Conveyor belt scanning positioning method, device, equipment and storage medium

Abstract

The present invention discloses a conveyor belt scanning positioning method, device, equipment, and storage medium. The method includes: obtaining a scanning coordinate system of a scanning sensor at an initial position and scanning and configuring preset paper information; continuously collecting the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value for controlling the movement of the scanning sensor, and obtaining the starting edge point of the paper to be scanned on the conveyor belt as it passes the scanning sensor; obtaining a scanning trajectory for controlling the scanning sensor based on the starting edge point and the paper information, thereby obtaining the motion code value, sensor signal, and motor code value corresponding to the scanning trajectory at the current moment; and calculating the position of the paper to be scanned based on the motion code value, sensor signal, and motor code value corresponding to the scanning trajectory at the current moment, in combination with the starting edge point and the scanning coordinate system. The present invention solves the technical problem of low scanning accuracy and efficiency of visual recognition algorithms in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of scanning and identification technology, and in particular to a conveyor belt scanning and positioning method, device, equipment and storage medium. Background Art

[0002] In automated carton packaging applications, conveyor belts are often used to transport tissue paper, often in bulk and rectangular shapes. However, due to the varying placement of incoming tissue paper, the tissue packaging robot must first determine the paper's position before applying it. Existing processes often rely on visual recognition algorithms to perform this identification and positioning.

[0003] Existing visual recognition algorithms rely on cameras, but the camera's field of view is limited. The facial tissues packaged in paper boxes vary in size. When the facial tissue is too large, the overall outline of the tissue cannot be obtained, resulting in inconvenience in positioning the tissue and errors in subsequent paper box installation. In addition, since the conveyor belt and the camera work together, scanning and recognition errors can easily lead to positioning errors for all subsequent paper box products. At the same time, the construction of computer vision scenes often selects the light source based on the color of the facial tissue. A single light source cannot be applied to a wide variety of facial tissues, is not flexible enough, and takes up a lot of space in the scene.

[0004] Therefore, there is an urgent need for a method to quickly and accurately scan and locate on a conveyor belt without the need for visual recognition. Summary of the Invention

[0005] The present invention provides a conveyor belt scanning and positioning method, device, equipment and storage medium to solve the technical problems in the prior art of limited field of view of visual recognition algorithms and recognition of a single light source, resulting in low recognition and scanning accuracy and efficiency.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a conveyor belt scanning and positioning method, comprising:

[0007] Obtain the scanning coordinate system of the scanning sensor at the initial position, and perform scanning configuration on the preset paper information;

[0008] Continuously collecting the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value that controls the movement of the scanning sensor, and triggering the change of the sensor signal when the surface paper to be scanned on the conveyor belt passes the scanning sensor, thereby obtaining the starting edge point of the surface paper to be scanned;

[0009] According to the starting edge point and the paper information, a scanning trajectory of the control scanning sensor is obtained, thereby obtaining a motion code value, a sensor signal and a motor code value corresponding to the scanning trajectory at the current moment;

[0010] According to the motion coding value, sensor signal and motor coding value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system, the positioning of the surface paper to be scanned is calculated; wherein, the starting edge point and the initial position of the scanning sensor are the same.

[0011] As a preferred solution, the scanning coordinate system of the scanning sensor at the initial position is obtained as follows:

[0012] Obtain the moving axis of the scanning sensor and the conveying direction of the conveyor belt;

[0013] Calculating the longitudinal axis direction of the scanning sensor through the movement axis and the transmission direction;

[0014] Determine the origin of the coordinate system by using the scanning sensor when the end of the paper packaging robot contacts the initial position;

[0015] The moving axis is used as the horizontal axis, the conveying direction is used as the vertical axis, and the vertical axis and the origin of the coordinate system are combined to construct a scanning coordinate system when the scanning sensor is in the initial position.

[0016] As a preferred solution, the scanning configuration of the preset paper information is specifically as follows:

[0017] According to the size of the paper to be scanned and the preset paper information, the scanning sensor is configured for scanning;

[0018] The scanning configuration information includes: paper length, paper width, number of paper scanning segments, inner scanning distance, outer scanning distance, inner travel length and outer travel length.

[0019] As a preferred solution, the continuous collection of the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value for controlling the motion of the scanning sensor is specifically:

[0020] According to the preset sampling period, the motion code value of the conveyor belt, the sensor signal of the sensor and the motor code value that controls the movement of the scanning sensor are continuously sampled, and the sampled sensor signal is filtered.

[0021] As a preferred solution, the scanning trajectory of the control scanning sensor is obtained according to the starting edge point and the surface paper information, thereby obtaining the motion coding value, sensor signal and motor coding value corresponding to the current moment of the scanning trajectory, specifically:

[0022] Obtaining a corresponding motion encoding value and a motor encoding value according to the starting edge point index, combining the surface paper information, to obtain a scanning trajectory of the scanning sensor, and controlling the scanning sensor to move along the scanning trajectory;

[0023] The sensing signals of the scanning sensors are collected in sequence, and the motion coding values ​​and motor coding values ​​corresponding to each preset positioning edge point in the scanning trajectory are obtained through the sensing signal index.

[0024] As a preferred solution, the positioning of the paper to be scanned is calculated based on the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system, specifically:

[0025] Calculating the length of each preset positioning edge point in the direction of the conveyor belt according to the difference between the motion coding values ​​corresponding to the preset positioning edge points;

[0026] Calculate the length of each preset positioning edge point in the axial direction of the scanning sensor movement according to the motor encoding value corresponding to the preset positioning edge;

[0027] According to the length of each preset positioning edge point in the direction of the conveyor belt and the length of the scanning sensor in the axial direction of movement, the position information of each preset positioning edge point in the scanning coordinate system is calculated in sequence by vector addition operation;

[0028] Performing linear multi-point fitting on each preset positioning edge point to obtain the edge line of the surface paper to be scanned and its point position and vector direction in the scanning coordinate system;

[0029] Obtaining the angle of the surface paper to be scanned on the conveyor belt according to the vector direction of the edge line;

[0030] The positioning of the paper to be scanned is calculated based on the angle of the paper to be scanned and the position of the edge line thereof, in combination with the size of the paper to be scanned.

[0031] As a preferred solution, after obtaining the position of the to-be-scanned paper by calculation, the method further includes:

[0032] The calculated position of the facial paper to be scanned is sent to the facial paper packaging robot, so that the facial paper packaging robot grabs the facial paper to be scanned according to the position of the facial paper to be scanned.

[0033] Accordingly, the present invention also provides a conveyor belt scanning and positioning device, comprising: an acquisition module, a collection module, a control module and a positioning module;

[0034] The acquisition module is used to acquire the scanning coordinate system of the scanning sensor at the initial position and perform scanning configuration on the preset face paper information;

[0035] The acquisition module is used to continuously acquire the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value that controls the movement of the scanning sensor, and trigger the change of the sensor signal when the surface paper to be scanned on the conveyor belt passes the scanning sensor, thereby obtaining the starting edge point of the surface paper to be scanned;

[0036] The control module is configured to obtain a scanning trajectory of the control scanning sensor according to the starting edge point and the surface paper information, thereby obtaining a motion code value, a sensor signal, and a motor code value corresponding to the scanning trajectory at a current moment;

[0037] The positioning module is used to calculate the positioning of the surface paper to be scanned based on the motion coding value, sensor signal and motor coding value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system; wherein the starting edge point is the same as the initial position of the scanning sensor.

[0038] As a preferred solution, the scanning coordinate system of the scanning sensor at the initial position is obtained as follows:

[0039] Obtain the moving axis of the scanning sensor and the conveying direction of the conveyor belt;

[0040] Calculating the longitudinal axis direction of the scanning sensor through the movement axis and the transmission direction;

[0041] Determine the origin of the coordinate system by using the scanning sensor when the end of the paper packaging robot contacts the initial position;

[0042] The moving axis is used as the horizontal axis, the conveying direction is used as the vertical axis, and the vertical axis and the origin of the coordinate system are combined to construct a scanning coordinate system when the scanning sensor is in the initial position.

[0043] As a preferred solution, the scanning configuration of the preset paper information is specifically as follows:

[0044] According to the size of the paper to be scanned and the preset paper information, the scanning sensor is configured for scanning;

[0045] The scanning configuration information includes: paper length, paper width, number of paper scanning segments, inner scanning distance, outer scanning distance, inner travel length and outer travel length.

[0046] As a preferred solution, the continuous collection of the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value for controlling the motion of the scanning sensor is specifically:

[0047] According to the preset sampling period, the motion code value of the conveyor belt, the sensor signal of the sensor and the motor code value that controls the movement of the scanning sensor are continuously sampled, and the sampled sensor signal is filtered.

[0048] As a preferred solution, the scanning trajectory of the control scanning sensor is obtained according to the starting edge point and the surface paper information, thereby obtaining the motion coding value, sensor signal and motor coding value corresponding to the current moment of the scanning trajectory, specifically:

[0049] Obtaining a corresponding motion encoding value and a motor encoding value according to the starting edge point index, combining the surface paper information, to obtain a scanning trajectory of the scanning sensor, and controlling the scanning sensor to move along the scanning trajectory;

[0050] The sensing signals of the scanning sensors are collected in sequence, and the motion coding values ​​and motor coding values ​​corresponding to each preset positioning edge point in the scanning trajectory are obtained through the sensing signal index.

[0051] As a preferred solution, the positioning of the paper to be scanned is calculated based on the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system, specifically:

[0052] Calculating the length of each preset positioning edge point in the direction of the conveyor belt according to the difference between the motion coding values ​​corresponding to the preset positioning edge points;

[0053] Calculate the length of each preset positioning edge point in the axial direction of the scanning sensor movement according to the motor encoding value corresponding to the preset positioning edge;

[0054] According to the length of each preset positioning edge point in the direction of the conveyor belt and the length of the scanning sensor in the axial direction of movement, the position information of each preset positioning edge point in the scanning coordinate system is calculated in sequence by vector addition operation;

[0055] Performing linear multi-point fitting on each preset positioning edge point to obtain the edge line of the surface paper to be scanned and its point position and vector direction in the scanning coordinate system;

[0056] Obtaining the angle of the surface paper to be scanned on the conveyor belt according to the vector direction of the edge line;

[0057] The positioning of the paper to be scanned is calculated based on the angle of the paper to be scanned and the position of the edge line thereof, in combination with the size of the paper to be scanned.

[0058] As a preferred solution, after obtaining the position of the to-be-scanned paper by calculation, the method further includes:

[0059] The calculated position of the facial paper to be scanned is sent to the facial paper packaging robot, so that the facial paper packaging robot grabs the facial paper to be scanned according to the position of the facial paper to be scanned.

[0060] Correspondingly, the present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the conveyor belt scanning and positioning method as described in any one of the above.

[0061] Correspondingly, the present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the conveyor belt scanning and positioning method as described in any one of the above.

[0062] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0063] The technical solution of the present invention obtains the scanning coordinate system of the scanning sensor at the initial position and scans and configures the preset facial paper information, thereby continuously collecting the motion coding value of the conveyor belt, the sensor signal of the sensor and the motor coding value that controls the movement of the scanning sensor. Then, when the facial paper to be scanned passes through the scanning sensor, the starting edge point of the facial paper to be scanned can be accurately obtained, and the corresponding motion coding value, sensor signal and motor coding value are obtained by controlling the scanning trajectory of the scanning sensor. Combined with the starting edge point and the scanning coordinate system, the positioning of the facial paper to be scanned is finally calculated. There is no restriction on the size of the facial paper, and the application range is wide. The position analysis of the facial paper is completed by the sensor. Compared with the installation requirements of the visual method for the camera and light source, the installation occupies less space and is flexible, simple and easy to use, and improves the recognition scanning accuracy and efficiency. It is suitable for the application field of paper box packaging and is conducive to the upgrading and transformation of assembly line applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 : A flow chart of the steps of a conveyor belt scanning and positioning method provided by an embodiment of the present invention;

[0065] Figure 2 : A top view of a conveyor belt conveying facial tissue provided by an embodiment of the present invention;

[0066] Figure 3 : A schematic diagram of a scanning trajectory of a scanning sensor provided in an embodiment of the present invention scanning a facing paper;

[0067] Figure 4 : A structural schematic diagram of a conveyor belt scanning and positioning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0068] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0069] Example 1

[0070] Please refer to Figure 1 , a conveyor belt scanning and positioning method provided by an embodiment of the present invention includes the following steps S11-S14:

[0071] Step S11: obtaining a scanning coordinate system of the scanning sensor 4 at an initial position, and performing scanning configuration on the preset paper information.

[0072] As a preferred solution of this embodiment, the scanning coordinate system of the scanning sensor 4 at the initial position is obtained as follows:

[0073] Obtain the movement axis of the scanning sensor 4 and the conveying direction of the conveyor belt 8; calculate the longitudinal axis direction of the scanning sensor 4 through the movement axis and the conveying direction; determine the origin of the coordinate system through the scanning sensor 4 when the end of the paper packaging robot contacts the initial position; use the movement axis as the horizontal axis direction and the conveying direction as the vertical axis direction, and combine the longitudinal axis direction and the origin of the coordinate system to construct a scanning coordinate system for the scanning sensor 4 when it is in the initial position.

[0074] It should be noted that the purpose of positioning the facial tissue on the conveyor belt 8 is to provide the facial tissue packaging robot with facial tissue laminating operations, and the scanning sensor 4 is an important device for scanning the data information of the facial tissue on the conveyor belt 8. Therefore, the constructed scanning sensor 4 needs to be established in the robot coordinate system so that after the positioning of the facial tissue relative to the scanning coordinate system is obtained, it can be converted into the robot coordinate system for the facial tissue packaging robot to extract the facial tissue.

[0075] In this example, see Figure 2 , which is a top view of the conveyor belt 8 conveying facial paper in this embodiment. Under the transmission of the conveyor belt 8, the facial paper is scanned by the scanning sensor 4 in sequence, and the scanning information of the facial paper can be obtained. At the same time, the scanning sensor 4 is installed in the scanning coordinate system O based on the robot coordinate system. d , coordinate system O d The three directions are determined by the sensor's axis of motion (n x ), the conveying direction of the conveyor belt 8 is (n y), and the normal vector n calculated by the vector cross multiplication principle z = x ×n y composition.

[0076] In this embodiment, the scanning sensor 4 is preferably a color mark sensor or a laser sensor, which can efficiently and quickly distinguish the color of the surface paper 1 to be scanned and the color of the conveyor belt 8, thereby achieving the acquisition and calibration of the sensor signal.

[0077] As a preferred solution of this embodiment, the scanning configuration of the preset face paper information is specifically as follows:

[0078] According to the size of the paper to be scanned and the preset paper information, the scanning configuration of the scanning sensor 4 is performed; wherein the scanning configuration information includes: paper length, paper width, number of paper scanning segments, inner scanning distance, outer scanning distance, inner travel length and outer travel length.

[0079] In this embodiment, the paper information is configured according to the size of the paper to be scanned. The input configuration information includes the paper length, paper width, and the number of paper scanning segments. Preferably, the number of paper scanning segments is two. Figure 3 , which is a schematic diagram of scanning and positioning the facial paper on the conveyor belt 8 according to the scanning trajectory by the scanning sensor 4 in this embodiment, the inner scanning distance KB, the outer scanning distance KA, the inner length of the first section is L1A, the outer length is L1B, the inner length of the second section is L2A, and the outer length is L2B.

[0080] Step S12: Continuously collect the motion coding value of the conveyor belt 8, the sensor signal of the sensor, and the motor coding value that controls the movement of the scanning sensor 4, and trigger the change of the sensor signal when the surface paper 1 to be scanned on the conveyor belt 8 passes through the scanning sensor 4, thereby obtaining the starting edge point of the surface paper 1 to be scanned.

[0081] As a preferred solution of this embodiment, the continuous collection of the motion code value of the conveyor belt 8, the sensor signal of the sensor and the motor code value for controlling the movement of the scanning sensor 4 is specifically as follows:

[0082] According to a preset sampling period, the motion code value of the conveyor belt 8, the sensor signal of the sensor and the motor code value that controls the movement of the scanning sensor 4 are continuously sampled, and the sampled sensor signal is filtered.

[0083] In this embodiment, preferably, the preset sampling period is 1ms, that is, with a sampling period of 1ms, the motion coding value of the encoder 3 installed on the conveyor belt 8, the sensor signal of the scanning sensor 4, and the motor coding value of the moving axial motor 6 of the scanning sensor 4 are collected simultaneously, and the collected sensor signals are filtered to remove the noise part and improve the accuracy of the sensor signal.

[0084] Furthermore, in this embodiment, when tissue paper on conveyor belt 8 passes through the scanning area of ​​scanning sensor 4, it triggers a signal change in scanning sensor 4, thereby accurately determining the starting edge point of the tissue paper 1 to be scanned. Specifically, this is the change in the sensor signal caused by the scanning sensor 4 detecting the tissue paper 1 at its initial position. The identified starting edge point indicates that all subsequent sensor information collected by scanning sensor 4 is on the tissue paper 1 to be scanned. This allows for indexing and extraction of the motion code value and motor code value starting at that moment, ensuring a one-to-one correspondence between the sensor signal, motion code value, and motor code value at that moment, thereby improving computational accuracy.

[0085] Step S13: obtaining a scanning trajectory of the control scanning sensor 4 according to the starting edge point and the surface paper information, thereby obtaining a motion coding value, a sensor signal and a motor coding value corresponding to the scanning trajectory at the current moment.

[0086] As a preferred solution of this embodiment, the scanning trajectory of the control scanning sensor 4 is obtained according to the starting edge point and the surface paper information, thereby obtaining the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, specifically:

[0087] According to the starting edge point index, the corresponding motion coding value and motor coding value are obtained, and combined with the surface paper information, the scanning trajectory of the scanning sensor 4 is obtained, and the scanning sensor 4 is controlled to move along the scanning trajectory; the sensor signals of the scanning sensor 4 are collected in sequence, and the motion coding value and motor coding value corresponding to each preset positioning edge point in the scanning trajectory are obtained through the sensor signal index.

[0088] In this embodiment, based on the continuously collected motion code values, sensor signals, and motor code values, the signal point of the starting edge 101 of the surface paper 1 to be scanned can be analyzed, thereby indexing the motion code value of the conveyor belt 8 corresponding to the starting edge 101 and the motor code value of the sensor movement axis 2. Based on the information obtained from the starting edge 101 and the paper configuration information in step 101, the motor is controlled to drive the movement of the scanning sensor 4, thereby sequentially obtaining various preset positioning edge points when the scanning sensor 4 passes the edge of the surface paper as marking signal points, such as Figure 3As shown by the arrow in , it is the scanning trajectory of the scanning sensor 4, and then the motion encoding values ​​and motor encoding values ​​of these signal points corresponding to the edge are obtained by indexing.

[0089] Please note that Figure 3 During the scanning process of the scanning sensor 4, the sensor signal of the scanning sensor 4 at the starting edge point 101, the preset positioning edge points are 102, 103, 104, 105, and the end edge point 106 will produce a signal jump. The motion coding values ​​and motor coding values ​​of these preset positioning edge points at the corresponding moment can be recorded through the signal jump.

[0090] It should be noted that all inner lengths L1A, L2A should be less than the paper length 117, and all outer lengths L1B, L2B should also be less than the paper length 117, so as to ensure the accuracy of the scanning sensor 4 in positioning the paper 1 to be scanned, and avoid the sudden end of the paper recognition process when scanning the outer KA or the inner KB, resulting in paper positioning errors and errors.

[0091] Further, see Figure 3 When the scanning sensor 4 is on the tissue paper, the signal does not change, and the conveyor belt 8 moves, thereby causing the motion coding value of the conveyor belt 8 to change. When the distance corresponding to the motion coding value of the conveyor belt 8 is greater than the inner travel length L1A or L2A, the motor will start to drive the scanning sensor 4 to move toward the outer direction 110 or 112 of the tissue paper.

[0092] When the scanning sensor 4 is on the conveyor belt 8, the signal does not change, and the conveyor belt 8 moves, so that the motion coding value of the conveyor belt 8 changes. When the distance corresponding to the motion coding value of the conveyor belt 8 is greater than the external length L1B or L2B, the motor will start to drive the scanning sensor 4 to move toward the inner direction 111 or 113 of the surface paper.

[0093] When the scanning sensor 4 scans from the outside of the tissue paper to the inside of the tissue paper, if it hits the tissue paper edge 103 or 105, the sensing signal of the scanning sensor 4 changes and the speed is decelerated. The deceleration distance is the configured inner scanning distance KB.

[0094] When the scanning sensor 4 scans from the inside of the tissue paper to the outside of the tissue paper, if it encounters the tissue paper edge 102 or 104, the sensing signal of the scanning sensor 4 changes and the speed is decelerated. The deceleration distance is the configured outer scanning distance KA.

[0095] Step S14: Calculate the position of the paper 1 to be scanned based on the motion coding value, sensor signal and motor coding value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system; wherein the starting edge point is the same as the initial position of the scanning sensor 4.

[0096] As a preferred solution of this embodiment, the positioning of the to-be-scanned paper 1 is calculated based on the motion code value, sensor signal, and motor code value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system, specifically:

[0097] According to the difference between the motion encoding values ​​corresponding to the preset positioning edge points, the length of each preset positioning edge point in the conveyor belt direction 5 is calculated; according to the motor encoding value corresponding to the preset positioning edge, the length of each preset positioning edge point in the motion axis 2 of the scanning sensor 4 is calculated; according to the length of each preset positioning edge point in the conveyor belt direction 5 and the length of the motion axis 2 of the scanning sensor 4, the position information of each preset positioning edge point in the scanning coordinate system is calculated in sequence through vector addition operation; a straight line multi-point fitting is performed on each preset positioning edge point to obtain the edge line of the to-be-scanned face paper 1 and its point position and vector direction in the scanning coordinate system; according to the vector direction of the edge line, the angle of the to-be-scanned face paper 1 on the conveyor belt 8 is obtained; according to the angle of the to-be-scanned face paper 1 and the point position of its edge line, combined with the size of the to-be-scanned face paper 1, the positioning of the to-be-scanned face paper 1 is calculated.

[0098] In this embodiment, the paper positioning is analyzed based on the codes of the corresponding edge points (101-106) in step 13 (the motion code value of the conveyor belt 8 and the motor code value of the scanning sensor 4 moving axis 2). Since the scanning sensor 4 starts to be driven by the motor only after detecting the starting edge point 101, the starting edge point 101 is at 0 d The coordinate system is fixed, that is, the starting edge point and the initial position of the scanning sensor 4 are the same. The conveyor belt direction n can be converted by the difference between the motion encoding values ​​of the conveyor belt 8. y The length Y includes the length of each edge point in the conveyor direction 5; the motor encoding value of the scanning sensor 4 moving axial direction 2 can be converted to obtain the scanning sensor 4 moving axial direction n xThe length X includes the length of each edge point in the axis 2 of the movement of the scanning sensor 4; then, using vector addition, the position of each edge point in the conveyor belt direction 5 is calculated by the difference in the length of each edge point in the conveyor belt direction 5, and the position of each edge point in the axis 2 of the movement of the scanning sensor 4 is calculated by the length of each edge point in the axis 2 of the movement of the scanning sensor 4, and then the position information of each edge point can be obtained in sequence. At the same time, the side edge points (102-105) are fitted with a straight line multi-point method to fit the edge line of the face paper 1 to be scanned, and then the point position (X, Y) and vector direction of the edge line of the face paper are determined. According to the vector direction of the edge line, the angle W of the face paper 1 to be scanned on the conveyor belt 8 can be obtained. At the same time, combined with the size of the face paper 1 to be scanned (the length and width of the face paper), the starting code value and the end code value of the face paper can be calculated, and then the angle at O ​​is obtained. d The position of the paper in the coordinate system (including X, Y, W, start point code value, end point code value).

[0099] As a preferred solution of this embodiment, after obtaining the position of the to-be-scanned paper 1 by calculation, the method further includes:

[0100] The calculated positioning of the facial paper 1 to be scanned is sent to the facial paper packaging robot, so that the facial paper packaging robot grabs the facial paper 1 to be scanned according to the positioning of the facial paper 1 to be scanned.

[0101] In this embodiment, after obtaining O d After the paper 1 to be scanned is positioned in the coordinate system, it is converted into the robot coordinate system so that the paper packaging robot can position the paper 1 after positioning according to its own coordinate position information. d The paper 1 to be scanned is grabbed in the coordinate system.

[0102] It can be understood that the embodiment of the present invention avoids the use of computer vision recognition technology, and extracts the edge of the facial paper through the scanning sensor 4 to obtain the facial paper positioning. It has no restrictions on the size of the facial paper and has a wide range of applications. At the same time, the scanning speed is fast, and there is no need to use imaging technology. The encoding values ​​of the conveyor belt 8 and the motor are directly collected, which is conducive to the rapid facial paper recognition and operation of the assembly line in the form of a conveyor belt 8. It is suitable for the application field of paper box packaging and is conducive to the upgrading and transformation of assembly line applications.

[0103] The implementation of the above embodiment has the following effects:

[0104] The technical solution of the present invention obtains the scanning coordinate system of the scanning sensor at the initial position and scans and configures the preset facial paper information, thereby continuously collecting the motion code value of the conveyor belt, the sensor signal of the sensor and the motor code value that controls the movement of the scanning sensor. Then, when the facial paper to be scanned passes through the scanning sensor, the starting edge point of the facial paper to be scanned can be accurately obtained, and the corresponding motion code value, sensor signal and motor code value can be obtained by controlling the scanning trajectory of the scanning sensor. Combined with the starting edge point and the scanning coordinate system, the positioning of the facial paper to be scanned is finally calculated. There is no restriction on the size of the facial paper, and the application range is wide. The position analysis of the facial paper is completed by the scanning sensor. Compared with the installation requirements of the visual method for the camera and light source, the installation occupies less space and is flexible. It is simple and easy to use, suitable for the application field of paper box packaging, and is conducive to the upgrading and transformation of assembly line applications.

[0105] Example 2

[0106] Please refer to the figure, which shows a conveyor belt scanning and positioning device provided by the present invention, including: an acquisition module 201, a collection module 202, a control module 203 and a positioning module 204.

[0107] The acquisition module 201 is used to acquire the scanning coordinate system of the scanning sensor at the initial position, and perform scanning configuration on the preset paper information.

[0108] The acquisition module 202 is used to continuously acquire the motion code value of the conveyor belt, the sensor signal of the sensor and the motor code value that controls the movement of the scanning sensor, and trigger the change of the sensor signal when the surface paper to be scanned on the conveyor belt passes through the scanning sensor, thereby obtaining the starting edge point of the surface paper to be scanned.

[0109] The control module 203 is configured to obtain a scanning trajectory of the control scanning sensor according to the starting edge point and the paper information, thereby obtaining a motion code value, a sensor signal, and a motor code value corresponding to the scanning trajectory at the current moment.

[0110] The positioning module 204 is used to calculate the positioning of the surface paper to be scanned based on the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system; wherein the starting edge point is the same as the initial position of the scanning sensor.

[0111] As a preferred solution of this embodiment, the scanning coordinate system of the scanning sensor at the initial position is obtained as follows:

[0112] Obtain the movement axis of the scanning sensor and the conveying direction of the conveyor belt; calculate the longitudinal axis direction of the scanning sensor through the movement axis and the conveying direction; determine the origin of the coordinate system through the scanning sensor when the end of the paper packaging robot contacts the scanning sensor at the initial position; use the movement axis as the horizontal axis direction and the conveying direction as the vertical axis direction, and combine the longitudinal axis direction and the origin of the coordinate system to construct a scanning coordinate system for the scanning sensor at the initial position.

[0113] As a preferred solution of this embodiment, the scanning configuration of the preset face paper information is specifically as follows:

[0114] The scanning configuration of the scanning sensor is performed according to the size of the paper to be scanned and the preset paper information; wherein the scanning configuration information includes: paper length, paper width, number of paper scanning segments, inner scanning distance, outer scanning distance, inner travel length and outer travel length.

[0115] As a preferred solution of this embodiment, the continuous collection of the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value for controlling the motion of the scanning sensor is specifically:

[0116] According to the preset sampling period, the motion code value of the conveyor belt, the sensor signal of the sensor and the motor code value that controls the movement of the scanning sensor are continuously sampled, and the sampled sensor signal is filtered.

[0117] As a preferred solution of this embodiment, the scanning trajectory of the control scanning sensor is obtained according to the starting edge point and the surface paper information, thereby obtaining the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, specifically:

[0118] According to the starting edge point index, the corresponding motion coding value and motor coding value are obtained, and combined with the surface paper information, the scanning trajectory of the scanning sensor is obtained, and the scanning sensor is controlled to move along the scanning trajectory; the sensor signals of the scanning sensor are collected in sequence, and the motion coding value and motor coding value corresponding to each preset positioning edge point in the scanning trajectory are obtained through the sensor signal index.

[0119] As a preferred solution of this embodiment, the positioning of the surface paper to be scanned is calculated based on the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system, specifically:

[0120] According to the difference between the motion coding values ​​corresponding to the preset positioning edge points, the length of each preset positioning edge point in the direction of the conveyor belt is calculated; according to the motor coding value corresponding to the preset positioning edge, the length of each preset positioning edge point in the axial direction of the scanning sensor movement is calculated; according to the length of each preset positioning edge point in the direction of the conveyor belt and the length of the axial direction of the scanning sensor movement, the position information of each preset positioning edge point in the scanning coordinate system is calculated in sequence through vector addition operation; a straight line multi-point fitting is performed on each preset positioning edge point to obtain the edge line of the surface paper to be scanned and its point position and vector direction in the scanning coordinate system; according to the vector direction of the edge line, the angle of the surface paper to be scanned on the conveyor belt is obtained; according to the angle of the surface paper to be scanned and the point position of its edge line, combined with the size of the surface paper to be scanned, the positioning of the surface paper to be scanned is calculated.

[0121] As a preferred solution of this embodiment, after calculating and obtaining the position of the to-be-scanned paper, the method further includes:

[0122] The calculated position of the facial paper to be scanned is sent to the facial paper packaging robot, so that the facial paper packaging robot grabs the facial paper to be scanned according to the position of the facial paper to be scanned.

[0123] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0124] The implementation of the above embodiment has the following effects:

[0125] The technical solution of the present invention obtains the scanning coordinate system of the scanning sensor at the initial position and scans and configures the preset facial paper information, thereby continuously collecting the motion coding value of the conveyor belt, the sensor signal of the sensor and the motor coding value that controls the movement of the scanning sensor. Then, when the facial paper to be scanned passes through the scanning sensor, the starting edge point of the facial paper to be scanned can be accurately obtained, and the corresponding motion coding value, sensor signal and motor coding value are obtained by controlling the scanning trajectory of the scanning sensor. Combined with the starting edge point and the scanning coordinate system, the positioning of the facial paper to be scanned is finally calculated. There is no restriction on the size of the facial paper, and the application range is wide. The position analysis of the facial paper is completed by the sensor. Compared with the installation requirements of the visual method for the camera and light source, the installation occupies less space and is flexible. It is simple and easy to use, suitable for the application field of paper box packaging, and is conducive to the upgrading and transformation of assembly line applications.

[0126] Example 3

[0127] Correspondingly, the present invention also provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the conveyor belt scanning and positioning method described in any one of the above embodiments.

[0128] The terminal device of this embodiment includes: a processor, a memory, and a computer program and computer instructions stored in the memory and capable of running on the processor. When the processor executes the computer program, each step in the above embodiment 1 is implemented, such as Figure 1 Alternatively, when the processor executes the computer program, the functions of each module / unit in the above device embodiment, such as the control module 203, are implemented.

[0129] Exemplarily, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the terminal device. For example, the control module 203 is used to obtain a scanning trajectory of the control scanning sensor based on the starting edge point and the surface paper information, thereby obtaining the motion code value, sensor signal, and motor code value corresponding to the scanning trajectory at the current moment.

[0130] The terminal device may be a computing device such as a desktop computer, laptop, PDA, or cloud server. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a terminal device and does not limit the terminal device. The terminal device may include more or fewer components than shown, or a combination of certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, and the like.

[0131] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting various parts of the entire terminal device using various interfaces and lines.

[0132] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created based on the use of the mobile terminal, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0133] If the module / unit integrated into the terminal device is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process of the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0134] Example 4

[0135] Correspondingly, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the conveyor belt scanning and positioning method described in any one of the above embodiments.

[0136] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A conveyor belt scanning and positioning method, characterized in that: include: Obtain the scanning coordinate system of the scanning sensor at the initial position, and perform scanning configuration on the preset paper information; Continuously collecting the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value that controls the movement of the scanning sensor, and triggering the change of the sensor signal when the surface paper to be scanned on the conveyor belt passes the scanning sensor, thereby obtaining the starting edge point of the surface paper to be scanned; According to the starting edge point and the paper information, a scanning trajectory of the control scanning sensor is obtained, thereby obtaining a motion code value, a sensor signal and a motor code value corresponding to the scanning trajectory at the current moment; The position of the paper to be scanned is calculated based on the motion code value, sensor signal, and motor code value corresponding to the current moment of the scanning trajectory, in combination with the starting edge point and the scanning coordinate system; wherein the starting edge point is the same as the initial position of the scanning sensor; The position of the paper to be scanned is calculated based on the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, combined with the starting edge point and the scanning coordinate system, specifically: Calculate the length of each preset positioning edge point in the conveying direction of the conveyor belt based on the difference between the motion coding values ​​corresponding to the preset positioning edge points; Calculate the length of each preset positioning edge point in the axial direction of the scanning sensor movement according to the motor encoding value corresponding to the preset positioning edge; According to the length of each preset positioning edge point in the conveying direction of the conveyor belt and the length in the axial direction of movement of the scanning sensor, the position information of each preset positioning edge point in the scanning coordinate system is calculated in sequence by vector addition operation; Performing linear multi-point fitting on each preset positioning edge point to obtain the edge line of the surface paper to be scanned and its point position and vector direction in the scanning coordinate system; Obtaining the angle of the surface paper to be scanned on the conveyor belt according to the vector direction of the edge line; The positioning of the paper to be scanned is calculated based on the angle of the paper to be scanned and the position of the edge line thereof, in combination with the size of the paper to be scanned.

2. A conveyor belt scanning and positioning method according to claim 1, characterized in that: The scanning coordinate system of the scanning sensor at the initial position is obtained as follows: Obtain the moving axis of the scanning sensor and the conveying direction of the conveyor belt; Calculating the longitudinal axis direction of the scanning sensor through the movement axis and the transmission direction; Determine the origin of the coordinate system by using the scanning sensor when the end of the paper packaging robot contacts the initial position; The moving axis is used as the horizontal axis, the conveying direction is used as the vertical axis, and the vertical axis and the origin of the coordinate system are combined to construct a scanning coordinate system when the scanning sensor is in the initial position.

3. A conveyor belt scanning and positioning method according to claim 1, characterized in that: The scanning configuration of the preset paper information is specifically as follows: According to the size of the paper to be scanned and the preset paper information, the scanning sensor is configured for scanning; The scanning configuration information includes: paper length, paper width, number of paper scanning segments, inner scanning distance, outer scanning distance, inner travel length and outer travel length.

4. A conveyor belt scanning and positioning method according to claim 3, characterized in that: The continuous collection of the motion code value of the conveyor belt, the sensor signal of the sensor and the motor code value for controlling the motion of the scanning sensor is specifically: According to the preset sampling period, the motion code value of the conveyor belt, the sensor signal of the sensor and the motor code value that controls the movement of the scanning sensor are continuously sampled, and the sampled sensor signal is filtered.

5. A conveyor belt scanning and positioning method according to claim 4, characterized in that: The scanning trajectory of the control scanning sensor is obtained according to the starting edge point and the surface paper information, thereby obtaining the motion code value, sensor signal and motor code value corresponding to the current moment of the scanning trajectory, specifically: Obtaining a corresponding motion encoding value and a motor encoding value according to the starting edge point index, combining the surface paper information, to obtain a scanning trajectory of the scanning sensor, and controlling the scanning sensor to move along the scanning trajectory; The sensing signals of the scanning sensors are collected in sequence, and the motion coding values ​​and motor coding values ​​corresponding to each preset positioning edge point in the scanning trajectory are obtained through the sensing signal index.

6. A conveyor belt scanning and positioning method according to claim 1, characterized in that: After obtaining the position of the paper to be scanned by calculation, the method further includes: The calculated position of the facial paper to be scanned is sent to the facial paper packaging robot, so that the facial paper packaging robot grabs the facial paper to be scanned according to the position of the facial paper to be scanned.

7. A conveyor belt scanning and positioning device, characterized in that: include: Acquisition module, collection module, control module and positioning module; The acquisition module is used to acquire the scanning coordinate system of the scanning sensor at the initial position and perform scanning configuration on the preset face paper information; The acquisition module is used to continuously acquire the motion code value of the conveyor belt, the sensor signal of the sensor, and the motor code value that controls the movement of the scanning sensor, and trigger the change of the sensor signal when the surface paper to be scanned on the conveyor belt passes the scanning sensor, thereby obtaining the starting edge point of the surface paper to be scanned; The control module is configured to obtain a scanning trajectory of the control scanning sensor according to the starting edge point and the surface paper information, thereby obtaining a motion code value, a sensor signal, and a motor code value corresponding to the scanning trajectory at a current moment; The positioning module is configured to calculate the position of the paper to be scanned based on the motion code value, sensor signal, and motor code value corresponding to the current moment of the scanning trajectory, in combination with the starting edge point and the scanning coordinate system; wherein the starting edge point is the same as the initial position of the scanning sensor; Wherein, the positioning module is specifically used to: Calculate the length of each preset positioning edge point in the conveying direction of the conveyor belt based on the difference between the motion coding values ​​corresponding to the preset positioning edge points; Calculate the length of each preset positioning edge point in the axial direction of the scanning sensor movement according to the motor encoding value corresponding to the preset positioning edge; According to the length of each preset positioning edge point in the conveying direction of the conveyor belt and the length in the axial direction of movement of the scanning sensor, the position information of each preset positioning edge point in the scanning coordinate system is calculated in sequence by vector addition operation; Performing linear multi-point fitting on each preset positioning edge point to obtain the edge line of the surface paper to be scanned and its point position and vector direction in the scanning coordinate system; Obtaining the angle of the surface paper to be scanned on the conveyor belt according to the vector direction of the edge line; The positioning of the paper to be scanned is calculated based on the angle of the paper to be scanned and the position of the edge line thereof, in combination with the size of the paper to be scanned.

8. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the conveyor belt scanning and positioning method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the conveyor belt scanning and positioning method according to any one of claims 1 to 6.

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