web surface.

6. The inkjet coding device according to claim 5, characterized in that, The calculation method for the contour dimension information also includes: Find the offset angle through the coordinates of the web edge points of the first group of point cloud data and the second group of point cloud data. The offset angle is the included angle between the profile and the arrangement direction of the rollers; The offset angle is used to determine the displacement amount of the inkjet printer along the X direction during the inkjet printing process to ensure that the inkjet characters are arranged parallel to the profile.

7. The inkjet coding device according to claim 1, wherein The inkjet printing device also includes: An inkjet printing data analysis and management unit. According to the calculated contour dimension information, it retrieves the corresponding inkjet printing information for the subsequent cutting of the profile by retrieving the pre-provided material data, and forms a data packet to send to the robot encoder; An inkjet printing execution unit. After the inkjet printing data analysis and management unit finishes processing, the inkjet printing execution unit sequentially reads the inkjet printing information of the profile to be executed currently, and drives the industrial robot and the inkjet printer to complete the information inkjet printing in sequence until the end.

8. The inkjet coding device according to claim 7, wherein: During the time interval when the line laser scanner collects the first group and the second group of point cloud data, the profile moves a distance S. On the surface of the profile with a length of S, the inkjet printer performs inkjet printing.

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