A method and device for compressing and packaging textiles

Abstract

The present invention relates to the technical field of textile packaging, and in particular to a textile compression packaging method and equipment. First, the placement of the textile package to be compressed is adjusted in an initial state according to the placement inclination of the textile package to be compressed, so as to improve the subsequent sealing quality. Then, based on the grayscale distribution in the moving continuous frame image during the movement of the industrial camera, a secondary fixed position is determined when an empty packaging bag can enter the field of view of the industrial camera. After the industrial camera is fixed at the secondary fixed position, the final length of the empty packaging bag is determined by the change of edge features during the movement of the textile package to be compressed, so that the industrial camera at the final fixed position determined according to the length of the empty packaging bag determines the final placement position of the textile package to be compressed, so that the quality and efficiency of the textile compression packaging are higher.

Description

Technical Field

[0001] The invention relates to the technical field of textile packaging, and in particular to a textile compression packaging method and equipment. Background Art

[0002] The textile compression packaging machine is a packaging equipment specially designed for textiles. Compared with ordinary compressors, its main function is to package fluffy textiles in a compressed state to reduce the packaging volume and reduce storage and transportation costs. Existing textile compression packaging machines generally use pneumatic or hydraulic methods to achieve compression. By adjusting the compression stroke and pressure, effective compression of textiles of different volumes can be achieved. After compression, the volume of textiles can be greatly reduced, which is convenient for storage and transportation. Compression packaging mostly uses composite film packaging bags, which have good sealing and moisture resistance. The main sealing methods include hot pressing sealing and rolling sealing, which can ensure the sealing and appearance quality of the packaging.

[0003] During the working process of the existing textile compression packaging machine, the textile to be compressed needs to be placed on the workbench first, and then the textile to be compressed is placed in a suitable position manually and then compressed and packaged through a compression plate; however, the suitable placement positions corresponding to textiles to be compressed in different forms are usually different, and the manual placement method not only relies on operating experience but also has low packaging efficiency, resulting in low quality and efficiency of textile compression packaging. Summary of the invention

[0004] The present application provides a method and device for compressing and packaging textiles. First, the placement of the textile package to be compressed is adjusted in an initial state according to the placement inclination of the textile package to be compressed, so as to improve the subsequent sealing quality. Then, based on the grayscale distribution in the moving continuous frame images during the movement of the industrial camera, a secondary fixed position is determined when the empty packaging bag can enter the field of view of the industrial camera. After the industrial camera is fixed at the secondary fixed position, the final length of the empty packaging bag is determined by the change of edge features during the movement of the textile package to be compressed. The industrial camera at the final fixed position determined according to the length of the empty packaging bag determines the final placement position of the textile package to be compressed, which solves the problem that the appropriate placement positions corresponding to textiles to be compressed in different forms are usually different, resulting in the manual placement method not only relying on operating experience but also having low packaging efficiency, so that the quality and efficiency of textile compression packaging are higher.

[0005] The present application provides a method for compressing and packaging textile products, comprising the following steps:

[0006] In the initial state of the textile compression package, at least two initial state continuous frame images corresponding to the textile package to be compressed are obtained by an industrial camera;

[0007] Determine the placement inclination of the textile package to be compressed according to all the initial state continuous frame images; adjust the placement of the textile package to be compressed according to the placement inclination; after the placement of the textile package to be compressed is adjusted, determine the secondary fixed position of the industrial camera according to the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera;

[0008] After the industrial camera is fixed at the secondary fixed position, the length of the remaining packaging bag of the textile package to be compressed is determined according to the change of edge features in each moving continuous frame image obtained during the movement of the textile package to be compressed; and the final fixed position of the industrial camera is determined according to the length of the remaining packaging bag;

[0009] After the industrial camera is fixed at the final fixed position, the textile package to be compressed is moved according to the position of the textile package to be compressed in the continuous frame images taken by the industrial camera to determine the final placement position of the textile package to be compressed; the textile compression packaging is performed according to the final placement position of the package.

[0010] Furthermore, the process of obtaining the placement inclination includes:

[0011] Obtain an edge image corresponding to each initial state continuous frame image by using Canny edge detection; take the two longest edge line segments in the edge image as edge feature line segments; determine the horizontal angle tangent value of each edge feature line segment according to the overall inclination of the edge feature line segments;

[0012] The placement inclination of the textile package to be compressed is determined according to the average of the horizontal angle tangent values ​​of all edge feature line segments corresponding to all initial state continuous frame images.

[0013] Furthermore, the process of obtaining the horizontal angle tangent value includes:

[0014] A connecting line between the starting point and the end point of each edge feature line segment is obtained, and the tangent value of the angle between the connecting line and the horizontal plane is used as the horizontal angle tangent value of each edge feature line segment.

[0015] Furthermore, the process of adjusting the placement of the textile package to be compressed according to the placement inclination includes:

[0016] When the placement inclination is greater than a preset inclination threshold, adjusting the placement of the textile package to be compressed until the placement inclination obtained is less than or equal to the preset inclination threshold;

[0017] When the placement inclination is less than or equal to a preset inclination threshold, no placement adjustment is performed on the textile package to be compressed.

[0018] Furthermore, the process of acquiring the secondary fixed position includes:

[0019] After the textile package to be compressed is placed and adjusted, the textile package to be compressed is fixed, and each moving continuous frame image acquired by the industrial camera during the movement of the moving groove is used as the first adjustment continuous frame image; the area surrounded by the image boundary of the first adjustment continuous frame image and the corresponding two edge feature line segments is used as the corresponding textile package feature area;

[0020] In each first adjusted continuous frame image, the grayscale values ​​of all pixels in the textile packaging feature area are segmented by OTSU threshold, and the number of pixels with grayscale values ​​lower than the first segmentation threshold is used as the number of pixels in the textile area; the number of pixels with grayscale values ​​greater than or equal to the first segmentation threshold is used as the number of pixels in the empty packaging bag area; the difference between the number of pixels in the textile area and the number of pixels in the empty packaging bag area is used as the characteristic difference of the number of pixels in each first adjusted continuous frame image;

[0021] In time sequence, the first adjusted continuous frame image in which the pixel quantity feature difference appears for the first time less than a preset quantity threshold is used as the reference camera fixed image; the industrial camera is photographed to a position corresponding to the reference camera fixed image as the secondary fixed position of the industrial camera.

[0022] Furthermore, the process of obtaining the length of the remaining packaging bag includes:

[0023] After the industrial camera is fixed at the secondary fixed position, the conveyor belt is controlled to run and drive the textile package to be compressed to move away from the sealing member, and each moving continuous frame image collected by the industrial camera after the textile package to be compressed passes through the secondary fixed position during the movement process is used as the second adjustment continuous frame image;

[0024] The pixel point corresponding to the longest edge line segment in the edge image corresponding to each second adjusted continuous frame image is used as the reference pixel point; and the vertical coordinate range corresponding to the pixel coordinate of the reference pixel point in each second adjusted continuous frame image is calculated;

[0025] The average of all ordinate extreme differences corresponding to a preset number of second adjusted continuous frame images before each second adjusted continuous frame image is used as the contrast extreme difference mean of each second adjusted continuous frame image; and the edge feature change value of each second adjusted continuous frame image is determined according to the difference between the ordinate extreme difference of each second adjusted continuous frame image and the corresponding contrast extreme difference mean;

[0026] In time sequence, the second adjusted continuous frame image in which the edge feature change value is less than or equal to 0 for the first time is used as the determination continuous frame image;

[0027] The length of the remaining packaging bag is determined by determining the length distribution of the sub-curve segments in the edge feature line segments in the continuous frame images.

[0028] Furthermore, the process of determining the length of the remaining packaging bag according to the length distribution of the sub-curve segments in the edge segments in the continuous frame images includes:

[0029] In the continuous frame image, the length difference between two edge feature line segments is calculated; a two-dimensional coordinate system is constructed with the vertex at the lower left corner of the continuous frame image as the origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis;

[0030] When the length difference is less than a preset difference threshold, the longest edge feature line segment is used as the edge line segment to be analyzed;

[0031] When the length difference is greater than a preset difference threshold, the line segment consisting of all the pixel points from the pixel point with the largest ordinate value on the longest edge feature line segment to the boundary of the continuous frame image is taken as the edge line segment to be analyzed along the clockwise direction of the longest edge feature line segment;

[0032] Perform curve fitting on the edge segment to be analyzed to obtain a corresponding fitting curve; use the extreme points on the fitting curve as interval points to divide the sub-curve segments, and determine at least two sub-curve segments corresponding to the fitting curve; calculate the mean tangent slope of all data points on each sub-curve segment; and use the length of the sub-curve segment with the largest mean tangent slope as the length of the remaining packaging bag.

[0033] Furthermore, the process of obtaining the final fixed position includes:

[0034] The position corresponding to the remaining length of the packaging bag from the sealing piece is used as the final fixed position of the industrial camera.

[0035] Furthermore, the process of obtaining the final placement position of the package includes:

[0036] After the final fixed position is determined, the industrial camera and the conveyor belt are controlled to move toward the sealing member at the same moving speed, and the industrial camera is fixed when it moves to the final fixed position;

[0037] The moving continuous frame images captured by the industrial camera after the compressed textile package passes through the final fixed position during the movement are used as the third adjusted continuous frame images; the textile package feature area corresponding to each third adjusted continuous frame image is obtained; the pixel points with grayscale values ​​lower than the second segmentation threshold in each third adjusted continuous frame image are used as the textile area pixel points; the second segmentation threshold is obtained by performing OTSU threshold segmentation on the grayscale values ​​of all pixel points in the textile package feature area of ​​the third adjusted continuous frame images;

[0038] The maximum distance between the pixel points of the textile area on the side of the vertical midline close to the sealing member corresponding to each third adjusted continuous frame image and the vertical midline is used as the final determination distance of each third adjusted continuous frame image;

[0039] In the time sequence, when the final judgment distance appears for the first time to be greater than half of the length of the empty packaging bag, the conveyor belt is stopped and the position corresponding to the textile package to be compressed is used as the final placement position of the package.

[0040] A textile compression packaging device, comprising a main box, a mounting frame, a conveyor belt, a control module and an image acquisition device; the image acquisition device comprises a moving slot, a moving part and an industrial camera; the industrial camera is mounted at one end of the moving part, the other end of the moving part is mounted in the moving slot, a driving device is present in the moving slot, and is used to control the moving part to drive the industrial camera to move, and the industrial camera signal is used to capture continuous frame images of a textile package to be compressed located on the conveyor belt; the moving slot is located on the mounting frame, the mounting frame is mounted above the main box, and the conveyor belt is on the upper surface of the main box; the industrial camera signal is connected to the control module; according to the control module, in the initial state of the textile compression package, at least two initial state continuous frame images corresponding to the textile package to be compressed are acquired through the industrial camera;

[0041] Determine the placement inclination of the textile package to be compressed according to all the initial state continuous frame images; adjust the placement of the textile package to be compressed according to the placement inclination; after the placement of the textile package to be compressed is adjusted, determine the secondary fixed position of the industrial camera according to the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera;

[0042] After the industrial camera is fixed at the secondary fixed position, the length of the remaining packaging bag of the textile package to be compressed is determined according to the change of edge features in each moving continuous frame image obtained during the movement of the textile package to be compressed; and the final fixed position of the industrial camera is determined according to the length of the remaining packaging bag;

[0043] After the industrial camera is fixed at the final fixed position, the textile package to be compressed is moved according to the position of the textile package to be compressed in the continuous frame images taken by the industrial camera to determine the final placement position of the textile package to be compressed; the textile compression packaging is performed according to the final placement position of the package.

[0044] This application has the following beneficial effects:

[0045] The present application first determines the placement inclination of the textile package to be compressed based on all initial state continuous frame images, and adjusts the placement of the textile package to be compressed based on the placement inclination, so that the subsequent sealing quality is higher, based on the characteristic that the flatter the placement of the textile package to be compressed, that is, the lower the inclination, the higher the quality of the subsequent sealing.

[0046] In order to allow enough space for the textiles to be compressed, it is usually necessary to reserve a certain amount of space on the basis of the original packaging bag. The length of the remaining packaging bag reserved for textiles to be compressed with different shape characteristics is different. Therefore, it is necessary to first determine the length of the remaining packaging bag to further reserve reasonable space for compression.

[0047] To calculate the length of the empty packaging bags, the industrial camera must first be able to capture the empty packaging bags. The empty packaging bags are usually transparent, and the grayscale values ​​of the corresponding pixels are usually high. Therefore, the secondary fixed position when the empty packaging bags can enter the field of view of the industrial camera is determined according to the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera; and after the secondary fixed position, the final length of the empty packaging bags is determined according to the change of edge features during the movement of the textile package to be compressed in combination with the edge inclination characteristics of the empty packaging bags; thus, after adjusting the industrial camera to a suitable final fixed position according to the length of the empty packaging bags, the final placement position of the package in the reserved space is adaptively determined according to the movement of the textile package to be compressed in the continuous frame images taken by the industrial camera, so that the quality and efficiency of the compressed packaging of textiles are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of the installation method of a scraper and a sealing member of a textile compression packaging device provided by one embodiment of the present invention;

[0050] Figure 2 A schematic diagram of an installation method of an industrial camera for a textile compression packaging device provided by an embodiment of the present invention;

[0051] Figure 3 A flow chart of a textile compression packaging method provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of a textile compression packaging method and equipment proposed according to the present invention, its specific implementation method, structure, characteristics and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment, and the specific features, structures or characteristics in one or more embodiments may be combined in any suitable form. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0053] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0054] The specific scheme of a textile compression packaging method and equipment provided by the present invention is described in detail below with reference to the accompanying drawings.

[0055] A textile compression packaging device embodiment:

[0056] The present application provides a textile compression packaging device, including a main box, a mounting frame, a conveyor belt, a control module and an image acquisition device; the patent document with publication number CN208233527U in the prior art discloses a textile compression packaging machine, wherein the frame 1 corresponds to the main box in the present application, and the bracket 3 corresponds to the mounting frame in the present application. Furthermore, the present application also includes a conveyor belt, a scraper, a sealing member, a control module and an image acquisition device on the basis of a textile compression packaging machine. The scraper is located at the lower end of a sub-cylinder in a textile compression packaging machine, and a notch is provided on the scraper. Sealing member 1 can pass through the notch and contact sealing member 2. While the final placement position of the package is finally determined for textile compression packaging, sealing member 1 also runs downward and contacts sealing member 2, and the scraper flattens the remaining packaging bags to ensure the compression quality of the seal; please refer to Figure 1 , which shows a schematic diagram of the installation method of a scraper and a sealing member of a textile compression packaging device provided by an embodiment of the present invention, wherein: For the auxiliary cylinder, For sealing piece 1, For sealing piece 2, For scraper.

[0057] Furthermore, the image acquisition device includes a moving slot, a moving part and an industrial camera, the industrial camera is installed at one end of the moving part, the other end of the moving part is installed in the moving slot, there is a driving device in the moving slot, which is used to control the moving part to drive the industrial camera to move, and the industrial camera signal is used to capture continuous frame images of the textile package to be compressed on the conveyor belt; the moving slot is located on the mounting frame, the mounting frame is installed above the main box body, and the conveyor belt is on the upper surface of the main box body. Figure 2 , which shows a schematic diagram of an industrial camera installation method for a textile compression packaging device provided by an embodiment of the present invention, in Figure 1 middle, For the main box, For mounting bracket, For mobile slots, For mobile parts, The industrial camera signal is connected to the control module, which can be a data processing chip such as a CPU or MCU, or a data processing device such as a computer host. The output end of the industrial camera is connected to the input end of the control module, which can be connected by wire through a data transmission line or by wireless communication such as Bluetooth or WiFi.

[0058] Then, according to the control module, the continuous frame images captured by the industrial camera are used to compress and package the textiles according to a predetermined data processing process; the predetermined data processing process includes:

[0059] According to the control module, in the initial state of the textile compression package, at least two initial state continuous frame images corresponding to the textile package to be compressed are obtained through an industrial camera;

[0060] Determine the placement inclination of the textile package to be compressed according to all the initial state continuous frame images; adjust the placement of the textile package to be compressed according to the placement inclination; after the placement of the textile package to be compressed is adjusted, determine the secondary fixed position of the industrial camera according to the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera;

[0061] After the industrial camera is fixed at the secondary fixed position, the length of the remaining packaging bag of the textile package to be compressed is determined according to the change of edge features in each moving continuous frame image obtained during the movement of the textile package to be compressed; the final fixed position of the industrial camera is determined according to the length of the remaining packaging bag;

[0062] After the industrial camera is fixed at the final fixed position, the textile package to be compressed is moved according to the position of the textile package to be compressed in the continuous frame images taken by the industrial camera to determine the final placement position of the textile package to be compressed; the textile compression packaging is performed according to the final placement position of the package.

[0063] The detailed description of the predetermined data processing process is shown in an embodiment of a textile compression packaging method.

[0064] A method for compressing and packaging textile products:

[0065] See also Figure 3 , which shows a flow chart of a textile compression packaging method provided by an embodiment of the present invention, the method comprising:

[0066] Step S301: in the initial state of the textile compression package, at least two initial state continuous frame images corresponding to the textile package to be compressed are acquired by an industrial camera.

[0067] In a specific implementation of an embodiment of the present invention, in the initial state of the textile compression package, the industrial camera is fixed at the position farthest from the sealing piece that the industrial camera can move; the textile package to be compressed is placed on the conveyor belt at the position farthest from the sealing piece, and the industrial camera is enabled to photograph the textile to be compressed; in addition, in the initial state of the textile compression package, five initial state continuous frame images corresponding to the textile package to be compressed are obtained by the industrial camera to prevent the influence of accidental factors.

[0068] It should be noted that in order to reduce the waste of control resources, the industrial camera in the embodiment of the present invention takes a picture at each sampling moment in the entire process, and uses the image obtained each time as a continuous frame image, and only selects the required continuous frame images for subsequent analysis. Therefore, in the initial state of the textile compression package, five continuous frame images are arbitrarily selected as the required initial state continuous frame images; and in a specific implementation method of the embodiment of the present invention, the sampling frequency is set to collect once per second, that is, the time interval between two adjacent sampling moments is 1 second.

[0069] Step S302: determining the placement inclination of the textile package to be compressed according to all initial state continuous frame images; adjusting the placement of the textile package to be compressed according to the placement inclination; after the placement adjustment of the textile package to be compressed, determining the secondary fixed position of the industrial camera according to the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera.

[0070] Firstly, according to the characteristic that the flatter the placement of the textile package to be compressed, that is, the lower the inclination, the higher the quality of subsequent sealing, the placement inclination of the textile package to be compressed is determined according to all initial state continuous frame images, and the placement of the textile package to be compressed is adjusted according to the placement inclination, so that the subsequent sealing quality is higher.

[0071] Then, in order to allow the textiles to have enough space for compression, it is usually necessary to reserve a certain amount of space on the basis of the original packaging bag. The length of the empty packaging bag reserved for textile packages to be compressed with different shape characteristics is different. Therefore, it is necessary to first determine the length of the empty packaging bag to further reserve reasonable space for compression; that is, the textile package to be compressed in the embodiment of the present invention includes the empty packaging bag area and the textile itself area.

[0072] To calculate the length of the empty packaging bags, the industrial camera must first be able to capture the empty packaging bags. The empty packaging bags are usually transparent, and the grayscale values ​​of the corresponding pixels are usually high. Therefore, the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera is used to determine the secondary fixed position when the empty packaging bags can enter the field of view of the industrial camera.

[0073] Preferably, in some possible implementations of the embodiments of the present invention, the process of acquiring the placement inclination includes:

[0074] The edge image corresponding to each initial state continuous frame image is obtained by canny edge detection; the two longest edge line segments in the edge image are used as edge feature line segments; according to the overall inclination of the edge feature line segments, the horizontal angle tangent value of each edge feature line segment is determined. First, the textile package to be compressed is usually placed horizontally on the conveyor belt, and the shooting direction of the industrial camera is perpendicular to the moving direction of the conveyor belt. Therefore, the two edge line segments in the edge image corresponding to the initial state continuous frame image are usually the upper and lower edge lines corresponding to the textile package to be compressed, and the inclination of the two edge lines is also the placement inclination of the textile package to be compressed. Therefore, the degree of inclination can be characterized by obtaining the horizontal angle through the overall inclination of the edge feature line segment. It should be noted that in order to ensure that the obtained edge feature line segment represents the upper and lower edges of the textile package to be compressed, the distance between the camera and the textile package to be compressed in the embodiment of the present invention needs to ensure that the textile package to be compressed can run through the entire image area of ​​the industrial camera in the initial state of the textile compression package; and canny edge detection is a technical means well known to those skilled in the art, and is not further defined and elaborated here.

[0075] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the horizontal angle tangent value includes:

[0076] Get the line between the start point and the end point of each edge feature line segment, and use the tangent value of the angle between the line and the horizontal plane as the horizontal angle tangent value of each edge feature line segment. The larger the horizontal angle tangent value, the more inclined it is.

[0077] The placement inclination of the textile package to be compressed is determined according to the average of the horizontal angle tangent values ​​of all edge feature line segments corresponding to all initial state continuous frame images. The placement inclination is further characterized in combination with the average of the horizontal angle tangent values ​​of all edge feature line segments corresponding to all initial state continuous frame images to avoid the influence of accidental factors; the greater the placement inclination, the greater the angle between the placement of the textile package to be compressed and the horizontal direction, that is, the placement deviation of the textile package to be compressed is too large, and the operator needs to adjust the textile package to be compressed.

[0078] Preferably, in some possible implementations of the embodiments of the present invention, the process of adjusting the placement of the textile package to be compressed according to the placement inclination includes:

[0079] When the placement inclination is greater than the preset inclination threshold, the placement of the compressed textile package is adjusted until the placement inclination is less than or equal to the preset inclination threshold. In a specific implementation of the embodiment of the present invention, the preset inclination threshold is set to That is, when the average horizontal angle of all edge feature line segments corresponding to all initial state continuous frame images is greater than 15 degrees, the operator is required to adjust the compressed textile package and recalculate the placement inclination after the adjustment until the placement inclination is less than the preset inclination threshold.

[0080] When the placement inclination is less than or equal to a preset inclination threshold, no placement adjustment is performed on the textile package to be compressed; when the placement inclination is less than or equal to the preset inclination threshold, it indicates that the placement of the textile package to be compressed is within a reasonable horizontal range, and therefore no placement adjustment is required.

[0081] Preferably, in some possible implementations of the embodiments of the present invention, the process of acquiring the secondary fixed position includes:

[0082] After the textile package to be compressed is placed and adjusted, the textile package to be compressed is fixed, and each moving continuous frame image obtained by the industrial camera during the movement of the moving groove is used as the first adjustment continuous frame image; the area surrounded by the image boundary of the first adjustment continuous frame image and the corresponding two edge feature line segments is used as the corresponding textile package feature area. In a specific implementation of an embodiment of the present invention, in the initial state, the industrial camera is located at the position farthest from the sealing member that it can move to; and the textile package to be compressed is usually located near the sealing member for sealing, so in the initial state of the textile compression package, the industrial camera is usually unable to capture the empty packaging bag, so before analyzing the length of the empty packaging bag, it is necessary to enable the industrial camera to detect the existence of the empty packaging bag. In the process of the industrial camera moving along the moving groove toward the sealing member, the first adjustment continuous frame image captured will get closer and closer to the empty packaging bag area, and stop after being able to capture the empty packaging bag area. For the textile package to be compressed, the two edge line segments in the edge image corresponding to each first adjusted continuous frame image are usually the upper and lower edge lines corresponding to the textile package to be compressed, so the area surrounded by the two edge feature line segments is the area corresponding to the textile package to be compressed itself. In another specific implementation of the embodiment of the present invention, the first adjusted continuous frame images can be input into a trained convolutional neural network, and the textile package feature area corresponding to the textile package to be compressed itself in each first adjusted continuous frame image is output, which will not be further described here.

[0083] In each first adjusted continuous frame image, the grayscale values ​​of all pixels in the textile packaging feature area are segmented by OTSU threshold, and the number of pixels with grayscale values ​​lower than the first segmentation threshold is taken as the number of pixels in the textile area; the number of pixels with grayscale values ​​greater than or equal to the first segmentation threshold is taken as the number of pixels in the free packaging bag area; the difference between the number of pixels in the textile area and the number of pixels in the free packaging bag area is taken as the characteristic difference in the number of pixels in each first adjusted continuous frame image. It should be noted that OTSU threshold segmentation is a technical means well known to those skilled in the art, and is not further defined or elaborated herein, and in addition to adopting the OTSU threshold segmentation method, the implementer may also select the first segmentation threshold a priori according to the grayscale value of the textile area itself and the grayscale value of the free packaging bag area under prior environmental conditions, so that the first segmentation threshold can divide the textile area itself and the free packaging bag area.

[0084] The textile area and the empty packaging bag area both belong to the textile packaging feature area, while the empty packaging bag area is transparent and the corresponding grayscale value is usually large, and the grayscale value corresponding to the textile area is usually smaller than the empty packaging bag area, so the pixel points with grayscale values ​​lower than the first segmentation threshold usually correspond to the textile area, and the pixel points with grayscale values ​​higher than or equal to the first segmentation threshold usually correspond to the empty packaging bag area. It should be noted that in order to avoid the problem of large errors in the empty packaging bag area divided by the first segmentation threshold before the empty packaging bag appears, the embodiment of the present invention first calculates the maximum grayscale value in the textile packaging feature area in any initial state continuous frame image, and uses it as a spare threshold; when the grayscale value of the first segmentation threshold obtained by OTSU threshold segmentation is less than the spare threshold, the first segmentation threshold is replaced by the spare threshold, and in other cases, the spare threshold is not used for replacement; in the textile packaging feature area of ​​the initial state continuous frame image, there is only the textile area, so the first segmentation threshold is replaced by the spare threshold corresponding to the maximum grayscale value, which can avoid the problem of large errors in the empty packaging bag area divided by the first segmentation threshold before the empty packaging bag appears.

[0085] In the initial state, the empty packaging bag area does not appear in the first adjusted continuous frame image, so that the calculated pixel number feature difference of the first adjusted continuous frame image is usually the number of pixels in the textile area, and the corresponding pixel number feature difference is relatively large; after the empty packaging bag area appears, the pixel number feature difference will become smaller, and the more empty packaging bag areas appear, the smaller the corresponding pixel number feature difference; and the purpose of obtaining the secondary fixed position in this application is to be able to detect the existence of empty packaging bags, so further in the time sequence, the first adjusted continuous frame image where the pixel number feature difference is less than the preset number threshold for the first time appears is used as the reference camera fixed image; the industrial camera is photographed to the position corresponding to the reference camera fixed image as the secondary fixed position of the industrial camera. In a specific implementation of an embodiment of the present invention, the preset number threshold is set to two-thirds of the total number of pixels in the textile packaging feature area of ​​each first adjusted continuous frame image, and can be adjusted according to the specific implementation environment. When the first time that the feature difference in the number of pixel points appears to be less than the preset threshold, it means that an area with obvious features of empty packaging bags has appeared in the first adjusted continuous frame image. Therefore, it can be said that the existence of empty packaging bags has been detected, so the position corresponding to the fixed image of the reference camera taken by the industrial camera is used as the secondary fixed position of the industrial camera.

[0086] Step S303: After the industrial camera is fixed at the secondary fixed position, the length of the remaining packaging bag of the textile package to be compressed is determined according to the change of edge features in each moving continuous frame image obtained during the movement of the textile package to be compressed; and the final fixed position of the industrial camera is determined according to the length of the remaining packaging bag.

[0087] The existence of empty packaging bags has been detected in the continuous frame images taken after the industrial camera is fixed at the secondary fixed position, but the empty packaging bags are usually not completely exposed in the continuous frame images. Therefore, in order to further obtain the length of the empty packaging bags, the textile packages to be compressed can be moved away from the sealing parts with the help of a conveyor belt, so that the empty packaging bags are gradually and completely exposed in the continuous frame images, thereby accurately calculating the length of the empty packaging bags.

[0088] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the length of the remaining packaging bag includes:

[0089] After the industrial camera is fixed at the secondary fixed position, the conveyor belt is controlled to run and drive the textile package to be compressed to move away from the sealing member, and each moving continuous frame image collected by the industrial camera after the secondary fixed position during the movement of the textile package to be compressed is used as the second adjustment continuous frame image; the pixel point corresponding to the longest edge line segment in the edge image corresponding to each second adjustment continuous frame image is used as the reference pixel point; the vertical coordinate range corresponding to the pixel coordinate of the reference pixel point in each second adjustment continuous frame image is calculated. Since the empty packaging bag itself is relatively soft, the corresponding edge line in the image usually has a certain inclination angle, and the inclination angle is larger than the area of ​​the textile itself; therefore, during the movement of the textile package to be compressed, the area of ​​the empty packaging bag in the second adjustment continuous frame image will become larger and larger, so that the vertical coordinate range gradually increases. In a specific implementation of an embodiment of the present invention, the preset number is set to 3. The purpose of setting it to 3 is to prevent the influence of accidental factors from causing deviations in the position where the empty packaging bag is completely exposed.

[0090] The average of all ordinate range differences corresponding to the preset number of second adjustment continuous frame images before each second adjustment continuous frame image is used as the contrast range mean of each second adjustment continuous frame image; the edge feature change value of each second adjustment continuous frame image is determined according to the difference between the ordinate range difference of each second adjustment continuous frame image and the corresponding contrast range mean. When the empty packaging bag area continues to appear, since the ordinate range difference will gradually increase, under the corresponding conditions, the difference between the ordinate range difference of each second adjustment continuous frame image and the corresponding contrast range mean is always greater than 0; after the empty packaging bag area completely appears in the industrial camera, the empty packaging bag area reaches the maximum value, so the ordinate maximum value in the textile packaging feature area will not change, so when the difference between the ordinate range difference of the second adjustment continuous frame image and the corresponding contrast range mean is less than or equal to 0, that is, when the edge feature change value is less than or equal to 0, it can be said that the empty packaging bag area has completely entered the second adjustment continuous frame image.

[0091] In a specific implementation of the embodiment of the present invention, the process of obtaining the edge feature change value is expressed by the formula: ;in, For the A second adjustment of edge feature change values ​​of consecutive frame images; For the The second adjustment of the vertical coordinate range corresponding to the continuous frame images; is the preset quantity; For the The second adjustment before the continuous frame image The second adjustment of the vertical coordinate range corresponding to the continuous frame images; For the The second adjustment corresponds to the mean value of the contrast range of the continuous frame images; is the absolute value symbol.

[0092] When the edge feature change value is less than or equal to 0, it indicates that the empty packaging bag area has completely entered the second adjusted continuous frame image; therefore, further in time sequence, the second adjusted continuous frame image in which the edge feature change value is less than or equal to 0 appears for the first time is used as the judgment continuous frame image; that is, the empty packaging bag area in the judgment continuous frame image is usually completely exposed, so the length of the empty packaging bag is further determined based on the length distribution of the sub-curve segments in the edge feature line segments in the judgment continuous frame image.

[0093] Preferably, in some possible implementations of the embodiments of the present invention, the process of determining the length of the remaining packaging bag according to the length distribution of the sub-curve segments in the edge segments in the continuous frame images includes:

[0094] In the determination of continuous frame images, the length difference between two edge feature line segments is calculated; a two-dimensional coordinate system is constructed with the vertex at the lower left corner of the determination continuous frame image as the origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis. First, there may be two situations in the determination of continuous frame images, one of which is that the two edge feature line segments are still the upper and lower edge lines of the textile package to be compressed, and the lengths of the two edge lines are usually close; the other is that the upper and lower edge lines of the textile package to be compressed intersect to form an edge line after the empty packaging bag completely appears; and the edge feature line segments are usually long. When the upper and lower edge lines of the textile package to be compressed intersect to form an edge line, the length of the remaining edge lines is usually much smaller than the longest edge feature line segment; therefore, the length difference between the two edge feature line segments is calculated to analyze the two situations separately. In a specific implementation of an embodiment of the present invention, the preset difference threshold is set to half of the longest edge feature line segment in the determination of continuous frame images, which can be adjusted according to the specific implementation environment.

[0095] When the length difference is less than a preset difference threshold, the longest edge feature line segment is used as the edge line segment to be analyzed; when the two edge feature line segments are still the upper and lower edge lines of the textile package to be compressed, since the two edge lines are relatively close in length and shape, any one of the edge feature line segments can be selected for analysis. In this embodiment of the present invention, the longest edge feature line segment is used as the edge line segment to be analyzed.

[0096] When the length difference is greater than the preset difference threshold, along the clockwise direction of the longest edge feature line segment, the line segment composed of all the pixel points from the pixel point with the largest ordinate value on the longest edge feature line segment to the boundary of the continuous frame image is used as the edge line segment to be analyzed. Since the upper and lower edge lines of the textile package to be compressed intersect to form an edge line after the free packaging bag completely appears, it can be extended in the clockwise direction according to the characteristic that the pixel point with the largest ordinate is usually the free packaging bag area, and the corresponding edge line segment to be analyzed can also be obtained; it should be noted that the pixel point with the largest ordinate at this time is analogous to the segmentation point, and the upper and lower edge lines of the textile package to be compressed that have intersected are forcibly segmented, so as to obtain the edge line segment to be analyzed required by the present application. In another specific implementation of the embodiment of the present invention, when the length difference is greater than the preset difference threshold, the pixel point with the largest ordinate value on the longest edge feature line segment is used as the discontinuity point, the longest edge feature line segment is divided into two sub-curve segments, and the longest sub-curve segment is used as the edge line segment to be analyzed.

[0097] The edge line segment to be analyzed is subjected to curve fitting to obtain the corresponding fitting curve; the extreme value points on the fitting curve are used as interval points to divide the sub-curve segments, and at least two sub-curve segments corresponding to the fitting curve are determined; the mean tangent slope of all data points on each sub-curve segment is calculated; the length of the sub-curve segment with the largest mean tangent slope is used as the length of the free packaging bag. According to the edge characteristics of the textile package to be compressed, the corresponding edge line segment to be analyzed usually includes the edge line corresponding to the textile area itself and the edge line corresponding to the free packaging bag, and the inclination of the edge line corresponding to the free packaging bag is usually significantly greater than the inclination of the edge line of the textile area itself. Therefore, after fitting the curve, there is usually only one extreme value point, that is, a non-differentiable point, and the extreme value point can clearly divide the edge line corresponding to the free packaging bag with different slopes and the edge line corresponding to the textile area itself. The mean tangent slope of each sub-curve segment is further calculated to characterize the tangent slope of each sub-curve segment; finally, the length of the sub-curve segment with the largest mean tangent slope is used as the length of the free packaging bag.

[0098] Preferably, the process of obtaining the final fixed position includes:

[0099] The position that is the length of the remaining packaging bag away from the sealing piece is used as the final fixed position of the industrial camera. By fixing the industrial camera at the position that is the length of the remaining packaging bag away from the sealing piece, it is possible to more clearly reserve a reasonable space for compression according to the length of the remaining packaging bag in the future.

[0100] Step S304: after fixing the industrial camera at the final fixed position, the textile package to be compressed is moved according to the position of the textile package to be compressed in the continuous frame images taken by the industrial camera to determine the final placement position of the textile package to be compressed; and the textile compression packaging is performed according to the final placement position of the package.

[0101] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the final placement position of the package includes:

[0102] After determining the final fixed position, control the industrial camera and the conveyor belt to move at the same speed toward the sealing piece, and fix the industrial camera at the final fixed position; at this time, the distance between the vertical center line of the continuous frame image captured by the industrial camera and the sealing piece is the remaining length of the packaging bag.

[0103] The moving continuous frame images collected by the industrial camera after the compressed textile package passes through the final fixed position during the movement are used as the third adjusted continuous frame images; the textile package feature area corresponding to each third adjusted continuous frame image is obtained; the pixel points with grayscale values ​​lower than the second segmentation threshold in each third adjusted continuous frame image are used as textile area pixel points; the second segmentation threshold is obtained by performing OTSU threshold segmentation on the grayscale values ​​of all pixel points in the textile package feature area of ​​the third adjusted continuous frame images; the farthest distance between the textile area pixel points on the side of the vertical center line corresponding to each third adjusted continuous frame image close to the sealing piece and the vertical center line is used as the final judgment distance of each third adjusted continuous frame image.

[0104] The distance between the vertical center line of the continuous frame images captured by the industrial camera and the sealing piece is the length of the remaining packaging bag, and the farthest distance between the pixel points of the textile area on the side of the vertical center line corresponding to the third adjusted continuous frame image close to the sealing piece and the vertical center line represents the distance between the position of the textile area itself closest to the sealing piece and the sealing piece; therefore, in order to ensure that there are enough remaining packaging bags to achieve sealing when sealing and to ensure that appropriate space can be reserved on both sides of the sealing piece for compression, further in the time sequence, when the final judgment distance is greater than half of the length of the remaining packaging bags for the first time, the conveyor belt is stopped and the position corresponding to the textile package to be compressed is used as the final placement position of the package; that is, at the final placement position of the package, half of the length of the remaining packaging bags passes over the sealing piece, indicating that there are enough remaining packaging bags to achieve sealing when sealing and appropriate space can be reserved on both sides of the sealing piece for compression. Finally, the textiles are compressed and packaged at the final packaging location to ensure the quality of the compressed packaging of the textiles. Compared with manual methods, the present application performs compressed packaging of textiles in an automated manner, and the corresponding compressed packaging of textiles is more efficient. Therefore, the present application can improve the quality and efficiency of compressed packaging of textiles.

[0105] To summarize, the present application first adjusts the placement of the textile package to be compressed in the initial state according to the placement inclination of the textile package to be compressed so as to improve the subsequent sealing quality, and then determines the secondary fixed position when the empty packaging bag can enter the field of view of the industrial camera based on the grayscale distribution in the moving continuous frame images during the movement of the industrial camera, and after fixing the industrial camera at the secondary fixed position, determines the final length of the empty packaging bag by the change of edge features during the movement of the textile package to be compressed, so that the industrial camera at the final fixed position determined according to the length of the empty packaging bag determines the final placement position of the textile package to be compressed, which solves the problem that the appropriate placement positions corresponding to textiles to be compressed in different forms are usually different, resulting in the manual placement method not only relying on operating experience but also having low packaging efficiency, so that the quality and efficiency of textile compression packaging are higher.

[0106] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0107] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A method for compressing and packaging textiles, characterized in that: The method comprises: In the initial state of the textile compression package, at least two initial state continuous frame images corresponding to the textile package to be compressed are obtained by an industrial camera; Determine the placement inclination of the textile package to be compressed according to all the initial state continuous frame images; adjust the placement of the textile package to be compressed according to the placement inclination; after the placement of the textile package to be compressed is adjusted, determine the secondary fixed position of the industrial camera according to the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera; After the industrial camera is fixed at the secondary fixed position, the length of the remaining packaging bag of the textile package to be compressed is determined according to the change of edge features in each moving continuous frame image obtained during the movement of the textile package to be compressed; and the final fixed position of the industrial camera is determined according to the length of the remaining packaging bag; After the industrial camera is fixed at the final fixed position, the textile package to be compressed is moved according to the position of the textile package to be compressed in the continuous frame images taken by the industrial camera to determine the final placement position of the textile package to be compressed; and the textile compression packaging is performed according to the final placement position of the package; The process of obtaining the secondary fixed position includes: After the textile package to be compressed is placed and adjusted, the textile package to be compressed is fixed, and each moving continuous frame image acquired by the industrial camera during the movement of the moving groove is used as the first adjustment continuous frame image; the area surrounded by the image boundary of the first adjustment continuous frame image and the corresponding two edge feature line segments is used as the corresponding textile package feature area; In each first adjusted continuous frame image, the grayscale values ​​of all pixels in the textile packaging feature area are segmented by OTSU threshold, and the number of pixels with grayscale values ​​lower than the first segmentation threshold is used as the number of pixels in the textile area; the number of pixels with grayscale values ​​greater than or equal to the first segmentation threshold is used as the number of pixels in the empty packaging bag area; the difference between the number of pixels in the textile area and the number of pixels in the empty packaging bag area is used as the characteristic difference of the number of pixels in each first adjusted continuous frame image; In time sequence, the first adjusted continuous frame image in which the pixel quantity feature difference appears for the first time less than the preset quantity threshold is used as the reference camera fixed image; the industrial camera is photographed at a position corresponding to the reference camera fixed image as the secondary fixed position of the industrial camera; The process of obtaining the final fixed position includes: The position of the remaining packaging bag length away from the sealing piece is used as the final fixed position of the industrial camera; The process of obtaining the final placement position of the package includes: After the final fixed position is determined, the industrial camera and the conveyor belt are controlled to move toward the sealing member at the same moving speed, and the industrial camera is fixed when it moves to the final fixed position; The moving continuous frame images captured by the industrial camera after the compressed textile package passes through the final fixed position during the movement are used as the third adjusted continuous frame images; the textile package feature area corresponding to each third adjusted continuous frame image is obtained; the pixel points with grayscale values ​​lower than the second segmentation threshold in each third adjusted continuous frame image are used as the textile area pixel points; the second segmentation threshold is obtained by performing OTSU threshold segmentation on the grayscale values ​​of all pixel points in the textile package feature area of ​​the third adjusted continuous frame images; The maximum distance between the pixel points of the textile area on the side of the vertical midline close to the sealing member corresponding to each third adjusted continuous frame image and the vertical midline is used as the final determination distance of each third adjusted continuous frame image; In the time sequence, when the final judgment distance appears for the first time to be greater than half of the length of the empty packaging bag, the conveyor belt is stopped and the position corresponding to the textile package to be compressed is used as the final placement position of the package.

2. A textile compression packaging method according to claim 1, characterized in that: The process of obtaining the placement inclination includes: Obtain an edge image corresponding to each initial state continuous frame image by using Canny edge detection; take the two longest edge line segments in the edge image as edge feature line segments; determine the horizontal angle tangent value of each edge feature line segment according to the overall inclination of the edge feature line segments; The placement inclination of the textile package to be compressed is determined according to the average of the horizontal angle tangent values ​​of all edge feature line segments corresponding to all initial state continuous frame images.

3. A textile compression packaging method according to claim 2, characterized in that: The process of obtaining the horizontal angle tangent value includes: A connecting line between the starting point and the end point of each edge feature line segment is obtained, and the tangent value of the angle between the connecting line and the horizontal plane is used as the horizontal angle tangent value of each edge feature line segment.

4. A textile compression packaging method according to claim 1, characterized in that: The process of adjusting the placement of the textile package to be compressed according to the placement inclination comprises: When the placement inclination is greater than a preset inclination threshold, adjusting the placement of the textile package to be compressed until the placement inclination obtained is less than or equal to the preset inclination threshold; When the placement inclination is less than or equal to a preset inclination threshold, no placement adjustment is performed on the textile package to be compressed.

5. A textile compression packaging method according to claim 2, characterized in that: The process of obtaining the length of the remaining packaging bag includes: After the industrial camera is fixed at the secondary fixed position, the conveyor belt is controlled to run and drive the textile package to be compressed to move away from the sealing member, and each moving continuous frame image collected by the industrial camera after the textile package to be compressed passes through the secondary fixed position during the movement process is used as the second adjustment continuous frame image; The pixel point corresponding to the longest edge line segment in the edge image corresponding to each second adjusted continuous frame image is used as the reference pixel point; and the vertical coordinate range corresponding to the pixel coordinate of the reference pixel point in each second adjusted continuous frame image is calculated; The average of all ordinate extreme differences corresponding to a preset number of second adjusted continuous frame images before each second adjusted continuous frame image is used as the contrast extreme difference mean of each second adjusted continuous frame image; and the edge feature change value of each second adjusted continuous frame image is determined according to the difference between the ordinate extreme difference of each second adjusted continuous frame image and the corresponding contrast extreme difference mean; In time sequence, the second adjusted continuous frame image in which the edge feature change value is less than or equal to 0 for the first time is used as the determination continuous frame image; The length of the remaining packaging bag is determined by determining the length distribution of the sub-curve segments in the edge feature line segments in the continuous frame images.

6. A textile compression packaging method according to claim 5, characterized in that: The process of determining the length of the remaining packaging bag according to the length distribution of the sub-curve segments in the edge segments in the continuous frame images includes: In the continuous frame image, the length difference between two edge feature line segments is calculated; a two-dimensional coordinate system is constructed with the vertex at the lower left corner of the continuous frame image as the origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis; When the length difference is less than a preset difference threshold, the longest edge feature line segment is used as the edge line segment to be analyzed; When the length difference is greater than a preset difference threshold, the line segment consisting of all the pixel points from the pixel point with the largest ordinate value on the longest edge feature line segment to the boundary of the continuous frame image is taken as the edge line segment to be analyzed along the clockwise direction of the longest edge feature line segment; Perform curve fitting on the edge segment to be analyzed to obtain a corresponding fitting curve; use the extreme points on the fitting curve as interval points to divide the sub-curve segments, and determine at least two sub-curve segments corresponding to the fitting curve; calculate the mean tangent slope of all data points on each sub-curve segment; and use the length of the sub-curve segment with the largest mean tangent slope as the length of the remaining packaging bag.

7. A textile compression packaging device, characterized in that: It comprises a main box, a mounting frame, a conveyor belt, a control module and an image acquisition device; the image acquisition device comprises a moving slot, a moving part and an industrial camera; the industrial camera is mounted at one end of the moving part, the other end of the moving part is mounted in the moving slot, a driving device is present in the moving slot, and is used to control the moving part to drive the industrial camera to move, and the industrial camera signal is used to capture continuous frame images of the textile package to be compressed located on the conveyor belt; the moving slot is located on the mounting frame, the mounting frame is installed above the main box, and the conveyor belt is on the upper surface of the main box; the industrial camera signal is connected to the control module; According to the control module, in the initial state of the textile compression package, at least two initial state continuous frame images corresponding to the textile package to be compressed are acquired by an industrial camera; Determine the placement inclination of the textile package to be compressed according to all the initial state continuous frame images; Adjusting the placement of the textile package to be compressed according to the placement inclination; After the placement and adjustment of the textile package to be compressed, the secondary fixed position of the industrial camera is determined according to the grayscale distribution in each moving continuous frame image obtained during the movement of the industrial camera; The process of obtaining the secondary fixed position includes: After the textile package to be compressed is placed and adjusted, the textile package to be compressed is fixed, and each moving continuous frame image acquired by the industrial camera during the movement of the moving groove is used as the first adjustment continuous frame image; the area surrounded by the image boundary of the first adjustment continuous frame image and the corresponding two edge feature line segments is used as the corresponding textile package feature area; In each first adjusted continuous frame image, the grayscale values ​​of all pixels in the textile packaging feature area are segmented by OTSU threshold, and the number of pixels with grayscale values ​​lower than the first segmentation threshold is used as the number of pixels in the textile area; the number of pixels with grayscale values ​​greater than or equal to the first segmentation threshold is used as the number of pixels in the empty packaging bag area; the difference between the number of pixels in the textile area and the number of pixels in the empty packaging bag area is used as the characteristic difference of the number of pixels in each first adjusted continuous frame image; In time sequence, the first adjusted continuous frame image in which the pixel quantity feature difference appears for the first time less than the preset quantity threshold is used as the reference camera fixed image; the industrial camera is photographed at a position corresponding to the reference camera fixed image as the secondary fixed position of the industrial camera; After the industrial camera is fixed at the secondary fixed position, the length of the remaining packaging bag of the textile package to be compressed is determined according to the change of edge features in each moving continuous frame image obtained during the movement of the textile package to be compressed; and the final fixed position of the industrial camera is determined according to the length of the remaining packaging bag; The process of obtaining the final fixed position includes: The position of the remaining packaging bag length away from the sealing piece is used as the final fixed position of the industrial camera; After the industrial camera is fixed at the final fixed position, the textile package to be compressed is moved according to the position of the textile package to be compressed in the continuous frame images taken by the industrial camera to determine the final placement position of the textile package to be compressed; and the textile compression packaging is performed according to the final placement position of the package; The process of obtaining the final placement position of the package includes: After the final fixed position is determined, the industrial camera and the conveyor belt are controlled to move toward the sealing member at the same moving speed, and the industrial camera is fixed when it moves to the final fixed position; The moving continuous frame images captured by the industrial camera after the compressed textile package passes through the final fixed position during the movement are used as the third adjusted continuous frame images; the textile package feature area corresponding to each third adjusted continuous frame image is obtained; the pixel points with grayscale values ​​lower than the second segmentation threshold in each third adjusted continuous frame image are used as the textile area pixel points; the second segmentation threshold is obtained by performing OTSU threshold segmentation on the grayscale values ​​of all pixel points in the textile package feature area of ​​the third adjusted continuous frame images; The maximum distance between the pixel points of the textile area on the side of the vertical midline close to the sealing member corresponding to each third adjusted continuous frame image and the vertical midline is used as the final determination distance of each third adjusted continuous frame image; In the time sequence, when the final judgment distance appears for the first time to be greater than half of the length of the empty packaging bag, the conveyor belt is stopped and the position corresponding to the textile package to be compressed is used as the final placement position of the package.

Images