Servo control method and device for turning over of a package outlet of a packaging machine

Abstract

The application discloses a servo control method and device for package outlet turnover of a packaging machine. After receiving a starting instruction, an enable signal is sent to a servo controller, and detection data collected by a cigarette package detection device at a package outlet is acquired at a preset time interval. When it is determined that the detection data is that a cigarette package exists on the surface of a dial, a first pulse signal is sent to the servo controller. When the rotation angle of the dial meets a preset condition, the dial is turned over based on a turnover device. By arranging a servo controller and a servo motor at a package outlet of a packaging machine, and turning over a cigarette package based on detection data of a cigarette package detection device, the cigarette package is turned over from a horizontal state to a vertical state. By using the high precision and smooth operation characteristics of the servo motor, the automatic processing efficiency is effectively improved, and an operator can conveniently arrange and check the quality of the cigarette package at the outlet.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cigarette packaging machinery equipment, and particularly relates to a servo control method and device for turnover of a small package outlet of a packaging machine. BACKGROUND

[0002] A cigarette packaging machine belongs to a kind of packaging machinery, is a special machine used in a cigarette factory to perform paper packaging on well-produced tobacco leaves, and to perform box packaging on finished cigarettes and then to perform film coating and label sticking for sale. A general cigarette packaging machine has the characteristics of simplicity, lightness, exquisite design, easy operation and the like, and is an essential equipment for producing cigarettes, and its use is limited to the production line of a cigarette factory, and is not universal in other industries.

[0003] In actual production, the cigarette packages at the small package outlet of the packaging machine are in a horizontal side-by-side state. This arrangement not only occupies too much space at the outlet position, but also is not conducive to subsequent operators to arrange and check the quality, thereby affecting the overall packaging efficiency. SUMMARY

[0004] To solve the technical problems that the cigarette packages at the small package outlet of the packaging machine are in a horizontal side-by-side state, which not only occupies too much space at the outlet position, but also is not conducive to subsequent operators to arrange and check the quality, thereby affecting the overall packaging efficiency, the application provides a servo control method and device for turnover of a small package outlet of a packaging machine, and the technical scheme is as follows:

[0005] In a first aspect, the application embodiment provides a servo control method for turnover of a small package outlet of a packaging machine, comprising:

[0006] After receiving a start instruction, a enable signal is sent to a servo controller, and detection data collected by a cigarette package detection device at the small package outlet is acquired at a preset time interval;

[0007] When it is determined that the detection data is that there is a cigarette package on the surface of a feeler, a first pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate based on the first pulse signal, and the feeler is rotated by the servo motor; wherein the feeler is arranged at the small package outlet;

[0008] When it is detected that the rotation angle of the feeler meets a preset condition, the feeler is turned over by a turnover device, so that the cigarette package on the surface of the feeler is turned over from a horizontal state to a vertical state.

[0009] In an optional scheme of the first aspect, determining that the detection data is that there is a cigarette package on the surface of the feeler comprises:

[0010] Feeler contour features and at least one cigarette package contour feature are identified in the detection data;

[0011] When the distance between any one cigarette packet contour feature and the dial piece contour feature is detected to be in the preset distance interval, a cigarette packet size parameter is determined based on the cigarette packet contour feature;

[0012] When the cigarette packet size parameter is consistent with the preset size parameter, it is determined that the detection data is that there is a cigarette packet on the surface of the dial piece;

[0013] When the cigarette packet size parameter is inconsistent with the preset size parameter, detection data collected by the cigarette packet detection device at the cigarette packet outlet is acquired at a preset time interval.

[0014] In still another optional implementation of the first aspect, after the dial piece contour feature and the at least one cigarette packet contour feature are identified in the detection data, the method further includes:

[0015] When the distance between the at least two cigarette packet contour features and the dial piece contour feature is detected to be in the preset distance interval, a contact length between each cigarette packet contour feature and the dial piece contour feature is determined according to the position of the vertex in each cigarette packet contour feature in the dial piece contour feature;

[0016] The cigarette packet contour feature corresponding to the maximum contact length is taken as a target cigarette packet contour feature, and a cigarette packet size parameter is determined based on the target cigarette packet contour feature;

[0017] When the cigarette packet size parameter is consistent with the preset size parameter, it is determined that the detection data is that there is a cigarette packet on the surface of the dial piece;

[0018] When the cigarette packet size parameter is inconsistent with the preset size parameter, detection data collected by the cigarette packet detection device at the cigarette packet outlet is acquired at a preset time interval.

[0019] In still another optional implementation of the first aspect, after the first pulse signal is sent to the servo controller, before the rotation angle of the dial piece is detected to satisfy the preset condition, the method further includes:

[0020] An overhead image containing the dial piece is acquired based on the dial piece detection device;

[0021] An axis of the dial piece is identified from the overhead image, and a rotation angle of the dial piece is determined according to a preset angle between a calibration axis and the axis of the dial piece.

[0022] In still another optional implementation of the first aspect, after the first pulse signal is sent to the servo controller, the method further includes:

[0023] When it is detected that the rotation angle of the dial does not satisfy the preset condition, a second pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate reversely based on the second pulse signal, and the dial is rotated reversely by the servo motor until the position of the dial is consistent with the initial position.

[0024] When the servo motor stops operating, a warning information is sent to a designated terminal.

[0025] In another optional implementation of the first aspect, after the first pulse signal is sent to the servo controller, the method further includes:

[0026] When the warning signal fed back by the servo controller is received, a second pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate reversely based on the second pulse signal, and the dial is rotated reversely by the servo motor until the position of the dial is consistent with the initial position.

[0027] When the servo motor stops operating, a warning information is sent to a designated terminal.

[0028] In another optional implementation of the first aspect, after the dial is flipped by the flipping device, the method further includes:

[0029] The relay is controlled to switch from the off state to the on state, so that the safety protection device performs protection processing on the cigarette pack in the vertical state.

[0030] In a second aspect, an embodiment of the present application provides a servo control device for package machine small package outlet flipping, including:

[0031] The data acquisition module is configured to send an enable signal to the servo controller after receiving a start instruction, and acquire detection data collected by the cigarette pack detection device at the small package outlet according to a preset time interval.

[0032] The servo control module is configured to send a first pulse signal to the servo controller when it is determined that the detection data indicates that there is a cigarette pack on the surface of the dial, so that the servo controller controls the servo motor to operate based on the first pulse signal, and the dial is rotated by the servo motor; wherein the dial is arranged at the small package outlet.

[0033] The cigarette pack flipping module is configured to flip the dial by the flipping device when it is detected that the rotation angle of the dial satisfies a preset condition, so that the cigarette pack on the surface of the dial is flipped from the horizontal state to the vertical state.

[0034] In a third aspect, an embodiment of the present application further provides a servo control device for package machine small package outlet flipping, including a processor and a memory.

[0035] The processor is connected with the memory.

[0036] a memory for storing executable program code;

[0037] The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the servo control method for turnover of a small package outlet of a packaging machine provided in the first aspect or any one of the implementation manners of the first aspect of the embodiments of the present application.

[0038] In a fourth aspect, the embodiments of the present application provide a computer storage medium, which stores a computer program. The computer program includes program instructions, and the program instructions, when executed by a processor, can implement the servo control method for turnover of a small package outlet of a packaging machine provided in the first aspect or any one of the implementation manners of the first aspect of the embodiments of the present application.

[0039] In the embodiments of the present application, when the cigarette package at the small package outlet of the packaging machine is controlled to be turned over, an enabling signal can be sent to the servo controller after a start instruction is received, and detection data collected by the cigarette package detection device at the small package outlet can be acquired at a preset time interval. When it is determined that the detection data is that there is a cigarette package on the surface of the feeler, a first pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate based on the first pulse signal, and the servo motor rotates the feeler. When it is detected that the rotation angle of the feeler meets a preset condition, the feeler is turned over by the turnover device, so that the cigarette package on the surface of the feeler is turned over from a horizontal state to a vertical state. By setting the servo controller and the servo motor at the small package outlet of the packaging machine, and turning over the cigarette package based on the detection data of the cigarette package detection device, the cigarette package is turned over from the horizontal state to the vertical state, and the characteristics of high precision and smooth operation of the servo motor are utilized, so that the automatic processing efficiency is effectively improved, and the operator can conveniently arrange and check the quality of the cigarette package at the outlet. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0041] Figure 1 A whole flowchart of a servo control method for turnover of a small package outlet of a packaging machine provided in the embodiments of the present application;

[0042] Figure 2 An input end connection schematic diagram of a control terminal provided in the embodiments of the present application;

[0043] Figure 3A structural connection schematic diagram of a servo controller provided by an embodiment of the present application is shown.

[0044] Figure 4 A structural schematic diagram of a servo control device for package outlet turnover of a packaging machine provided by an embodiment of the present application is shown.

[0045] Figure 5 A structural schematic diagram of another servo control device for package outlet turnover of a packaging machine provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0047] In the following description, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. The following description provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B and C, and another embodiment includes features B and D, the present application should also be considered to include an embodiment including one or more of all other possible combinations of A, B, C and D, although this embodiment can not be explicitly described in the following content.

[0048] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the present application. Various examples can appropriately omit, replace or add various processes or components. For example, the described methods can be executed in different orders from the described order, and various steps can be added, omitted or combined. In addition, features described with respect to some examples can be combined into other examples.

[0049] Please refer to Figure 1 , Figure 1 A whole flowchart of a servo control method for package outlet turnover of a packaging machine provided by an embodiment of the present application is shown.

[0050] As Figure 1 shown, the servo control method for package outlet turnover of a packaging machine can at least include the following steps:

[0051] Step 102: After receiving a start instruction, an enable signal is sent to a servo controller, and detection data collected by a cigarette package detection device at a package outlet is acquired at a preset time interval.

[0052] In the embodiment of the present application, the servo control method for the turnover of the small package outlet of the packaging machine can be applied to, but is not limited to, a control terminal, which can be a Siemens S7-200 PLC. The control terminal can be arranged at the small package outlet of the 95 Ruxiangbao packaging machine (for example, it can be arranged in a control cabinet installed at the lower part of the small package outlet channel of the cigarette packaging machine), and can be connected to at least a servo controller, a servo motor, a cigarette detection device, and a cigarette poking detection device. The servo controller can be an ASD-A2 servo driver of Delta, which is used to control the operation of the servo motor according to the signal sent by the control terminal. The operating state of the servo motor can correspond to the pulse signal sent by the control terminal. In the embodiment of the present application, the servo controller and the servo motor are arranged below the small package outlet channel of the packaging machine. It can be understood that the servo motor can be an ECMA servo motor of Delta, which can drive the entire proportionally installed toothed belt in the channel to rotate, thereby controlling the poking piece to rotate in a specified direction to change the direction of the cigarette on the poking piece. The poking piece can be arranged at the small package outlet of the packaging machine to carry and turn the cigarette output from the small package outlet. The cigarette detection device can be arranged at the side of the small package outlet of the packaging machine to collect detection data representing whether the cigarette is on the poking piece, and send the detection data to the control terminal. The cigarette detection device can be a distance sensor, an infrared sensor, or a camera device. The control terminal processes the detection data to effectively determine whether the cigarette is on the poking piece. The cigarette poking detection device can be arranged above the small package outlet of the packaging machine to collect detection data representing whether the direction of the cigarette is correct, and send the detection data to the control terminal. The cigarette poking detection device can be a camera device. The control terminal processes the detection data to effectively determine whether the direction of the cigarette is correct.

[0053] In addition, the control terminal can be connected to a turnover device arranged on the poking piece to control the turnover device to turn the poking piece after the detection data collected by the cigarette poking detection device determines that the direction of the cigarette is correct, so that the cigarette on the poking piece is turned from a horizontal state to a vertical state, and the top of the cigarette (the filter tip) is ensured to be at the top of the cigarette, which facilitates the operator to arrange and check the quality of the cigarette at the outlet. It can be understood that the turnover device can be a device that pushes against one side of the poking piece to drive the poking piece to turn, which can be a telescopic structure controlled by a motor. This structure is a conventional structure in the field of cigarette packaging machinery, and is not limited thereto.

[0054] Specifically, when the cigarette packet at the packet outlet of the packaging machine is turned over, the control terminal can obtain the starting operation of the operator, which can be, but is not limited to, that the operator selects a starting space on the display interface of the control terminal, or that the operator selects and presses a switch device connected with the control terminal for representing starting. After receiving the starting instruction corresponding to the starting operation, the control terminal can send an enable signal to the servo controller. The enable signal can be understood as an offline signal, that is, the servo controller is not in a working state after being powered on, so as to quickly respond to the pulse signal sent by the control terminal subsequently.

[0055] Further, the control terminal can also obtain the detection data collected by the cigarette packet detection device at the packet outlet at a preset time interval, so as to process the detection data and effectively determine whether the cigarette packet is on the paddle.

[0056] As an option of the embodiment of the present application, the detection data is determined to be that the cigarette packet exists on the surface of the paddle, comprising:

[0057] identifying the paddle contour feature and at least one cigarette packet contour feature in the detection data;

[0058] when the distance between any one of the cigarette packet contour features and the paddle contour feature is in a preset distance range, determining the cigarette packet size parameter based on the cigarette packet contour feature;

[0059] when the cigarette packet size parameter is consistent with the preset size parameter, determining that the detection data is that the cigarette packet exists on the surface of the paddle;

[0060] when the cigarette packet size parameter is inconsistent with the preset size parameter, obtaining the detection data collected by the cigarette packet detection device at the packet outlet at a preset time interval.

[0061] Specifically, when the control terminal processes the detection data collected by the cigarette packet detection device, the detection data can be understood as an image containing the paddle and the cigarette packet taken by the shooting device, and the paddle contour feature corresponding to the paddle and the cigarette packet contour feature corresponding to each cigarette packet can be identified from the image through image recognition technology. Here, the paddle contour feature can be specifically a plurality of contour feature points on the side length of the paddle, and the cigarette packet contour feature can be specifically a plurality of contour feature points on the side length of the cigarette packet, and each side length of the paddle or each side length of the cigarette packet contains a plurality of contour feature points.

[0062] Then, after identifying the dial plate profile feature and the at least one cigarette packet profile feature, the control terminal can, but is not limited to, first determine the respective profile center points in the dial plate profile feature and each cigarette packet profile feature, and calculate the distance between the profile center point of the dial plate profile feature and the profile center point of each cigarette packet profile feature, which is the distance between any one of the cigarette packet profile features and the dial plate profile feature. It can be understood that when the distance between any one of the cigarette packet profile features and the dial plate profile feature is detected to be in the preset distance interval, it indicates that the cigarette packet corresponding to the cigarette packet profile feature is attached to the dial plate surface, and thus the cigarette packet size parameter can be determined based on the cigarette packet profile feature. Here, the cigarette packet size parameter can be, but is not limited to, the cigarette packet length and the cigarette packet width, and is not limited thereto (as long as it is any two of the cigarette packet height, the cigarette packet length, or the cigarette packet width). Possibly, when the distance between any one of the cigarette packet profile features and the dial plate profile feature is not detected to be in the preset distance interval, it indicates that there is no cigarette packet on the dial plate surface at this time, and thus the processing of the detection data collected by the cigarette packet detection device can be continued until the distance between any one of the cigarette packet profile features and the dial plate profile feature is detected to be in the preset distance interval.

[0063] Then, when the cigarette packet size parameter and any two of the preset size parameters of the cigarette packet height, the cigarette packet length, or the cigarette packet width are consistent, it indicates that the cigarette packet on the dial plate at this time is the target cigarette packet, and thus it can be determined that the detection data indicates that there is a cigarette packet on the dial plate surface. Possibly, when the cigarette packet size parameter and any two of the preset size parameters of the cigarette packet height, the cigarette packet length, or the cigarette packet width are inconsistent, it indicates that the cigarette packet on the dial plate at this time is not the target cigarette packet, or only part of the cigarette packet is on the dial plate at this time, and thus the cigarette packet on the dial plate can be rejected, and the processing of the detection data collected by the cigarette packet detection device can be continued until the distance between any one of the cigarette packet profile features and the dial plate profile feature is detected to be in the preset distance interval.

[0064] As another optional embodiment of the present application, after identifying the dial plate profile feature and the at least one cigarette packet profile feature in the detection data, the method further includes:

[0065] When the distance between the at least two cigarette packet profile features and the dial plate profile feature is detected to be in the preset distance interval, the contact length between each cigarette packet profile feature and the dial plate profile feature is determined according to the position of the vertex in each cigarette packet profile feature in the dial plate profile feature.

[0066] The cigarette packet profile feature corresponding to the maximum contact length is taken as the target cigarette packet profile feature, and the cigarette packet size parameter is determined based on the target cigarette packet profile feature.

[0067] When the size parameter of the cigarette packet is consistent with the preset size parameter, it is determined that the detection data is that the cigarette packet exists on the surface of the poking piece.

[0068] When the size parameter of the cigarette packet is inconsistent with the preset size parameter, the detection data collected by the cigarette packet detection device at the small packet outlet is acquired according to the preset time interval.

[0069] Specifically, when the distance between at least two cigarette packet contour features and the poking piece contour feature is in the preset distance interval, it indicates that at least two cigarette packets exist on the poking piece at this time, and in order to guarantee the turnover efficiency of the cigarette packet, the excess cigarette packet needs to be rejected, and then the contact length between each cigarette packet contour feature and the poking piece contour feature can be determined according to the position of the vertex in each cigarette packet contour feature in the poking piece contour feature, wherein the contact length of the target cigarette packet should be the side length of the cigarette packet adhering to one side of the poking piece, the contact length of the excess cigarette packet is less than the side length of the cigarette packet adhering to one side of the poking piece, and one of the two vertices corresponding to the contact length of the excess cigarette packet is a cigarette packet vertex and the other is a poking piece vertex.

[0070] It should be noted that when the contact lengths of the two cigarette packets remain consistent and are equal to the side length of the cigarette packet adhering to one side of the poking piece, the cigarette packet at or near the center position of the poking piece can be selected as the target cigarette packet according to the positions of the two cigarette packets on the poking piece, so as to further guarantee the turnover efficiency of the cigarette packet.

[0071] Then, the cigarette packet contour feature corresponding to the maximum contact length can be taken as the target cigarette packet contour feature, and the size parameter of the cigarette packet can be determined based on the target cigarette packet contour feature. When the size parameter of the cigarette packet is consistent with any two of the cigarette packet height, the cigarette packet length or the cigarette packet width in the preset size parameter, it indicates that the cigarette packet on the poking piece at this time is the target cigarette packet, and then it can be determined that the detection data is that the cigarette packet exists on the surface of the poking piece. Possibly, when the size parameter of the cigarette packet is inconsistent with any two of the cigarette packet height, the cigarette packet length or the cigarette packet width in the preset size parameter, it indicates that the cigarette packet on the poking piece at this time is not the target cigarette packet, and then the cigarette packet on the poking piece can be rejected, and the processing of the detection data collected by the cigarette packet detection device can continue until the distance between any one cigarette packet contour feature and the poking piece contour feature is in the preset distance interval.

[0072] Step 104, when it is determined that the detection data is that the cigarette packet exists on the surface of the poking piece, a first pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate based on the first pulse signal, and the poking piece is rotated by the servo motor.

[0073] Specifically, after determining that the detection data is that there is a cigarette packet on the surface of the poking piece, the control terminal can send a first pulse signal of a preset frequency to the servo controller, so that the servo controller quickly responds to the first pulse signal and controls the servo motor to operate based on the first pulse signal, and then controls the poking piece to rotate by the servo motor, that is, controls the cigarette packet on the poking piece to rotate. It should be noted that the cigarette packet output through the small packet outlet is in a horizontal state on the poking piece, and after the turning, the cigarette top (mouthpiece) side of the cigarette packet cannot be at the top of the cigarette packet, thereby affecting the efficiency of the operator in arranging the cigarette packet at the outlet. In actual process, the cigarette packet on the poking piece can be rotated by 90 degrees clockwise or counterclockwise, which can ensure that the cigarette top (mouthpiece) side of the cigarette packet after turning is at the top of the cigarette packet, thereby improving the efficiency of the operator in arranging the cigarette packet at the outlet.

[0074] As another optional embodiment of the present application, after sending the first pulse signal to the servo controller, before detecting that the rotation angle of the poking piece meets the preset condition, the method further comprises:

[0075] acquiring a top view image containing the poking piece based on the cigarette poking detection device;

[0076] identifying the axis of the poking piece from the top view image, and determining the rotation angle of the poking piece according to the angle between the preset calibration axis and the axis of the poking piece.

[0077] Specifically, when judging whether the direction of the cigarette packet is correct, the control terminal can acquire a top view image containing the poking piece collected by the cigarette poking detection device. Here, the cigarette poking detection device can be but is not limited to a shooting device arranged above the poking piece, to shoot images of the poking piece and the cigarette packet on the poking piece from a top view. Then, the top view image can be identified by image recognition technology, to identify the axis of the poking piece from the top view image. The axis of the poking piece can be an axis corresponding to the wide side of the poking piece, or an axis corresponding to the long side of the poking piece, and the rotation angle of the poking piece is determined according to the angle between the preset calibration axis and the axis of the poking piece. Here, the preset calibration axis can be understood as the axis position of the poking piece before rotation, and can be but is not limited to when the rotation angle of the poking piece is 90 degrees (or approximately 90 degrees), indicating that the rotation angle of the poking piece meets the preset condition at this time, that is, the direction of the cigarette packet is correct.

[0078] Step 106, when it is detected that the rotation angle of the poking piece meets the preset condition, the poking piece is turned by the turning device, so that the cigarette packet on the surface of the poking piece is turned from a horizontal state to a vertical state.

[0079] Specifically, after determining that the rotation angle of the dial satisfies the preset condition, the control terminal can control the turnover device to perform turnover processing on the dial, so that the cigarette packet on the dial is turned from a horizontal state to a vertical state, and the top (mouthpiece) side of the cigarette packet is at the top of the cigarette packet, thereby facilitating the operator to arrange the cigarette packet at the outlet and check the quality.

[0080] As another optional embodiment of the present application, after sending the first pulse signal to the servo controller, the method further comprises:

[0081] When it is detected that the rotation angle of the dial does not satisfy the preset condition, a second pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate in reverse based on the second pulse signal, and the dial is rotated in reverse by the servo motor until the position of the dial is consistent with the initial position.

[0082] After the servo motor stops operating, a warning information is sent to a designated terminal.

[0083] Specifically, when it is determined that the rotation angle of the dial does not satisfy the preset condition, it indicates that the rotation angle of the cigarette packet remains unchanged within a certain time and is less than 90 degrees, i.e., there may be a dial position error. In order to avoid safety hazards, a reset operation can be performed, i.e., the control terminal can send a second pulse signal to the servo controller. The second pulse signal can be understood as a pulse signal opposite to the first pulse signal, and the servo motor is controlled to operate in reverse by the second pulse signal, and the dial is rotated in reverse by the servo motor until the position of the dial is consistent with the initial position.

[0084] Of course, when the warning signal fed back by the servo controller is received, it indicates that the servo motor has a jamming fault or the like. In order to avoid safety hazards, a reset operation can be performed, i.e., the control terminal can send a second pulse signal to the servo controller. The second pulse signal can be understood as a pulse signal opposite to the first pulse signal, and the servo motor is controlled to operate in reverse by the second pulse signal, and the dial is rotated in reverse by the servo motor until the position of the dial is consistent with the initial position.

[0085] As another optional embodiment of the present application, after the turnover device performs turnover processing on the dial, the method further comprises:

[0086] The relay is controlled to switch from the off state to the on state, so that the safety protection device performs protection processing on the cigarette packet in the vertical state.

[0087] Specifically, after the cigarette packet is turned over, in order to avoid the cigarette packet from being turned over again to be in a horizontal state in the subsequent transportation process, the control terminal can control the relay provided on the safety protection device connection circuit to be switched from the off state to the on state, so that the safety protection device is in a continuous operation state, and then the cigarette packet in the vertical state is protected. It can be understood that the safety protection device mentioned in the embodiment of the application can be but is not limited to a baffle structure provided on both sides of the cigarette packet, which is a conventional structure in the field of cigarette packaging machine equipment technology, and is not limited thereto.

[0088] Reference can also be made to Figure 2 The input end connection schematic diagram of the control terminal provided by the embodiment of the application is shown in FIG. 2. Figure 2 As shown in FIG. 2, taking the control terminal as a Siemens S7-200 PLC for example, the input point I0.0 of the S7-200 PLC is connected with the normally open contact of the reset button and the positive pole of the 24V power supply, the input point I0.1 of the S7-200 PLC is connected with the normally open contact of the emergency stop button and the positive pole of the 24V power supply, the input point I0.2 of the S7-200 PLC is connected with the relay and the protection door, the input point I0.3 of the S7-200 PLC is connected with the No. 27 pin of the servo controller to collect the running signal of the servo motor, the input point I0.4 of the S7-200 PLC is connected with the No. 4 pin of the servo controller to collect the alarm signal of the servo driver, the input point I1.0 of the S7-200 PLC is connected with the cigarette positioning detection device, and the input point I1.1 of the S7-200 PLC is connected with the cigarette packet detection device.

[0089] Reference can also be made to Figure 3 The structure connection schematic diagram of the servo controller provided by the embodiment of the application is shown in FIG. 3. Figure 3 As shown in FIG. 3, the servo controller can be specifically a Delta servo driver X1. The output point Q0.0 of the S7-200 PLC is connected to the No. 43 pin in the wiring plug of the Delta servo driver X1 to send a pulse signal to the servo driver; the output point Q0.1 of the S7-200 PLC is connected to the No. 9 pin in the wiring plug of the Delta servo driver X1 to send an enable signal to the servo driver; the output point Q0.2 of the S7-200 PLC is connected to the A1 pin of the relay K2 coil, and the A2 pin of the relay coil is connected to the negative pole of the 24V power supply; the output point Q0.3 of the S7-200 PLC is connected to the X1 pin of the start indicator lamp H1, and the X2 pin of the indicator lamp H1 is connected to the negative pole of the 24V power supply.

[0090] Reference can be made to Figure 4 , Figure 4 The structure schematic diagram of the servo control device for the turnover of the small packet outlet of the packaging machine provided by the embodiment of the application is shown in FIG. 4.

[0091] As Figure 4 shown, the servo control device for the turnover of the small package outlet of the packaging machine can at least include a data acquisition module 401, a servo control module 402, and a cigarette package turnover module 403, wherein:

[0092] The data acquisition module 401 is configured to send an enable signal to the servo controller after receiving a start instruction, and acquire detection data collected by the cigarette package detection device at the small package outlet according to a preset time interval.

[0093] The servo control module 402 is configured to send a first pulse signal to the servo controller when it is determined that the detection data is that there is a cigarette package on the surface of the feeler, so that the servo controller controls the servo motor to operate based on the first pulse signal, and the feeler is rotated by the servo motor. The feeler is arranged at the small package outlet.

[0094] The cigarette package turnover module 403 is configured to perform turnover processing on the feeler based on the turnover device when it is detected that the rotation angle of the feeler meets a preset condition, so that the cigarette package on the surface of the feeler is turned from a horizontal state to a vertical state.

[0095] In some possible embodiments, determining that the detection data is that there is a cigarette package on the surface of the feeler includes:

[0096] Identifying a feeler contour feature and at least one cigarette package contour feature in the detection data;

[0097] When it is detected that the distance between any one of the cigarette package contour features and the feeler contour feature is in a preset distance range, determining a cigarette package size parameter based on the cigarette package contour feature;

[0098] When the cigarette package size parameter is consistent with a preset size parameter, determining that the detection data is that there is a cigarette package on the surface of the feeler;

[0099] When the cigarette package size parameter is inconsistent with the preset size parameter, acquiring detection data collected by the cigarette package detection device at the small package outlet according to a preset time interval.

[0100] In some possible embodiments, after identifying the feeler contour feature and the at least one cigarette package contour feature in the detection data, the method further includes:

[0101] When it is detected that the distance between at least two of the cigarette package contour features and the feeler contour feature is in the preset distance range, determining a contact length between each of the cigarette package contour features and the feeler contour feature according to the position of the vertex in each of the cigarette package contour features in the feeler contour feature;

[0102] Taking the cigarette package contour feature corresponding to the maximum contact length as a target cigarette package contour feature, and determining a cigarette package size parameter based on the target cigarette package contour feature.

[0103] When the size parameter of the cigarette packet is consistent with the preset size parameter, it is determined that the detection data is that the cigarette packet exists on the surface of the dial piece;

[0104] When the size parameter of the cigarette packet is inconsistent with the preset size parameter, the detection data collected by the cigarette packet detection device at the packet outlet is obtained according to a preset time interval.

[0105] In some possible embodiments, after the first pulse signal is sent to the servo controller, before it is detected that the rotation angle of the dial piece meets the preset condition, the method further includes:

[0106] An overhead image containing the dial piece is obtained based on the cigarette dial detection device;

[0107] An axis of the dial piece is identified from the overhead image, and a rotation angle of the dial piece is determined according to a preset angle between a calibration axis and the axis of the dial piece.

[0108] In some possible embodiments, after the first pulse signal is sent to the servo controller, the method further includes:

[0109] When it is detected that the rotation angle of the dial piece does not meet the preset condition, a second pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate in reverse based on the second pulse signal, and the dial piece is rotated in reverse by the servo motor until the position of the dial piece is consistent with the initial position;

[0110] After the servo motor stops operating, a warning information is sent to a designated terminal.

[0111] In some possible embodiments, after the first pulse signal is sent to the servo controller, the method further includes:

[0112] When the warning signal fed back by the servo controller is received, a second pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate in reverse based on the second pulse signal, and the dial piece is rotated in reverse by the servo motor until the position of the dial piece is consistent with the initial position;

[0113] After the servo motor stops operating, a warning information is sent to a designated terminal.

[0114] In some possible embodiments, after the dial piece is flipped by the flipping device, the method further includes:

[0115] The relay is controlled to switch from the off state to the on state, so that the safety protection device performs protection processing on the cigarette packet in the vertical state.

[0116] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and / or hardware. The "unit" and "module" in the specification refer to software and / or hardware that can independently complete or cooperate with other components to complete a specific function, and the hardware may, for example, be a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), and the like.

[0117] Please refer to Figure 5 , Figure 5 A structure schematic diagram of another servo control device for package machine small bag outlet turnover provided by the embodiments of the present application is shown.

[0118] As Figure 5 shown, the servo control device 500 for package machine small bag outlet turnover can include at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.

[0119] The communication bus 502 can be used to realize the connection and communication of the above-mentioned various components.

[0120] The user interface 503 can include a key, and the optional user interface can also include a standard wired interface, a wireless interface.

[0121] The network interface 504 can include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, and the like.

[0122] The processor 501 can include one or more processing cores. The processor 501 connects various parts in the servo control device 500 for package machine small bag outlet turnover through various interfaces and lines, executes various functions of the servo control device 500 for package machine small bag outlet turnover and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 505, and calling data stored in the memory 505. Optionally, the processor 501 can be implemented in at least one of the hardware forms of DSP, FPGA, and PLA. The processor 501 can integrate a combination of one or several of CPU, GPU, and modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application program, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 501, but be realized by a separate chip.

[0123] The memory 505 can include a RAM and can also include a ROM. Optionally, the memory 505 includes a non-transitory computer-readable medium. The memory 505 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 505 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 505 can also be at least one storage device located away from the aforementioned processor 501. As shown in Figure 5 The memory 505 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a servo control application for the small package outlet turnover of the packaging machine.

[0124] Specifically, the processor 501 can be used to call the servo control application for the small package outlet turnover of the packaging machine stored in the memory 505, and specifically perform the following operations:

[0125] In some possible embodiments, determining that the detection data is that there is a cigarette package on the surface of the feeler includes:

[0126] Identifying the feeler contour feature and at least one cigarette package contour feature in the detection data;

[0127] When the distance between any one of the cigarette package contour features and the feeler contour feature is in a preset distance range, determining a cigarette package size parameter based on the cigarette package contour feature;

[0128] When the cigarette package size parameter is consistent with a preset size parameter, determining that the detection data is that there is a cigarette package on the surface of the feeler;

[0129] When the cigarette package size parameter is inconsistent with the preset size parameter, acquiring detection data collected by the cigarette package detection device at the small package outlet at a preset time interval.

[0130] In some possible embodiments, after identifying the feeler contour feature and at least one cigarette package contour feature in the detection data, the method further includes:

[0131] When the distance between at least two cigarette package contour features and the feeler contour feature is in a preset distance range, determining a contact length between each cigarette package contour feature and the feeler contour feature according to the position of the vertex in each cigarette package contour feature in the feeler contour feature;

[0132] Taking the cigarette package contour feature corresponding to the maximum contact length as a target cigarette package contour feature, and determining a cigarette package size parameter based on the target cigarette package contour feature;

[0133] When the size parameter of the cigarette packet is consistent with the preset size parameter, it is determined that the detection data is that the cigarette packet exists on the surface of the dial piece;

[0134] When the size parameter of the cigarette packet is inconsistent with the preset size parameter, the detection data collected by the cigarette packet detection device at the packet outlet is acquired according to a preset time interval.

[0135] In some possible embodiments, after the first pulse signal is sent to the servo controller, before it is detected that the rotation angle of the dial piece meets the preset condition, the method further includes:

[0136] An overhead image containing the dial piece is acquired based on the cigarette dial detection device;

[0137] An axis of the dial piece is identified from the overhead image, and a rotation angle of the dial piece is determined according to a preset angle between a calibration axis and the axis of the dial piece.

[0138] In some possible embodiments, after the first pulse signal is sent to the servo controller, the method further includes:

[0139] When it is detected that the rotation angle of the dial piece does not meet the preset condition, a second pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate in reverse based on the second pulse signal, and the dial piece is rotated in reverse by the servo motor until the position of the dial piece is consistent with the initial position;

[0140] After the servo motor stops operating, a warning information is sent to a designated terminal.

[0141] In some possible embodiments, after the first pulse signal is sent to the servo controller, the method further includes:

[0142] When the warning signal fed back by the servo controller is received, a second pulse signal is sent to the servo controller, so that the servo controller controls the servo motor to operate in reverse based on the second pulse signal, and the dial piece is rotated in reverse by the servo motor until the position of the dial piece is consistent with the initial position;

[0143] After the servo motor stops operating, a warning information is sent to a designated terminal.

[0144] In some possible embodiments, after the dial piece is flipped by the flipping device, the method further includes:

[0145] The relay is controlled to switch from the off state to the on state, so that the safety protection device performs protection processing on the cigarette packet in the vertical state.

[0146] The application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps of the method. The computer readable storage medium can include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0147] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the application is not limited to the order of the actions described, because according to the application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0148] In the above embodiments, the description of each embodiment is focused on, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0149] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only a logical function division. There can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some services interfaces, devices or units, and can be electrical or other forms.

[0150] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0151] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0152] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned memory includes: a U disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0153] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be performed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, which can include a flash disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

[0154] The above are only exemplary embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will easily think of embodiments of the present disclosure after considering the specification and practicing the disclosure herein. The present application is intended to cover any variations, uses or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and examples are only considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A servo control method for a package outlet turnover of a packaging machine, characterized in that, The method comprises the following steps: After receiving the start instruction, an enable signal is sent to the servo controller, and detection data collected by the cigarette packet detection device at the small packet outlet is obtained at a preset time interval; When it is determined that the detection data indicates that there is a cigarette packet on the surface of the pick piece, a first pulse signal is sent to the servo controller to control the servo motor to operate based on the first pulse signal, and the pick piece is rotated by the servo motor; wherein the pick piece is arranged at the small packet outlet; When it is detected that the rotation angle of the pick piece meets the preset condition, the pick piece is flipped by the flipping device to make the cigarette packet on the surface of the pick piece flip from a horizontal state to a vertical state; The determination that the detection data indicates that there is a cigarette packet on the surface of the pick piece comprises: Identifying the pick piece contour feature and at least one cigarette packet contour feature in the detection data; When it is detected that the distance between at least two cigarette packet contour features and the pick piece contour feature is within a preset distance interval, the contact length between each cigarette packet contour feature and the pick piece contour feature is determined according to the position of the vertex in each cigarette packet contour feature in the pick piece contour feature; The cigarette packet contour feature corresponding to the maximum contact length is taken as a target cigarette packet contour feature, and a cigarette packet size parameter is determined based on the target cigarette packet contour feature; When the cigarette packet size parameter is consistent with the preset size parameter, it is determined that the detection data indicates that there is a cigarette packet on the surface of the pick piece; When the cigarette packet size parameter is inconsistent with the preset size parameter, detection data collected by the cigarette packet detection device at the small packet outlet is obtained at a preset time interval.

2. The method of claim 1, wherein, After the first pulse signal is sent to the servo controller, before the rotation angle of the pick piece meets the preset condition, the method further comprises the following steps: An overhead image containing the pick piece is obtained based on the cigarette pick detection device; The axis of the pick piece is identified from the overhead image, and the rotation angle of the pick piece is determined according to the angle between the preset calibration axis and the axis of the pick piece.

3. The method of claim 1, wherein, After the first pulse signal is sent to the servo controller, the method further comprises the following steps: When it is detected that the rotation angle of the pick piece does not meet the preset condition, a second pulse signal is sent to the servo controller to control the servo motor to operate in reverse based on the second pulse signal, and the pick piece is rotated in reverse by the servo motor until the pick piece position is consistent with the initial position; After the servo motor stops operating, a warning information is sent to a designated terminal.

4. The method of claim 3, wherein, After the first pulse signal is sent to the servo controller, the method further comprises the following steps: When the warning signal fed back by the servo controller is received, the second pulse signal is sent to the servo controller to control the servo motor to operate in reverse based on the second pulse signal, and the pick piece is rotated in reverse by the servo motor until the pick piece position is consistent with the initial position; After the servo motor stops operating, the warning information is sent to the designated terminal.

5. The method of claim 1, wherein, After the flipping device flips the dial, the method further comprises: Controlling the relay to switch from the off state to the on state, so that the safety device protects the cigarette package in the vertical state.

6. A servo control device for the turnover of the outlet of a packaging machine packet, characterized in that, The method comprises: The data acquisition module is configured to, after receiving the start instruction, send an enable signal to the servo controller, and acquire detection data collected by the cigarette package detection device at the small package outlet at a preset time interval; The servo control module is configured to, when the detection data indicates that there is a cigarette package on the surface of the dial, send a first pulse signal to the servo controller, so that the servo controller controls the servo motor to operate based on the first pulse signal, and the dial is rotated by the servo motor; wherein the dial is arranged at the small package outlet; The cigarette package flipping module is configured to, when the rotation angle of the dial meets a preset condition, flip the dial based on a flipping device, so that the cigarette package on the surface of the dial is flipped from a horizontal state to a vertical state; The method further comprises: Identifying a dial contour feature and at least one cigarette package contour feature in the detection data; When the distance between at least two cigarette package contour features and the dial contour feature is in a preset distance range, determining the contact length between each cigarette package contour feature and the dial contour feature based on the position of the vertex in each cigarette package contour feature in the dial contour feature; Determining a target cigarette package contour feature corresponding to the maximum contact length, and determining a cigarette size parameter based on the target cigarette package contour feature; When the cigarette size parameter is consistent with a preset size parameter, determining that the detection data indicates that there is a cigarette package on the surface of the dial; When the cigarette size parameter is inconsistent with the preset size parameter, acquiring detection data collected by the cigarette package detection device at the small package outlet at a preset time interval.

7. A servo control device for the turnover of the outlet of a packaging machine packet, characterized in that, The method comprises a processor and a memory; The processor is connected to the memory; The memory is configured to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, to execute the steps of the method according to any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer-readable storage medium stores instructions, which, when executed on a computer or processor, cause the computer or processor to perform the steps of the method according to any one of claims 1-5.

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