Monitoring, feedback and rejection system before wrapping

Abstract

The invention discloses a pre-wrapping monitoring feedback rejection system, and relates to the technical field of pre-wrapping monitoring feedback rejection, the pre-wrapping monitoring feedback rejection system comprises a monitoring feedback rejection device and a processing analysis module, the monitoring feedback rejection device comprises a laser sensor, an electromagnetic valve, an F-shaped duckbilled flat fan-shaped nozzle and an adjustable material receiving box; the processing and analyzing module comprises an upstream and downstream collecting unit and a downstream analyzing and executing unit, existing boxes are directly conveyed by a conveying belt before the boxes are erected on the equipment, if the wrapping equipment is abnormal, the color boxes on the conveying belt need to be manually collected, a large amount of working hours are delayed, the production efficiency is affected, and the labor cost is increased; a monitoring, feedback and rejection device and a processing and analysis module are used for collecting the color boxes when the wrapping equipment is abnormal; according to the invention, the technical problem of preventing material blockage in abnormal processing of upstream and downstream equipment of on-line equipment is solved, the safety of on-line operation is improved, and the labor cost of a workshop is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of pre-wrapping monitoring feedback and rejection, and in particular to a pre-wrapping monitoring feedback and rejection system. Background Art

[0002] Wrapping equipment, also known as wrapping packaging machinery, refers to equipment used to package bulk products. In the automated production process, the conveyor belt in front of the equipment plays an important role in transporting products from one place to another. However, when the wrapping equipment fails, this process will be affected. At this time, manual intervention is required to collect the color boxes on the conveyor belt to avoid product accumulation, damage or production interruption. However, when manually collecting the color boxes on the conveyor belt, there are problems such as delaying a lot of working hours, affecting production efficiency and increasing labor costs. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the existing manual collection of color boxes on the conveyor belt wastes a lot of working hours, affects production efficiency and increases labor costs, and proposes a pre-wrapping monitoring feedback rejection system.

[0004] The purpose of the present invention can be achieved through the following technical solutions: a pre-wrapping monitoring feedback rejection system, including a monitoring feedback rejection device, a processing and analysis module and a grasping device; the monitoring feedback rejection device includes a laser sensor, a solenoid valve, an F-type duckbill flat fan-shaped nozzle and an adjustable material receiving box; the adjustable material receiving box includes a material receiving box 1 and a material receiving box, and the monitoring feedback rejection device is installed on both sides of the conveyor belt, specifically: the laser sensor is installed on the bracket, the F-type duckbill flat fan-shaped nozzle is installed on the bracket, and the laser sensor is located above the upstream end, the bracket is fixedly installed with the conveyor belt, and the F-type duckbill flat fan-shaped nozzle is installed opposite to the conveyor belt. The material receiving box 1 and the material receiving box 2 are movably installed, and the device control box is fixedly installed with the conveyor belt, wherein the power switch button is installed on the device control box, and the high-pressure gas tank is fixedly installed with the device control box and the conveyor belt;

[0005] The processing and analysis module includes an upstream and downstream acquisition unit and a downstream analysis execution unit; the upstream and downstream acquisition unit is used to collect status data of the monitoring feedback rejection device, the status data of the upstream wrapping equipment and the status data of the downstream wrapping equipment; the downstream analysis execution unit is used to analyze the status data collected by the upstream and downstream acquisition units, and the specific process is: analyzing the status data of the monitoring feedback rejection device to generate a wrapping equipment operation stop instruction or a rejection operation instruction; then performing an appearance inspection on the color boxes in the collection basket to obtain the grasping instruction coefficient and the color box position coordinates; then performing an appearance inspection on the color boxes grasped by the grasping device to obtain the color box appearance contour coefficient; by using a high-resolution camera or a visual sensor to shoot the color box, the light intensity distribution is analyzed to obtain the smoothness; the smoothness and the color box appearance contour coefficient are calculated to obtain the color box appearance value.

[0006] As a preferred embodiment of the present invention, the specific process of analyzing the monitoring feedback rejection device status data to generate the wrapping equipment operation stop instruction and the rejection operation instruction is:

[0007] Get the running status of the conveyor belt; when the conveyor belt is operating normally, the color boxes continuously pass through the detection area of ​​the laser sensor; the laser sensor continuously detects whether there are color boxes on the conveyor belt and collects information; if the color boxes pass by, they will reflect the laser, and the laser sensor detects the reflection and confirms the existence of the color boxes; then, get the equipment status signals of the upstream and downstream wrapping equipment; if the upstream wrapping equipment issues a stop command or an abnormal command, a wrapping equipment operation stop command is generated, and the laser sensor continues to detect whether there are color boxes on the conveyor belt; if there are color boxes on the conveyor belt, the wrapping equipment is controlled to continue running until there are no more color boxes on the conveyor belt. Stop monitoring the operation of the feedback rejection device and the conveyor belt; after the exception is handled, the wrapping equipment resumes normal operation, the equipment re-enters the information processing stage, and resumes normal operation; if the downstream wrapping equipment issues a stop command or an exception command, and generates a rejection operation command, the solenoid valve receives the rejection operation command, opens the valve, and the F-type duckbill flat fan-shaped nozzle sprays gas to blow the color box into the receiving box 1, and finally falls into the collection basket. The F-type duckbill flat fan-shaped nozzle sprays gas for one second each time it detects the material, blowing the color box into the receiving box 1; after the processing is completed, the wrapping equipment resumes normal operation, enters the information processing stage again, and resumes normal operation.

[0008] As a preferred embodiment of the present invention, the specific process of performing appearance inspection on the color boxes in the collection basket to obtain the grabbing instruction coefficient and the color box position coordinates is as follows:

[0009] The color boxes in the collection basket are scanned by a 3D scanning device to obtain their shape contours and substitute them into the XYZ model. The offset measurement lines X', Y', and Z' are obtained according to the scanning accuracy, and are compared with the X, Y, and Z axes of the XYZ model for parallel offset. If the offset line is parallel to the axis, the offset is zero. If not, the angles between X', Y', and Z' and the corresponding axis are obtained and marked as X, Y, and Z. The values ​​are matched with the preset transmission factors, and the grabbing instruction coefficients are weightedly calculated. The grabbing device analyzes and obtains instructions for grabbing the acquisition position, completing the color box grabbing operation.

[0010] When receiving the instruction to grasp the position, the 3D scanning device establishes a three-dimensional coordinate system of the collection basket, and compares the outline of the color box in the XYZ model with the outline of the color box in the collection basket; if the overlap rate is ≥%, the two are determined to be consistent; then, the eight corner coordinates of the color box are obtained, and the three points with the largest Z-axis value are selected, and the distance between them is calculated and the midpoint of the maximum distance is determined as the color box position coordinate, and the color box position coordinate is sent to the grasping device, and the grasping device performs grasping according to the instruction coefficient; if the grasping is successful, the color box is placed in the detection area for monitoring, and if it fails, it is grasped again until it succeeds.

[0011] As a preferred embodiment of the present invention, the specific process of detecting the appearance of the color box after being grasped by the grasping device to obtain the appearance contour coefficient of the color box is:

[0012] The corresponding 3D scanning device scans the color box in the detection area to obtain the shape contour of the color box and substitute it into the XYZ model. The XYZ model is then used to further scan the color box graphic contour. The contour line of the color box model is obtained through the contour of the color box model in the XYZ model; the contour line of the color box model is then analyzed to obtain the length L of each contour line of the color box model. h , curvature K h and smoothness S h , if the number of contour lines of the color box model is c, h is the number of the contour line of the color box model, h = 1, 2, 3, ..., c; through the formula Output the color box appearance contour coefficient LWX, where β1, β2 and β3 are preset weight factors of length, curvature and smoothness respectively; compare LWX with the preset normal range of the color box appearance contour coefficient, if LWX is within the normal range of the preset color box appearance contour coefficient, execute step three; if LWX is not within the normal range of the preset color box appearance contour coefficient, the corresponding grasping device controls the grasping arm to place the grasped color box in the corresponding unqualified area.

[0013] As a preferred embodiment of the present invention, the specific process of analyzing the light intensity distribution to obtain the smoothness is:

[0014] A plane coordinate system is established on the surface of the color box, and then a threshold segmentation or edge detection algorithm is used to identify and extract the area of ​​reflected light. The light intensity I(x, y) of each pixel in the extracted area is calculated, and the surface smoothness is measured by analyzing the change of light intensity with spatial position. If there are W pixels in the image area, the light intensity is I(x q ,y q ), q=1, 2, 3, ..., W, then the smoothness F is given by the formula It indicates that, Represents the gradient of light intensity.

[0015] As a preferred implementation of the present invention, the specific process of calculating the smoothness and the color box appearance contour coefficient to obtain the color box appearance value is:

[0016] The smoothness F is compared with the preset smoothness threshold; if the smoothness F is greater than the preset smoothness threshold, the smoothness F and the color box appearance contour coefficient LWX are weighted calculated: Output color box appearance value CWZ, They are respectively the preset weight factors of the color box appearance contour coefficient and the smoothness; the color box appearance value CWZ is compared with the preset color box appearance value threshold. If the color box appearance value CWZ is greater than the preset color box appearance threshold, a qualified instruction is generated, and the corresponding grasping device controls the grasping arm to place the taken color box in the corresponding qualified area; conversely, if the smoothness F is less than or equal to the preset smoothness threshold and the color box appearance value CWZ is less than or equal to the preset color box appearance threshold, the corresponding grasping device controls the grasping arm to place the grasped color box in the corresponding unqualified area.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention ensures that abnormal products can be timely monitored and rejected during the operation of color boxes on the conveyor belt through the precise coordination of sensors and solenoid valves; the status signals of upstream and downstream wrapping equipment are linked with the rejection device, which can effectively avoid the losses caused by equipment shutdown and misoperation, and ensure the smoothness and safety of the production process; in addition, the application of F-type nozzles greatly improves the accuracy of rejection, avoids errors in manual operation, and improves the overall production efficiency and quality control level. The present invention provides an intelligent monitoring and feedback mechanism for the wrapping production line, and realizes stable and efficient production management.

[0019] 2. The present invention realizes high-precision detection and grasping of color boxes through the linkage of 3D scanning equipment, XYZ model and grasping device; the present invention can accurately locate the three-dimensional coordinates of the color box through the scanning equipment, and realize precise grasping through the grasping arm, which greatly improves the automation level of operation and detection efficiency; in the detection link, the system combines the length, curvature, smoothness of the contour line and the smoothness of the reflected light to perform multi-dimensional detection to ensure the appearance quality of the color box; through comprehensive analysis, the qualification of the color box can be accurately judged, human errors can be reduced, and production efficiency and product quality control level can be improved; at the same time, the system can automatically screen out unqualified products, reduce the workload of subsequent processing, and further ensure the reliability and efficiency of the entire production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0021] Figure 1 It is a principle block diagram of the present invention;

[0022] Figure 2 It is a front view of the monitoring feedback rejection device of the present invention;

[0023] Figure 3 It is a front view of the monitoring feedback rejection device of the present invention;

[0024] Figure 4 It is a front view of the collection basket of the present invention;

[0025] Figure 5 It is a demonstration diagram of the XYZ model of the present invention;

[0026] Description of the drawings: 1. Conveyor belt; 2. Color box; 3. Device control box; 4. Material collecting box 1; 5. Material collecting box 2; 6. Laser sensor; 7. F-type duckbill flat fan-shaped nozzle; 8. Power switch button; 9. Bracket; 10. High-pressure gas tank; 11. Collection basket; 12. Collection basket handle. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be understood that the terms "include" and "comprising" used in the specification and claims of the present disclosure indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0029] It should also be understood that the terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. As used in this disclosure and claims, the singular forms of "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in this disclosure and claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations.

[0030] See also Figure 1 As shown, a pre-wrapping monitoring feedback rejection system includes a monitoring feedback rejection device and a processing and analysis module, wherein the monitoring feedback rejection device includes a laser sensor 6, a solenoid valve, an F-type duckbill flat fan nozzle 7 and an adjustable material receiving box, the adjustable material receiving box includes a material receiving box 1 4 and a material receiving box 2 5, and the processing and analysis module includes an upstream and downstream acquisition unit and a downstream analysis execution unit; the laser sensor 6 is an M5 diffuse reflection laser sensor npn normally open; the solenoid valve is a 2W030-06DC24V solenoid valve;

[0031] See also Figure 2 , 3 As shown in , 4, the monitoring feedback rejection device is realized by installing the conveyor belt 1, specifically: the laser sensor 6 is installed on the bracket 9, and its height is about 110mm from the conveying plane of the conveyor belt at the center of the conveyor belt 1 (the height is selected to increase the color box 2 for detection, and it is appropriate to remove the detection signal without feedback), the F-type duckbill flat fan-shaped nozzle 7 is installed on the bracket 9, and the laser sensor 6 is located above the upstream end, the bracket 9 is fixedly installed with the conveyor belt 1, and a 25cm long and 20cm wide adjustable material receiving box 1 4 and a material receiving box 2 5 are installed opposite the F-type duckbill flat fan-shaped nozzle 7, and an adjustable material guiding device is adopted at the lower end of the adjustable material receiving box, the material receiving box 1 4 is fixedly installed with the conveyor belt 1, and the material receiving box 1 4 and the material receiving box 2 5 are movably installed, and the device control box 3 is fixedly installed with the conveyor belt 1, wherein the power switch button 8 is on the device control box 3, and the high-pressure gas tank 10 is fixedly installed with the device control box 3 and the conveyor belt 1;

[0032] The upstream and downstream acquisition unit is used to collect the status data of the monitoring feedback rejection device, the status data of the upstream wrapping equipment (the status data is a status signal and is divided into a stop command and an abnormal command) and the status data of the downstream wrapping equipment; it should be noted that: the status data of the upstream wrapping equipment is directly analyzed by the status detection system corresponding to the upstream wrapping equipment to obtain the status signal;

[0033] The downstream analysis execution unit is used to analyze the status data collected by the upstream and downstream collection units. The specific process is as follows:

[0034] The monitoring feedback rejection device status data is analyzed: first, the operating status of the conveyor belt 1 is obtained; when the conveyor belt 1 is operating normally, the color box 2 will continuously pass through the detection area of ​​the laser sensor 6; the sensor continuously detects whether there is a color box 2 on the conveyor belt 1 and collects this information; if the color box 2 passes by, it will reflect the laser, and the sensor confirms the existence of the color box 2 after detecting the reflection; then, the equipment status signal of the upstream and downstream wrapping equipment is obtained; if the upstream wrapping equipment issues a stop command or an abnormal command, a wrapping equipment operation stop command is generated, and the laser sensor 6 continues to detect whether there is a color box 2 on the conveyor belt 1 box 2; if there is a color box 2 on the conveyor belt 1, the wrapping equipment is controlled to continue running until there is no more color box 2 on the conveyor belt 1, and the monitoring feedback rejection device and the conveyor belt 1 are stopped; at this time, the post personnel are responsible for handling the abnormality of the wrapping equipment; after the abnormality is handled, the wrapping equipment resumes normal operation, the equipment re-enters the information processing stage, and resumes normal operation; if the downstream wrapping equipment issues a stop command or an abnormal command, the system generates a rejection operation command, the solenoid valve receives the command, opens the valve, and the F-type duckbill flat fan-shaped nozzle 7 sprays gas to blow the color box 2 into the receiving box 4, and finally falls into the collection basket 11. The F-type duckbill flat fan-shaped nozzle 7 sprays gas for about 1 second each time it detects the material, blowing the color box 2 into the receiving box 4; after the color box 2 falls into the collection basket 11, the post personnel are responsible for handling the abnormality of the wrapping equipment; after the processing is completed, the wrapping equipment resumes normal operation, the equipment re-enters the information processing stage, and resumes normal operation;

[0035] See also Figure 5 As shown, the inner color box 2 of the receiving box 4 is inspected for appearance; it is grabbed by a corresponding grabbing device; specifically:

[0036] Step 1: Scan the color box 2 in the collection basket 11 through the corresponding 3D scanning device to obtain the shape contour of the color box, substitute it into the XYZ model, and then use the XYZ model to further use the scanning accuracy one (the scanning accuracy is the accuracy used by the XYZ model to scan the color box graphic contour, which includes scanning accuracy one and scanning accuracy two, and scanning accuracy one is less than scanning accuracy two) to scan the graphic to obtain offset measurement lines, which include offset measurement line X', offset measurement line Y', and offset measurement line Z'; compare the offset measurement line X, 'offset measurement line Y' and offset measurement line Z' with the X-axis, Y-axis and Z-axis in the XYZ model respectively for parallel offset. If the offset measurement line X', the offset measurement line Y' and the offset measurement line Z' are parallel to the corresponding X-axis, Y-axis and Z-axis in the XYZ model When , the offset is 0. If the offset measurement line X', the offset measurement line Y' and the offset measurement line Z' are not parallel to the corresponding X-axis, Y-axis and Z-axis in the XYZ model, the angle between the offset measurement line X' and the X-axis, the angle between the offset measurement line Y' and the Y-axis and the angle between the offset measurement line Z' and the Z-axis are obtained, and the angle value between the offset measurement line X' and the X-axis is marked as X1, the angle value between the offset measurement line Y' and the Y-axis is marked as Y1, and the angle value between the offset measurement line Z' and the Z-axis is marked as Z1; then X1, Y1 and Z1 are matched with their respective corresponding preset transmission differentiation factors, and the weighted calculation is output as the grasping instruction coefficient. When the grasping device receives the grasping instruction coefficient, it analyzes and obtains the corresponding grasping angle, generates an instruction for grasping the acquisition position, and executes the grasping operation of the color box 2;

[0037] See also Figure 4As shown, when an instruction to grab and obtain the position is generated, the corresponding 3D scanning device establishes a three-dimensional position coordinate system for the collection basket, and the outline of the color box model in the XYZ model is overlapped and compared with the outline of the color box 2 in the collection basket 11. If the overlap rate is greater than or equal to 99%, the outline of the color box model in the XYZ model is consistent with the color box 2 in the collection basket 11; then, the corresponding 3D scanning device establishes a three-dimensional position coordinate system for the collection basket to obtain the position coordinates of the color box 2, which are the coordinates of the 8 corners, and selects the first 3 coordinate points with the largest Z-axis value in the three-dimensional position coordinate system of the collection basket from the 8 coordinates, and then obtains the intervals through the spatial positions between the first 3 coordinate points to obtain distance one, distance two and distance three, and Compare and obtain the maximum distance, then mark the midpoint between the maximum distances of the two coordinate points, obtain the coordinate point of the midpoint in the three-dimensional position coordinate system of the collection basket, and determine the midpoint coordinate point as the position coordinate of the color box; then send the color box position coordinate to the corresponding grasping device, when the corresponding grasping device receives the color box position coordinate, it controls the grasping arm to grasp in combination with the grasping instruction coefficient; when the corresponding grasping device controls the grasping arm to arrive at the position coordinate point, it grasps, and at the same time, performs grasping detection, if the grasping detection is successful, execute the next step, otherwise, grasp again until the grasping is successful; then, the corresponding grasping device controls the grasping arm to place the grasped color box 2 in the corresponding detection area for monitoring;

[0038] Step 2: Perform appearance inspection on the color box 2 grasped by the grasping device; first, the corresponding 3D scanning device scans the color box 2 in the detection area to obtain the shape contour of the color box, and substitutes it into the XYZ model, and then the XYZ model further uses the scanning accuracy 2 to obtain the color box model contour line through the color box model contour in the XYZ model; then analyze the color box model contour line to obtain the length L, curvature K (curvature) and smoothness S of each contour line of the color box model; if the color box model contour line is c, h = 1, 2, 3, ..., c; calculate the length of the color box model contour line: the contour line of the color box model consists of N points P 1 , P 2 , ..., P N Composition, each point P i The coordinates of (x i ,y i , z i ), the length L of the contour line can be expressed as Calculate the curvature of the contour line of the color box model: In three-dimensional space, let P i-1 , P i , P i+1 are three adjacent points on the contour line, with curvature k i The calculation of is based on the curvature vector of the curve at that point; the approximate formula is as follows: Among them, A is composed of Pi-1 , P i and P i+1 The area of ​​the triangle formed, d 1 , d 2 and d 3 is the distance between these points, K is the total curvature of the contour line; Color box model contour smoothness calculation: Smoothness in the XYZ model can be represented by the change in curvature between adjacent points; The change in curvature of adjacent points is Δk i =|k i+ 1-k i ∣, smoothness S can be defined as the average value of curvature change, according to the formula Output the contour line smoothness S. It should be noted that the higher the smoothness, the more drastic the curve changes, and the lower the smoothness, the smoother and more fluent the curve is. Then calculate the length L of each contour line of the color box model. h , curvature K h (curvature) and smoothness S h Comprehensive calculation is performed to obtain the color box appearance contour coefficient LWX: then the formula Output the color box appearance contour coefficient LWX, where β1, β2 and β3 are preset weight factors of length, curvature and smoothness respectively, which can be adjusted according to specific needs; compare LWX with the preset normal range of the color box appearance contour coefficient, if LWX belongs to the preset normal range of the color box appearance contour coefficient, execute step three: if LWX does not belong to the preset normal range of the color box appearance contour coefficient, the corresponding grasping device controls the grasping arm to place the grasped color box in the corresponding unqualified area;

[0039] Step 3: Use a high-resolution camera or visual sensor to shoot and analyze the color box 2 under different light sources to obtain image data of its surface; the image data mainly includes the smoothness of the light reflected by the color box; the specific process is:

[0040] The light intensity distribution is analyzed. A plane coordinate system is established on the surface of the color box 2, and then a threshold segmentation or edge detection algorithm is used to identify and extract the main area of ​​reflected light. The light intensity I(x, y) of each pixel is calculated for the extracted area, and the surface smoothness is measured by analyzing the change of light intensity with spatial position (the smoother the surface, the more uniform the light intensity change). If there are W pixels in the image area, the light intensity is I(x q ,y q ), q = 1, 2, 3, ..., W, then the smoothness F can be obtained by the formula It indicates that, The gradient of light intensity reflects the rate of change of light reflection. The smoothness F is compared with the preset smoothness threshold. If the smoothness F is greater than the preset smoothness threshold, the smoothness F is weightedly calculated with the color box appearance contour coefficient LWX: Output color box appearance value CWZ, They are respectively the preset weight factors of the color box appearance contour coefficient and the smoothness; the color box appearance value CWZ is compared with the preset color box appearance value threshold. If the color box appearance value CWZ is greater than the preset color box appearance threshold, a qualified instruction is generated, and the corresponding grasping device controls the grasping arm to place the taken color box in the corresponding qualified area; on the contrary, if the smoothness F is less than or equal to the preset smoothness threshold and the color box appearance value CWZ is less than or equal to the preset color box appearance threshold, the corresponding grasping device controls the grasping arm to place the grasped color box 2 in the corresponding unqualified area.

[0041] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pre-wrapping monitoring feedback rejection system, comprising a monitoring feedback rejection device, a processing and analysis module and a grabbing device; characterized in that: The monitoring feedback rejection device comprises a laser sensor (6), a solenoid valve, an F-type duckbill flat fan-shaped nozzle (7) and an adjustable material receiving box; the adjustable material receiving box comprises a material receiving box 1 (4) and a material receiving box (5); the monitoring feedback rejection device is installed on both sides of the conveyor belt (1), specifically: the laser sensor (6) is installed on a bracket (9), the F-type duckbill flat fan-shaped nozzle (7) is installed on the bracket (9), and the laser sensor (6) is located above the upstream end, and the bracket (9) The device is fixedly mounted on the conveyor belt (1), and a material receiving box (4) and a material receiving box (5) are installed opposite to the F-shaped duckbill flat fan-shaped nozzle (7). The material receiving box (4) is fixedly mounted on the conveyor belt (1), and the material receiving box (4) and the material receiving box (5) are movably mounted. The device control box (3) is fixedly mounted on the conveyor belt (1), wherein a power switch button (8) is mounted on the device control box (3), and a high-pressure gas tank (10) is fixedly mounted on the device control box (3) and the conveyor belt (1); The processing and analysis module comprises an upstream and downstream acquisition unit and a downstream analysis execution unit; the upstream and downstream acquisition unit is used to acquire status data of the monitoring feedback rejection device, status data of the upstream wrapping device and status data of the downstream wrapping device; the downstream analysis execution unit is used to analyze the status data acquired by the upstream and downstream acquisition units, and the specific process is: analyzing the status data of the monitoring feedback rejection device to generate a wrapping device operation stop instruction or a rejection operation instruction; then performing an appearance inspection on the color box (2) in the collection basket (11) to obtain a grasping instruction coefficient and a color box position coordinate; then performing an appearance inspection on the color box (2) grasped by the grasping device to obtain a color box appearance contour coefficient; photographing the color box (2) using a high-resolution camera or a visual sensor, analyzing the light intensity distribution to obtain smoothness; and calculating the smoothness and the color box appearance contour coefficient to obtain a color box appearance value.

2. The pre-wrapping monitoring feedback rejection system according to claim 1 is characterized in that: The specific process of analyzing the monitoring feedback rejection device status data to generate the wrapping equipment operation stop instruction and the rejection operation instruction is as follows: The operation status of the conveyor belt (1) is obtained; when the conveyor belt (1) is operating normally, the color box (2) continuously passes through the detection area of ​​the laser sensor (6); the laser sensor (6) continuously detects whether there is a color box (2) on the conveyor belt (1) and collects information; if the color box (2) passes by, it will reflect the laser, and the laser sensor (6) confirms the existence of the color box (2) after detecting the reflection; then, the device status signal of the upstream and downstream wrapping equipment is obtained; if the upstream wrapping equipment issues a stop command or an abnormal command, a wrapping equipment operation stop command is generated, and the laser sensor (6) continues to detect whether there is a color box (2) on the conveyor belt (1); if there is a color box (2) on the conveyor belt (1), the wrapping equipment is controlled to continue to operate until the conveyor belt (1) 1) when there are no more color boxes (2) on the conveyor belt (1), the monitoring feedback rejection device and the conveyor belt (1) are stopped; after the abnormal processing is completed, the wrapping equipment resumes normal operation, the equipment re-enters the information processing stage, and resumes normal operation; if the downstream wrapping equipment issues a stop command or an abnormal command, and generates a rejection operation command, the solenoid valve receives the rejection operation command, opens the valve, and the F-type duckbill flat fan-shaped nozzle (7) sprays gas to blow the color box (2) into the receiving box (4) and finally falls into the collection basket (11). The F-type duckbill flat fan-shaped nozzle (7) sprays gas for one second each time it detects material, blowing the color box (2) into the receiving box (4); after the processing is completed, the wrapping equipment resumes normal operation, re-enters the information processing stage, and resumes normal operation.

3. The pre-wrapping monitoring feedback rejection system according to claim 2 is characterized in that: The specific process of performing appearance inspection on the color boxes in the collection basket (11) to obtain the grabbing instruction coefficient and the color box position coordinates is as follows: The color box (2) in the collection basket (11) is scanned by a 3D scanning device to obtain its shape contour and substitute it into the XYZ model, and the offset measurement lines X', Y', and Z' are obtained according to the scanning accuracy, and the parallel offset is compared with the X, Y, and Z axes of the XYZ model; if the offset line is parallel to the axis, the offset is zero; if not parallel, the angles between X', Y', and Z' and the corresponding axis are obtained, marked as X1, Y1, and Z1, and the values ​​are matched with the preset transmission factors, and the grasping instruction coefficient is calculated by weight. The grasping device analyzes and obtains the instruction of the grasping acquisition position, and completes the grasping operation of the color box (2); When receiving the command for grasping and obtaining the position, the 3D scanning device establishes a three-dimensional coordinate system of the collection basket (11), and compares the color box outline in the XYZ model with the color box outline in the collection basket (11); if the overlap rate is ≥99%, the two are determined to be consistent; then, the eight corner coordinates of the color box (2) are obtained, and the three points with the largest Z-axis values ​​are selected, and the distance between them is calculated and the midpoint of the maximum distance is determined as the color box position coordinate, and the color box position coordinate is sent to the grasping device, and the grasping device performs grasping according to the command coefficient; if the grasping is successful, the color box (2) is placed in the detection area for monitoring, and if it fails, it is grasped again until it succeeds.

4. The pre-wrapping monitoring feedback rejection system according to claim 3 is characterized in that: The specific process of detecting the appearance of the color box after being grasped by the grasping device to obtain the appearance contour coefficient of the color box is as follows: The corresponding 3D scanning device scans the color box (2) in the detection area to obtain the shape contour of the color box, and substitutes it into the XYZ model. The XYZ model is then used to further scan the color box graphic contour with a second scanning accuracy, and the contour line of the color box model is obtained through the contour of the color box model in the XYZ model; the contour line of the color box model is then analyzed to obtain the length L of each contour line of the color box model. h , curvature K h and smoothness S h , if the number of contour lines of the color box model is c, h is the number of the contour line of the color box model, h = 1, 2, 3, ..., c; through the formula Output the color box appearance contour coefficient LWX, where β1, β2 and β3 are preset weight factors of length, curvature and smoothness respectively; compare LWX with the preset normal range of the color box appearance contour coefficient, if LWX is within the normal range of the preset color box appearance contour coefficient, execute step three; if LWX is not within the normal range of the preset color box appearance contour coefficient, the corresponding grasping device controls the grasping arm to place the grasped color box in the corresponding unqualified area.

5. The pre-wrapping monitoring feedback rejection system according to claim 4 is characterized in that: The specific process of analyzing the light intensity distribution to obtain the smoothness is: A plane coordinate system is established on the surface of the color box (2), and then a threshold segmentation or edge detection algorithm is used to identify and extract the area of ​​reflected light; the light intensity I(x, y) of each pixel in the extracted area is calculated, and the surface smoothness is measured by analyzing the change of light intensity with spatial position; if there are W pixels in the image area, the light intensity is I(x q ,y q ), q=1, 2, 3……, W, then the smoothness F is given by the formula It indicates that, Represents the gradient of light intensity.

6. The pre-wrapping monitoring feedback rejection system according to claim 5 is characterized in that: The specific process of calculating the smoothness and the color box appearance contour coefficient to obtain the color box appearance value is as follows: The smoothness F is compared with the preset smoothness threshold; if the smoothness F is greater than the preset smoothness threshold, the smoothness F and the color box appearance contour coefficient LWX are weighted calculated: Output color box appearance value CWZ, are preset weight factors of the color box appearance contour coefficient and smoothness respectively; the color box appearance value CWZ is compared with the preset color box appearance value threshold, and if the color box appearance value CWZ is greater than the preset color box appearance threshold, a qualified instruction is generated, and the corresponding grasping device controls the grasping arm to place the taken color box in the corresponding qualified area; On the contrary, if the smoothness F is less than or equal to the preset smoothness threshold and the color box appearance value CWZ is less than or equal to the preset color box appearance threshold, the corresponding grasping device controls the grasping arm to place the grasped color box in the corresponding unqualified area.

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