Full-automatic packaging control method of taping machine and automatic taping machine

Abstract

The invention relates to the field of packaging, in particular to a full-automatic packaging control method of a taping machine and the automatic taping machine, and aims to analyze a taping operation image of a target object, obtain a taping action track and an output track of the target object, determine a taping coating position change trend of the surface of the target object, and control the taping operation image. And estimating the coating position deviation variation trend of the wrapping tape on the surface of the target object, thereby adjusting the output state of the target object. Analyzing a wrapping tape output dynamic image of the wrapping tape disc to obtain physical morphological characteristics of the wrapping tape in an output process, so as to estimate a tension change trend of the wrapping tape, and judging whether a tape breakage event is about to occur or not; and when the belt breaking event is about to occur, adjusting the wrapping belt output state of the wrapping belt disc based on the physical form characteristics of the wrapping belt in the transmission process and the structural state characteristics of the target object. The wrapping tape can cover the surface of the target object in a full range, the wrapping tape output state of the wrapping tape disc is accurately controlled, and it is ensured that the wrapping tape maintains proper tension and tightly wraps the surface of the target object.

Description

Technical Field

[0001] The present invention relates to the field of packaging and packing, and in particular to a fully automatic packaging control method for a taping machine and an automatic taping machine. Background Art

[0002] During the manufacturing process of cables such as electrical cables and optical cables, a layer of metal foil tape needs to be coated on the outer surface of the core wire. Whether the metal foil tape is coated evenly on the outer surface of the core wire directly affects the electromagnetic shielding performance of the cable. If the metal foil tape cannot completely cover the outer surface of the core wire and a local area of ​​the outer surface of the core wire is exposed, the corresponding local area cannot effectively shield external electromagnetic interference, reducing the anti-interference ability of the cable. In view of the slender structure of the cable, a taping machine is usually used to wrap the cable with metal foil tape. The taping reel of the taping machine is wound with metal foil tape, and the metal foil tape output by the taping reel will be rotated at high speed by the winding mechanism of the taping machine, so as to be wrapped on the outer surface of the core wire.

[0003] During the actual taping operation, the relative position relationship between the core wire and the winding mechanism will affect the position of the metal foil tape on the outer surface of the core wire. In addition, the toughness of the metal foil tape is low. If the tension applied to the metal foil tape during the taping operation is too large, the metal foil tape is prone to breakage. Once the metal foil tape breaks, it will not be able to form a global tight wrapping effect on the outer surface of the core wire. At this time, it is necessary to remove the wrapped metal foil tape and re-tape. If the tension applied to the metal foil tape during the taping operation is too small, the metal foil tape will not be able to form a tight contact with the surface of the core wire, and the metal foil tape is prone to loosening. Therefore, how to dynamically adjust the position and posture of the target object during the taping operation of the taping machine to avoid missing the taping on the surface of the target object, and control the taping output state of the taping disk to ensure that the taping maintains appropriate tension, is of great significance for the comprehensive and tight wrapping of the taping on the surface of the target object. Summary of the invention

[0004] In order to prevent the target object from being displaced due to its own gravity or improper movement during the taping operation, so that the taping cannot fully cover the surface of the target object, and to accurately control the taping output state of the taping disk to ensure that the taping maintains appropriate tension and achieves tight coverage of the surface of the target object, the present invention provides a fully automatic packaging control method for a taping machine, the method comprising the following steps: Capturing a tape wrapping operation image of a target object, analyzing the tape wrapping operation image to obtain a tape wrapping action trajectory implemented on the target object and an output trajectory of the target object; determining a tape wrapping position change trend on the target object surface based on the tape wrapping action trajectory and the output trajectory; estimating a tape wrapping position deviation change trend on the target object surface based on the tape wrapping position change trend, thereby adjusting the output state of the target object; Collecting dynamic images of the tape output of the tape reel, analyzing the dynamic images of the tape output, and obtaining physical morphological characteristics of the tape during the output process; estimating the tension change trend of the tape during the output process based on the physical morphological characteristics; Based on the tension change trend, determine whether a tape breakage event is about to occur; when a tape breakage event is about to occur, adjust the tape output state of the tape reel based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object.

[0005] Preferably, the capturing of the tape wrapping operation image of the target object and the analyzing of the tape wrapping operation image to obtain the tape wrapping action trajectory implemented on the target object and the output trajectory of the target object are specifically as follows: Dynamically photographing the wrapping operation area to obtain a dynamic image of the wrapping operation on the target object in the wrapping operation area, and dividing the dynamic image of the wrapping operation into a plurality of wrapping operation images; Performing pixel contour recognition on the wrapping operation image to obtain wrapping tape surface contour features and target object surface contour features in the wrapping operation image; determining wrapping tape spatial position information and target object axial direction information in the wrapping operation image based on the wrapping tape surface contour features and target object surface contour features; Time-varying analysis is performed on the wrapping spatial position information and the target object axis direction information corresponding to all wrapping operation images to obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; wherein the wrapping action trajectory includes a wrapping action trajectory of wrapping the target object entering the wrapping operation area; and the output trajectory includes an output trajectory of the target object's central axis that enters the wrapping operation area.

[0006] Preferably, the step of determining the wrapping position variation trend of the target object surface based on the wrapping action trajectory and the output trajectory; estimating the wrapping position deviation variation trend of the target object surface based on the wrapping position variation trend, thereby adjusting the output state of the target object, specifically: Comparing the wrapping action trajectory with the output trajectory in three-dimensional space to obtain a relative posture relationship between the central axis of the target object entering the wrapping operation area and the wrapping action trajectory; Based on the relative position relationship and the output movement speed and / or direction of the target object entering the wrapping operation area, determine the wrapping position change trend of the target object surface; wherein the wrapping position change trend includes the wrapping position change trend of the two side boundaries of the wrapping on the target object surface; Based on the changing trend of the wrapping position of the tape, the changing trend of the wrapping position deviation of the tape on the surface of the target object along the central axis of the target object is estimated; based on the changing trend of the wrapping position deviation, the changing trend of the size of the wrapping overlapping range on the surface of the target object is determined, so as to adjust the movement speed and / or direction of the target object entering the wrapping operation area.

[0007] Preferably, the dynamic image of the tape output of the tape reel is collected, and the dynamic image of the tape output is analyzed to obtain the physical morphological characteristics of the tape during the output process; based on the physical morphological characteristics, the tension change trend of the tape during the output process is estimated, specifically: Dynamically photographing the output port of the tape wrapping reel and its adjacent area to obtain a dynamic image of the tape wrapping output of the tape wrapping reel, and dividing the dynamic image of the tape wrapping output into a plurality of tape wrapping output images; Pixel contour recognition is performed on the tape output image to obtain tape surface morphology features and shape features of the boundaries on both sides of the tape in the tape output image; time-varying analysis is performed on the tape surface morphology features and shape features of the boundaries on both sides of the tape corresponding to all tape output images to obtain deformation features of the tape during the output process; wherein the deformation features include deformation amplitude features of the tape in thickness and width dimensions during the output process; based on the deformation features of the tape during the output process, a tension change trend of the tape during the output process is estimated; wherein the tension change trend includes a tension direction and a tension magnitude change trend of the tape during the output process.

[0008] Preferably, based on the tension change trend, it is determined whether a tape break event is about to occur; when a tape break event is about to occur, the tape output state of the tape reel is adjusted based on the physical morphological characteristics of the tape during the transmission process and the structural state characteristics of the area to be coated of the target object, specifically: Based on the tension change trend, determine the tension direction and size two-dimensional distribution change information on the surface of the wrapping tape; based on the tension direction and size two-dimensional distribution change information, judge whether the tension on the surface of the wrapping tape exceeds the preset tolerable tension condition; if so, judge that a tape break event will occur; if not, judge that a tape break event will not occur; When a tape breakage event is about to occur, the tape output rate of the tape reel and the resistance applied to the tape during the tape output process are adjusted based on the deformation amplitude characteristics of the tape in thickness and width dimensions during transmission and the surface contour curvature characteristics of the target object's area to be coated.

[0009] In another aspect, the present invention provides an automatic taping machine, the automatic taping machine comprising the following modules: A wrapping operation visual recognition module, used to collect images of wrapping operation on a target object, analyze the images of wrapping operation, and obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; A target object output state adjustment module, for determining a wrapping position change trend of the target object surface based on the wrapping action trajectory and the output trajectory; estimating a wrapping position deviation change trend of the target object surface based on the wrapping position change trend, so as to adjust the output state of the target object; A tape output visual recognition module, used to collect a dynamic image of the tape output of the tape reel, analyze the dynamic image of the tape output, and obtain physical morphological characteristics of the tape during the output process; A bag tape tension estimation module, used for estimating the tension change trend of the bag tape during the output process based on the physical morphological characteristics; A belt breaking event judgment module, used for judging whether a belt breaking event is about to occur based on the tension change trend; The tape output state adjustment module is used to adjust the tape output state of the tape reel based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object when a tape break event is about to occur.

[0010] Preferably, the strapping operation visual recognition module is used to collect a strapping operation image of a target object, analyze the strapping operation image, and obtain a strapping action trajectory implemented on the target object and an output trajectory of the target object, specifically: Dynamically photographing the wrapping operation area to obtain a dynamic image of the wrapping operation on the target object in the wrapping operation area, and dividing the dynamic image of the wrapping operation into a plurality of wrapping operation images; Performing pixel contour recognition on the wrapping operation image to obtain wrapping tape surface contour features and target object surface contour features in the wrapping operation image; determining wrapping tape spatial position information and target object axial direction information in the wrapping operation image based on the wrapping tape surface contour features and target object surface contour features; Time-varying analysis is performed on the wrapping spatial position information and the target object axis direction information corresponding to all wrapping operation images to obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; wherein the wrapping action trajectory includes a wrapping action trajectory of wrapping the target object entering the wrapping operation area; and the output trajectory includes an output trajectory of the target object's central axis that enters the wrapping operation area.

[0011] Preferably, the target object output state adjustment module is used to determine the wrapping position change trend of the target object surface based on the wrapping action trajectory and the output trajectory; based on the wrapping position change trend, estimate the wrapping position deviation change trend of the wrapping on the target object surface, so as to adjust the output state of the target object, specifically: Comparing the wrapping action trajectory with the output trajectory in three-dimensional space to obtain a relative posture relationship between the central axis of the target object entering the wrapping operation area and the wrapping action trajectory; Based on the relative position relationship and the output movement speed and / or direction of the target object entering the wrapping operation area, determine the wrapping position change trend of the target object surface; wherein the wrapping position change trend includes the wrapping position change trend of the two side boundaries of the wrapping on the target object surface; Based on the changing trend of the wrapping position of the tape, the changing trend of the wrapping position deviation of the tape on the surface of the target object along the central axis of the target object is estimated; based on the changing trend of the wrapping position deviation, the changing trend of the size of the wrapping overlapping range on the surface of the target object is determined, so as to adjust the movement speed and / or direction of the target object entering the wrapping operation area.

[0012] Preferably, the tape output visual recognition module is used to collect the tape output dynamic image of the tape reel, analyze the tape output dynamic image, and obtain the physical morphological characteristics of the tape during the output process, specifically: Dynamically photographing the output port of the tape wrapping reel and its adjacent area to obtain a dynamic image of the tape wrapping output of the tape wrapping reel, and dividing the dynamic image of the tape wrapping output into a plurality of tape wrapping output images; Performing pixel contour recognition on the tape output image to obtain tape surface morphology features and tape boundary shape features on both sides of the tape in the tape output image; performing time-varying analysis on the tape surface morphology features and tape boundary shape features on both sides of the tape corresponding to all tape output images to obtain deformation features of the tape during the output process; wherein the deformation features include deformation amplitude features of the tape in thickness and width dimensions during the output process; The tape tension estimation module is used to estimate the tension change trend of the tape during the output process based on the physical morphological characteristics, specifically: Based on the deformation characteristics of the wrapping tape during the output process, the tension change trend of the wrapping tape during the output process is estimated; wherein the tension change trend includes the tension direction and tension magnitude change trend of the wrapping tape during the output process.

[0013] Preferably, the belt break event judgment module is used to judge whether a belt break event is about to occur based on the tension change trend, specifically: Based on the tension change trend, determine the tension direction and size two-dimensional distribution change information on the surface of the wrapping tape; based on the tension direction and size two-dimensional distribution change information, judge whether the tension on the surface of the wrapping tape exceeds the preset tolerable tension condition; if so, judge that a tape break event will occur; if not, judge that a tape break event will not occur; The tape output state adjustment module is used to adjust the tape output state of the tape reel when a tape break event is about to occur, based on the physical morphological characteristics of the tape during the transmission process and the structural state characteristics of the area to be coated of the target object, specifically: When a tape breakage event is about to occur, the tape output rate of the tape reel and the resistance applied to the tape during the tape output process are adjusted based on the deformation amplitude characteristics of the tape in thickness and width dimensions during transmission and the surface contour curvature characteristics of the target object's area to be coated.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The tape wrapping operation image of the target object is collected, and the tape wrapping operation image is analyzed to obtain the tape wrapping action trajectory of the target object and the output trajectory of the target object. The tape wrapping machine can wrap and cover the surface of the target object such as the core wire of the cable or optical cable with tape. A tape wrapping operation area is provided inside the tape wrapping machine, and a winding mechanism and a tape wrapping disk are provided inside the tape wrapping operation area. When the tape output by the tape wrapping disk is transferred to the winding mechanism, the winding mechanism will drive the tape to rotate, so that the tape is wrapped and covered on the surface of the target object output into the tape wrapping operation area. The action trajectory of the winding mechanism driving the tape to rotate and the trajectory of the target object output into the tape wrapping operation area will affect the position accuracy of the tape wrapping of the winding mechanism on the surface of the target object. If there is a deviation between the relative spatial posture of the action trajectory of the winding mechanism driving the tape to rotate and the output trajectory of the target object, the tape will not be able to cover the entire range of the target surface, and may make the local area of ​​the target surface unable to be effectively wrapped and covered by the tape, resulting in the local area of ​​the target surface being exposed. If the deviation in the relative spatial posture is not corrected in time, the wrapping position of the tape on the surface of the target object will be cumulatively offset, so that the target object surface cannot be accurately and globally wrapped, resulting in invalid wrapping of the target object. In order to timely discover the possible misalignment of the tape during the wrapping process on the target object, it is necessary to visually identify the wrapping operation on the target object, obtain the wrapping action trajectory implemented on the target object and the output trajectory of the target object, as a basis for subsequently determining the trend of the wrapping position change on the target object surface.

[0015] Based on the wrapping action trajectory and the output trajectory, the change trend of the wrapping position of the target object surface is determined; based on the change trend of the wrapping position, the change trend of the wrapping position deviation of the wrapping on the target object surface is estimated, so as to adjust the output state of the target object. The wrapping mechanism drives the wrapping to rotate and the wrapping will be synchronously wrapped around the target object surface. If the wrapping mechanism does not rotate the wrapping according to the preset trajectory and / or the target object output enters the wrapping operation area during the wrapping process, such as the target object's central axis entering the wrapping operation area, the movement trajectory deviates from the original preset trajectory, so that there is a relative posture deviation between the wrapping action trajectory and the target object's output trajectory, the position deviation between the actual wrapping position of the wrapping on the target object surface and the expected wrapping position of the wrapping on the target object surface will continue to accumulate, resulting in the failure of the wrapping of the target object surface. In order to avoid the failure of wrapping the target object with tape, based on the relative posture relationship between the central axis of the target object output into the wrapping operation area and the wrapping motion trajectory, as well as the movement speed and / or direction of the target object output into the wrapping operation area, the position change trend of the target object surface wrapped by the tape is determined, so as to judge whether the position deviation between the actual wrapping position of the tape on the target object surface and the expected wrapping position of the tape on the target object surface exceeds the acceptable deviation range, so as to adjust the movement speed and / or direction of the target object output into the wrapping operation area, promptly correct the wrapping position of the tape on the target object surface, reduce the probability of dislocation of the wrapping tape on the target surface, and improve the reliability of the wrapping operation on the target object.

[0016] The dynamic image of the tape output of the tape reel is collected and analyzed to obtain the physical morphological characteristics of the tape during the output process; based on the physical morphological characteristics, the tension change trend of the tape during the output process is estimated. The tape reel in the tape wrapping machine is used to wind and store the tape. The output port of the tape reel corresponds to the winding mechanism. The tape output from the output port of the tape reel will be transferred to the winding mechanism, and then it will be wound and coated on the surface of the target object under the rotation of the winding mechanism. The output port of the tape reel will output the tape at a corresponding speed. After the tape is output from the tape reel, a corresponding tension will be formed on the surface. Under the action of the tension, the surface of the tape will be in a taut state. When the winding mechanism wraps the tape around the surface of the target object, the taut tape will form a good and close contact with the surface of the target object, thereby increasing the contact and adhesion effect of the tape on the surface of the target object. If the output speed of the tape from the output port of the tape reel is too low, it will not be possible to form a large enough tension on the surface of the tape, and the surface of the tape will be in a relaxed state. When the winding mechanism wraps the tape around the surface of the target object, the tape in a relaxed state will not be able to form a close contact with the surface of the target object, resulting in the tape being unable to wrap tightly around the surface of the target object and becoming loose. If the output speed of the tape from the output port of the tape reel is too high, a large tension will be formed on the surface of the tape, and the surface toughness of the tape itself is limited. When the tension on the surface of the tape exceeds the tension that the tape can withstand, the tape will break during the process of wrapping around the surface of the target object, i.e., a tape break event, resulting in failure of the tape wrapping operation on the surface of the target object. Considering that the tape's own surface has different tension tolerances in different dimensional directions, it is necessary to perform dynamic visual recognition of the tape output of the tape reel to estimate the tension change trend of the tape during transmission, so as to provide a reliable basis for subsequent judgment of whether the tape will break.

[0017] Based on the tension change trend, it is determined whether a tape break event is about to occur; when a tape break event is about to occur, the tape output state of the tape reel is adjusted based on the physical morphological characteristics of the tape during the transmission process and the structural state characteristics of the target object's to-be-coated area. The tape surface itself has different tolerable tension performance in different dimensional directions. In order to accurately determine whether the tape is about to break, based on the tension change trend of the tape, the direction and size of the two-dimensional distribution of the tape surface tension are determined, and the tension on the tape surface in the corresponding dimensional direction is determined in a targeted manner. It is accurately predicted whether the tape is broken, which provides a reliable basis for the subsequent timely correction of the tape output rate of the tape reel and the resistance applied to the tape. The greater the tape output rate of the tape reel, the greater the tension on the tape surface. The tape reel is also provided with a resistance applying mechanism for applying resistance of different directions and / or sizes to the tape output by the tape reel. When resistance is applied to the tape, the tension on the tape surface will also change accordingly. When the tape is about to break, the deformation amplitude of the tape in thickness and width dimensions will be more obvious under the action of excessive tension, that is, the deformation amplitude of the tape in thickness and width dimensions is positively correlated with the tension on the surface of the tape. In addition, the surface contour curvature of the target area to be coated will also affect the tension required for the tape to be tightly wrapped around the corresponding area on the surface of the target. Generally speaking, the greater the surface contour curvature of the area to be coated, the greater the tension required for the tape to be tightly wrapped around the corresponding area on the surface of the target. In order to avoid the tape from actually breaking due to excessive surface tension and to provide sufficient tension for the tape to be tightly wrapped around the surface of the target, based on the deformation amplitude characteristics of the tape in thickness and width dimensions during the transmission process and the surface contour curvature characteristics of the target area to be coated, the tape output rate of the tape reel and the resistance applied to the tape during the tape output process are adjusted, and the tape output state of the tape reel is controlled to ensure that the tape maintains appropriate tension, so that the tape is fully and tightly wrapped on the surface of the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. 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 creative work. Among them: Figure 1 The present invention provides a flow chart of a fully automatic packaging control method for a taping machine.

[0019] Figure 2 It is a structural diagram of an automatic taping machine provided by the present invention. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention rather than all structures are shown in the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] The terms "include" and "have" and any variations thereof in the present invention are intended to cover non-exclusive inclusions. For example, a process, method, automatic taping machine, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] See also Figure 1 As shown, the present invention provides a fully automatic packaging control method for a taping machine, the method comprising the following steps: S100, collecting images of the taping operation on the target object, analyzing the images of the taping operation, and obtaining a taping action trajectory on the target object and an output trajectory of the target object; determining a trend of a tape wrapping position change on the target object surface based on the tape wrapping action trajectory and the output trajectory; estimating a trend of a tape wrapping position deviation change on the target object surface based on the tape wrapping position change trend, thereby adjusting the output state of the target object.

[0024] Furthermore, an image of the wrapping operation on the target object is collected and analyzed to obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object, specifically: Dynamically photograph the wrapping operation area to obtain a dynamic image of the wrapping operation on the target object in the wrapping operation area, and divide the dynamic image of the wrapping operation into a plurality of wrapping operation images; Perform pixel contour recognition on the tape operation image to obtain tape surface contour features and target object surface contour features in the tape operation image; determine tape spatial position information and target object axis direction information in the tape operation image based on the tape surface contour features and target object surface contour features; Time-varying analysis is performed on the wrapping spatial position information and the target object axis direction information corresponding to all wrapping operation images to obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; wherein the wrapping action trajectory includes a wrapping action trajectory of the target object entering the wrapping operation area; and the output trajectory includes an output trajectory of the target object's central axis that enters the wrapping operation area.

[0025] The taping machine can wrap tape around the surface of a target object such as the core wire of an electric cable or optical cable. A taping operation area is provided inside the taping machine, and a winding mechanism and a taping reel are provided inside the taping operation area. When the tape output by the taping reel is transferred to the winding mechanism, the winding mechanism drives the tape to rotate, so that the tape is wrapped around the surface of the target object output and entering the taping operation area. The target object is an object with a slender structure such as the core wire of an electric cable or optical cable. In order to evenly wrap the tape around the entire surface of the target object, the target object will be transported by the transmission mechanism at a corresponding speed, and output from the transmission mechanism into the taping operation area, so that the target object will form a corresponding output trajectory when it enters the taping operation area driven by the transmission mechanism.

[0026] The movement trajectory of the wrapping belt driven by the winding mechanism to rotate and the trajectory of the target object output entering the wrapping operation area will affect the position accuracy of the wrapping belt of the winding mechanism on the surface of the target object. If there is a deviation between the relative spatial posture of the movement trajectory of the wrapping belt driven by the winding mechanism to rotate and the output trajectory of the target object, the wrapping belt will not be able to cover the entire surface of the target object, and may make the local area of ​​the target surface unable to be effectively wrapped and covered by the wrapping belt, resulting in the local area of ​​the target surface being exposed. If the deviation in the above relative spatial posture is not corrected in time, the wrapping position of the wrapping belt on the surface of the target object will be cumulatively offset, so that the target surface cannot be accurately wrapped and covered globally, resulting in invalid wrapping operation of the target object.

[0027] In order to timely discover the possible misalignment of the tape during the wrapping process on the surface of the target object, it is necessary to visually identify the wrapping operation on the target object; specifically, first dynamically capture the dynamic image of the wrapping operation on the target object in the wrapping operation area, and the above-mentioned dynamic image of the wrapping operation includes the action process of the wrapping mechanism wrapping the tape on the surface of the target object and the output process of the transmission mechanism transmitting the target object into the wrapping operation area. The dynamic image of the wrapping operation is divided into several wrapping operation images, and pixel contour recognition is performed on each wrapping operation image to obtain the surface contour features of the wrapping tape and the surface contour features of the target object; wherein the surface contour features of the wrapping tape may include but are not limited to the boundary contour features on the opposite sides of the wrapping tape along its own length direction and the contour features of the upper and lower surfaces of the wrapping tape; the surface contour features of the target object may include but are not limited to the contour features of the outer peripheral surface of the target object. Then, the surface contour features of the wrapping tape and the surface contour features of the target object are represented in three-dimensional space to obtain the spatial position information of the wrapping tape and the axial direction information of the target object (i.e., the extension direction information of the central axis of the target object itself). The spatial position information of the tape and the axial direction information of the target object corresponding to all the tape operation images are analyzed time-varyingly, and the tape wrapping action trajectory of the target object entering the tape operation area and the central axis trajectory of the target object entering the tape operation area are obtained as the basis for subsequently determining the tape wrapping position change trend of the target object surface.

[0028] Furthermore, based on the wrapping action trajectory and the output trajectory, the wrapping position change trend of the target object surface is determined; based on the wrapping position change trend of the wrapping, the wrapping position deviation change trend of the wrapping on the target object surface is estimated, so as to adjust the output state of the target object, specifically: Compare the wrapping action trajectory and the output trajectory in three-dimensional space to obtain the relative position relationship between the central axis of the target object that enters the wrapping operation area and the wrapping action trajectory; Based on the relative position and posture relationship and the output movement speed and / or direction of the target object entering the wrapping operation area, determine the wrapping position change trend of the target object surface; wherein the wrapping position change trend of the wrapping tape includes the wrapping position change trend of the boundaries of both sides of the wrapping tape on the target object surface; Based on the changing trend of the wrapping position of the tape, the changing trend of the wrapping position deviation of the tape on the surface of the target along the central axis of the target is estimated; based on the changing trend of the wrapping position deviation, the changing trend of the size of the wrapping overlapping range on the surface of the target is determined, so as to adjust the movement speed and / or direction of the target entering the wrapping operation area.

[0029] During the process of the wrapping belt driven by the winding mechanism to rotate, the wrapping belt will be synchronously wrapped around the surface of the target object. If the wrapping belt is not rotated according to the preset trajectory by the winding mechanism and / or the motion trajectory of the target object output entering the wrapping belt operation area, such as the motion trajectory of the central axis of the target object entering the wrapping belt operation area, deviates from the original preset trajectory during the wrapping belt wrapping process, there will be a relative posture deviation between the wrapping belt motion trajectory and the output trajectory of the target object. In this way, the position deviation between the actual wrapping and wrapping position of the wrapping belt on the target object surface and the expected wrapping and wrapping position of the wrapping belt on the target object surface will continue to accumulate, resulting in the failure of the wrapping belt wrapping on the target object surface. In order to avoid the failure of the wrapping belt wrapping on the target object, based on the relative posture relationship between the central axis of the target object output entering the wrapping belt operation area and the wrapping belt motion trajectory, and the movement speed and / or direction of the target object output entering the wrapping belt operation area, the position change trend of the target object surface being wrapped and wrapped by the wrapping belt is determined, that is, the wrapping position change trend of the boundaries of the wrapping belt on both sides of its length direction on the target object surface is determined, and the change of the area range covered by the wrapping belt on the target object surface is accurately determined. In addition, based on the changing trend of the wrapping position of the tape on the target surface, the changing trend of the wrapping position deviation of the tape on the target surface along the central axis direction of the target object is estimated, so as to determine the changing trend of the size of the wrapping overlapping range on the target object surface, and judge whether the position deviation between the actual wrapping position of the tape on the target object surface and the expected wrapping position of the tape on the target object surface exceeds the acceptable deviation range. If exceeded, the movement speed and / or direction of the target object output entering the wrapping operation area is adjusted, so that only the posture of the target object output entering the wrapping operation area needs to be adjusted to timely correct the wrapping position of the tape on the target object surface, and there is no need to adjust the winding mechanism, thereby reducing the difficulty of aligning and adjusting the tape with the target object surface, reducing the probability of misalignment of the wrapping tape on the target surface, and improving the reliability of the wrapping operation on the target object; if not exceeded, the transmission speed and direction of the transmission mechanism to the target object are kept unchanged.

[0030] S200, collecting dynamic images of the tape output of the tape reel, analyzing the dynamic images of the tape output, and obtaining physical morphological characteristics of the tape during the output process; based on the physical morphological characteristics, estimating the tension change trend of the tape during the output process.

[0031] Furthermore, the dynamic image of the tape output of the tape reel is collected and analyzed to obtain the physical morphological characteristics of the tape during the output process; based on the physical morphological characteristics, the tension change trend of the tape during the output process is estimated, specifically: Dynamically photographing the output port of the tape wrapping reel and its adjacent area to obtain a dynamic image of the tape wrapping output of the tape wrapping reel, and dividing the dynamic image of the tape wrapping output into a plurality of tape wrapping output images; Pixel contour recognition is performed on the tape output image to obtain the tape surface morphology features and the shape features of the boundaries on both sides of the tape in the tape output image; time-varying analysis is performed on the tape surface morphology features and the shape features of the boundaries on both sides of the tape corresponding to all tape output images to obtain the deformation characteristics of the tape during the output process; wherein the deformation characteristics include the deformation amplitude characteristics of the tape in the thickness and width dimensions during the output process; based on the deformation characteristics of the tape during the output process, the tension change trend of the tape during the output process is estimated; wherein the tension change trend includes the tension direction and tension magnitude change trend of the tape during the output process.

[0032] The tape reel in the tape wrapping machine is used to wind and store the tape. The output port of the tape reel corresponds to the winding mechanism. The tape output from the output port of the tape reel will be transferred to the winding mechanism, and then wound and wrapped on the surface of the target object under the rotation of the winding mechanism. The output port of the tape reel will output the tape at a corresponding speed. After the tape is output from the tape reel, a corresponding tension will be formed on the surface. Under the action of the tension, the surface of the tape will be in a tight state. When the winding mechanism wraps the tape around the surface of the target object, the tight tape will form a good and close contact with the surface of the target object, thereby increasing the contact and adhesion effect of the tape on the surface of the target object. If the output speed of the tape from the output port of the tape reel is too low, it will not be possible to form a large enough tension on the surface of the tape, and the surface of the tape will be in a loose state. When the winding mechanism wraps the tape around the surface of the target object, the loose tape will not be able to form a close contact with the surface of the target object, resulting in the tape being unable to wrap tightly around the surface of the target object and becoming loose. If the output speed of the tape from the output port of the tape reel is too high, a large tension will be formed on the surface of the tape. However, the surface toughness of the tape itself is limited. When the tension on the surface of the tape exceeds the tension that the tape can withstand, the tape will break during the process of wrapping and wrapping the surface of the target object, which is called a tape break event, resulting in failure of the tape wrapping operation on the surface of the target object. Considering that the tension that the surface of the tape can withstand in different dimensional directions is different, it is necessary to perform dynamic visual recognition of the tape output of the tape reel, estimate the tension change trend of the tape during the transmission process, and provide a reliable basis for subsequent judgment of whether the tape will break.

[0033] The surface tension of the tape will cause the tape to deform, and the deformation size and direction of the tape are related to the size and direction of the surface tension of the tape. By identifying the size and direction of the deformation of the tape, the distribution of the surface tension of the tape can be accurately determined. Specifically, a dynamic image of the tape output from the output port of the tape reel and its adjacent area is captured, and the dynamic image of the tape output represents the movement speed and direction of the tape output from the tape reel. The dynamic image of the tape output is divided into a number of tape output images, and the surface morphology characteristics of the tape and the shape characteristics of the boundaries on both sides of the tape are identified from the tape output images. When the surface of the tape is subjected to tension of different sizes and directions, the tape will be stretched to different degrees in different directions, so that the morphology of the upper and lower surfaces of the tape and the boundary shape of the tape on both sides along its own length direction change, so that the tape will present different deformation states after being output from the transmission mechanism. Generally speaking, the greater the tension of the tape in a certain direction, the greater the deformation amplitude of the tape in the corresponding direction. In order to accurately estimate the tension direction and tension magnitude changing trend of the tape during the output process, a time-varying analysis is performed on the surface morphology features of the tape and the shape features of the boundaries on both sides of the tape corresponding to all the tape output images, and the deformation amplitude characteristics of the tape in the thickness and width dimensions during the output process are obtained. In this way, the tension direction and tension magnitude changing trend of the tape during the output process are estimated, thereby accurately predicting the possible breakage of the tape in different directions.

[0034] S300, judging whether a tape breakage event is about to occur based on the tension change trend; if a tape breakage event is about to occur, adjusting the tape output state of the tape reel based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object.

[0035] Furthermore, based on the tension change trend, it is determined whether a tape break event is about to occur; when a tape break event is about to occur, the tape output state of the tape reel is adjusted based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object, specifically: Based on the tension change trend, determine the tension direction and size two-dimensional distribution change information on the surface of the tape; based on the tension direction and size two-dimensional distribution change information, judge whether the tension on the surface of the tape exceeds the preset tolerable tension condition; if so, judge that the tape breakage event will occur; if not, judge that the tape breakage event will not occur; When a tape breakage event is about to occur, the tape output rate of the tape reel and the resistance applied to the tape during the tape output process are adjusted based on the deformation amplitude characteristics of the tape in the thickness and width dimensions during transmission and the surface contour curvature characteristics of the target object's area to be coated.

[0036] The surface of the tape itself can withstand different tensions in different dimensional directions. In order to accurately determine whether the tape is about to break, the direction and size of the two-dimensional distribution of the tension on the surface of the tape are determined based on the tension change trend of the tape, and a targeted judgment is made as to whether the tension on the surface of the tape is too large in the corresponding dimensional direction. Accurately predict whether the tape is broken, and provide a reliable basis for subsequent timely correction of the tape output rate of the tape reel and the resistance applied to the tape. Specifically, based on the tension direction and size two-dimensional distribution change information on the surface of the tape, the tension thresholds of different directions on the surface of the tape are compared to determine whether the tension on the surface of the tape exceeds the preset tolerable tension condition, thereby determining whether the tape is about to break.

[0037] The greater the output rate of the tape from the tape reel, the greater the tension on the surface of the tape. The tape reel is also provided with a resistance applying mechanism for applying resistance of different directions and / or magnitudes to the tape output from the tape reel. When resistance is applied to the tape, the tension on the surface of the tape will also change accordingly. When the tape is about to break, the deformation amplitude of the tape itself in thickness and width dimensions will be more obvious under the action of excessive tension, that is, the deformation amplitude of the tape itself in thickness and width dimensions is positively correlated with the tension on the surface of the tape. In addition, the surface contour curvature of the target object's area to be coated will also affect the tension required for the tape to be tightly wrapped around the corresponding area on the target object's surface. Generally speaking, the greater the surface contour curvature of the area to be coated, the greater the tension required for the tape to be tightly wrapped around the corresponding area on the target object's surface. In order to prevent the tape from actually breaking due to excessive surface tension and to provide sufficient tension for the tape to be tightly wrapped around the surface of the target object, the tape output rate of the tape reel and the resistance applied to the tape during the output tape process are adjusted based on the deformation amplitude characteristics of the tape in thickness and width dimensions during transmission and the surface contour curvature characteristics of the target object's area to be coated. The tape output state of the tape reel is controlled to ensure that the tape maintains appropriate tension. For the tape to be fully and tightly wrapped on the surface of the target object, it can also effectively prevent the tape from breaking due to excessive surface tension. The tape output state of the tape reel is accurately controlled to ensure that the tape maintains appropriate tension and tightly coats the surface of the target object.

[0038] See also Figure 2 As shown, the present invention provides an automatic taping machine, which includes the following modules: A wrapping operation visual recognition module is used to collect images of the wrapping operation on the target object, analyze the images of the wrapping operation, and obtain the wrapping action trajectory implemented on the target object and the output trajectory of the target object; The target object output state adjustment module is used to determine the wrapping position change trend of the target object surface based on the wrapping action trajectory and the output trajectory; based on the wrapping position change trend of the wrapping, estimate the wrapping position deviation change trend of the wrapping on the target object surface, so as to adjust the output state of the target object; The tape output visual recognition module is used to collect the tape output dynamic image of the tape reel, analyze the tape output dynamic image, and obtain the physical morphological characteristics of the tape during the output process; The tape tension estimation module is used to estimate the tension change trend of the tape during the output process based on the physical morphological characteristics; A belt break event judgment module is used to judge whether a belt break event is about to occur based on the tension change trend; The tape output state adjustment module is used to adjust the tape output state of the tape reel based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object when a tape break event is about to occur.

[0039] Furthermore, the wrapping operation visual recognition module is used to collect the wrapping operation image of the target object, analyze the wrapping operation image, and obtain the wrapping action trajectory implemented on the target object and the output trajectory of the target object, specifically: Dynamically photograph the wrapping operation area to obtain a dynamic image of the wrapping operation on the target object in the wrapping operation area, and divide the dynamic image of the wrapping operation into a plurality of wrapping operation images; Perform pixel contour recognition on the tape operation image to obtain tape surface contour features and target object surface contour features in the tape operation image; determine tape spatial position information and target object axis direction information in the tape operation image based on the tape surface contour features and target object surface contour features; Time-varying analysis is performed on the wrapping spatial position information and the target object axis direction information corresponding to all wrapping operation images to obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; wherein the wrapping action trajectory includes a wrapping action trajectory of the target object entering the wrapping operation area; and the output trajectory includes an output trajectory of the target object's central axis that enters the wrapping operation area.

[0040] Furthermore, the target object output state adjustment module is used to determine the change trend of the wrapping position of the target object surface based on the wrapping action trajectory and the output trajectory; based on the wrapping position change trend, estimate the change trend of the wrapping position deviation of the wrapping on the target object surface, so as to adjust the output state of the target object, specifically: Compare the wrapping action trajectory and the output trajectory in three-dimensional space to obtain the relative position relationship between the central axis of the target object that enters the wrapping operation area and the wrapping action trajectory; Based on the relative position and posture relationship and the output movement speed and / or direction of the target object entering the wrapping operation area, determine the wrapping position change trend of the target object surface; wherein the wrapping position change trend of the wrapping tape includes the wrapping position change trend of the boundaries of both sides of the wrapping tape on the target object surface; Based on the changing trend of the wrapping position of the tape, the changing trend of the wrapping position deviation of the tape on the surface of the target along the central axis of the target is estimated; based on the changing trend of the wrapping position deviation, the changing trend of the size of the wrapping overlapping range on the surface of the target is determined, so as to adjust the movement speed and / or direction of the target entering the wrapping operation area.

[0041] Furthermore, the tape output visual recognition module is used to collect the tape output dynamic image of the tape reel, analyze the tape output dynamic image, and obtain the physical morphological characteristics of the tape during the output process, specifically: Dynamically photographing the output port of the tape wrapping reel and its adjacent area to obtain a dynamic image of the tape wrapping output of the tape wrapping reel, and dividing the dynamic image of the tape wrapping output into a plurality of tape wrapping output images; Perform pixel contour recognition on the tape output image to obtain the tape surface morphology features and the shape features of the boundaries on both sides of the tape in the tape output image; perform time-varying analysis on the tape surface morphology features and the shape features of the boundaries on both sides of the tape corresponding to all tape output images to obtain the deformation features of the tape during the output process; wherein the deformation features include the deformation amplitude features of the tape in the thickness and width dimensions during the output process; The tape tension estimation module is used to estimate the tension change trend of the tape during the output process based on the physical morphological characteristics, specifically: Based on the deformation characteristics of the strap during the output process, the tension change trend of the strap during the output process is estimated; wherein the tension change trend includes the tension direction and tension magnitude change trend of the strap during the output process.

[0042] Furthermore, the belt breaking event judgment module is used to judge whether a belt breaking event is about to occur based on the tension change trend, specifically: Based on the tension change trend, determine the tension direction and size two-dimensional distribution change information on the surface of the tape; based on the tension direction and size two-dimensional distribution change information, judge whether the tension on the surface of the tape exceeds the preset tolerable tension condition; if so, judge that the tape breakage event will occur; if not, judge that the tape breakage event will not occur; The tape output state adjustment module is used to adjust the tape output state of the tape reel when a tape break event is about to occur based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the target object's to-be-coated area. Specifically: When a tape breakage event is about to occur, the tape output rate of the tape reel and the resistance applied to the tape during the tape output process are adjusted based on the deformation amplitude characteristics of the tape in the thickness and width dimensions during transmission and the surface contour curvature characteristics of the target object's area to be coated.

[0043] The operation and effects of the automatic taping machine of the present invention are corresponding to and consistent with the above-mentioned full-automatic packaging control method of the taping machine, and the automatic taping machine will not be described repeatedly here.

[0044] Through the description of the above implementation methods, technicians in this field can clearly understand that each implementation method can be implemented by adding a necessary general hardware platform, and of course can also be implemented by combining hardware and software. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a computer product, and the present invention can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it, and other embodiments may also be used. Although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic packaging control method for a taping machine, characterized in that: The method comprises the following steps: Capturing a tape wrapping operation image of a target object, analyzing the tape wrapping operation image to obtain a tape wrapping action trajectory implemented on the target object and an output trajectory of the target object; determining a tape wrapping position change trend on the target object surface based on the tape wrapping action trajectory and the output trajectory; estimating a tape wrapping position deviation change trend on the target object surface based on the tape wrapping position change trend, thereby adjusting the output state of the target object; Collecting dynamic images of the tape output of the tape reel, analyzing the dynamic images of the tape output, and obtaining physical morphological characteristics of the tape during the output process; estimating the tension change trend of the tape during the output process based on the physical morphological characteristics; Based on the tension change trend, determine whether a tape breakage event is about to occur; when a tape breakage event is about to occur, adjust the tape output state of the tape reel based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object.

2. The method according to claim 1, characterized in that: The collecting of the tape wrapping operation image of the target object and analyzing the tape wrapping operation image to obtain the tape wrapping action trajectory implemented on the target object and the output trajectory of the target object are specifically: Dynamically photographing the wrapping operation area to obtain a dynamic image of the wrapping operation on the target object in the wrapping operation area, and dividing the dynamic image of the wrapping operation into a plurality of wrapping operation images; Performing pixel contour recognition on the wrapping operation image to obtain wrapping tape surface contour features and target object surface contour features in the wrapping operation image; determining wrapping tape spatial position information and target object axial direction information in the wrapping operation image based on the wrapping tape surface contour features and target object surface contour features; Time-varying analysis is performed on the wrapping spatial position information and the target object axis direction information corresponding to all wrapping operation images to obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; wherein the wrapping action trajectory includes a wrapping action trajectory of wrapping the target object entering the wrapping operation area; and the output trajectory includes an output trajectory of the target object's central axis that enters the wrapping operation area.

3. The method according to claim 2, characterized in that The step of determining the wrapping position variation trend of the target object surface based on the wrapping action trajectory and the output trajectory; and estimating the wrapping position deviation variation trend of the target object surface based on the wrapping position variation trend, thereby adjusting the output state of the target object, specifically: Comparing the wrapping action trajectory with the output trajectory in three-dimensional space to obtain a relative posture relationship between the central axis of the target object entering the wrapping operation area and the wrapping action trajectory; Based on the relative position relationship and the output movement speed and / or direction of the target object entering the wrapping operation area, determine the wrapping position change trend of the target object surface; wherein the wrapping position change trend includes the wrapping position change trend of the two side boundaries of the wrapping on the target object surface; Based on the changing trend of the wrapping position of the tape, the changing trend of the wrapping position deviation of the tape on the surface of the target object along the central axis of the target object is estimated; based on the changing trend of the wrapping position deviation, the changing trend of the size of the wrapping overlapping range on the surface of the target object is determined, so as to adjust the movement speed and / or direction of the target object entering the wrapping operation area.

4. The method according to claim 1, characterized in that: The method includes collecting a dynamic image of the tape output of the tape reel, analyzing the dynamic image of the tape output, and obtaining physical morphological characteristics of the tape during the output process; estimating a tension change trend of the tape during the output process based on the physical morphological characteristics, specifically: Dynamically photographing the output port of the tape wrapping reel and its adjacent area to obtain a dynamic image of the tape wrapping output of the tape wrapping reel, and dividing the dynamic image of the tape wrapping output into a plurality of tape wrapping output images; Pixel contour recognition is performed on the tape output image to obtain tape surface morphology features and shape features of the boundaries on both sides of the tape in the tape output image; time-varying analysis is performed on the tape surface morphology features and shape features of the boundaries on both sides of the tape corresponding to all tape output images to obtain deformation features of the tape during the output process; wherein the deformation features include deformation amplitude features of the tape in thickness and width dimensions during the output process; based on the deformation features of the tape during the output process, a tension change trend of the tape during the output process is estimated; wherein the tension change trend includes a tension direction and a tension magnitude change trend of the tape during the output process.

5. The method according to claim 1, characterized in that determining whether a belt break event is about to occur based on the tension change trend; When a tape break event is about to occur, the tape output state of the tape reel is adjusted based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object, specifically: Based on the tension change trend, determine the tension direction and size two-dimensional distribution change information on the surface of the wrapping tape; based on the tension direction and size two-dimensional distribution change information, determine whether the tension on the surface of the wrapping tape exceeds the preset tolerable tension condition; If yes, it is determined that a belt break event will occur; if no, it is determined that a belt break event will not occur; When a tape breakage event is about to occur, the tape output rate of the tape reel and the resistance applied to the tape during the tape output process are adjusted based on the deformation amplitude characteristics of the tape in thickness and width dimensions during transmission and the surface contour curvature characteristics of the target object's area to be coated.

6. An automatic taping machine, characterized in that: The automatic taping machine includes the following modules: A wrapping operation visual recognition module, used to collect images of wrapping operation on a target object, analyze the images of wrapping operation, and obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; A target object output state adjustment module, used to determine a change trend of a wrapping position of the target object surface based on the wrapping action trajectory and the output trajectory; Based on the wrapping position variation trend of the wrapping tape, estimating the wrapping position deviation variation trend of the wrapping tape on the surface of the target object, thereby adjusting the output state of the target object; A tape output visual recognition module, used for collecting a dynamic image of the tape output of the tape reel, analyzing the dynamic image of the tape output, and obtaining physical morphological characteristics of the tape during the output process; A bag tape tension estimation module, used for estimating the tension variation trend of the bag tape during the output process based on the physical morphological characteristics; A belt breaking event judgment module, used for judging whether a belt breaking event is about to occur based on the tension change trend; The tape output state adjustment module is used to adjust the tape output state of the tape reel based on the physical morphological characteristics of the tape during transmission and the structural state characteristics of the area to be coated of the target object when a tape break event is about to occur.

7. The automatic taping machine according to claim 6, characterized in that: The wrapping operation visual recognition module is used to collect the wrapping operation image of the target object, analyze the wrapping operation image, and obtain the wrapping action trajectory implemented on the target object and the output trajectory of the target object, specifically: Dynamically photographing the wrapping operation area to obtain a dynamic image of the wrapping operation on the target object in the wrapping operation area, and dividing the dynamic image of the wrapping operation into a plurality of wrapping operation images; Performing pixel contour recognition on the wrapping operation image to obtain wrapping tape surface contour features and target object surface contour features in the wrapping operation image; determining wrapping tape spatial position information and target object axial direction information in the wrapping operation image based on the wrapping tape surface contour features and target object surface contour features; Time-varying analysis is performed on the wrapping spatial position information and the target object axis direction information corresponding to all wrapping operation images to obtain a wrapping action trajectory implemented on the target object and an output trajectory of the target object; wherein the wrapping action trajectory includes a wrapping action trajectory of wrapping the target object entering the wrapping operation area; and the output trajectory includes an output trajectory of the target object's central axis that enters the wrapping operation area.

8. The automatic taping machine according to claim 7, characterized in that: The target object output state adjustment module is used to determine the wrapping position change trend of the target object surface based on the wrapping action trajectory and the output trajectory; based on the wrapping position change trend, estimate the wrapping position deviation change trend of the wrapping position on the target object surface, so as to adjust the output state of the target object, specifically: Comparing the wrapping action trajectory with the output trajectory in three-dimensional space to obtain a relative posture relationship between the central axis of the target object entering the wrapping operation area and the wrapping action trajectory; Based on the relative position relationship and the output movement speed and / or direction of the target object entering the wrapping operation area, determine the wrapping position change trend of the target object surface; wherein the wrapping position change trend includes the wrapping position change trend of the two side boundaries of the wrapping on the target object surface; Based on the changing trend of the wrapping position of the tape, the changing trend of the wrapping position deviation of the tape on the surface of the target object along the central axis of the target object is estimated; based on the changing trend of the wrapping position deviation, the changing trend of the size of the wrapping overlapping range on the surface of the target object is determined, so as to adjust the movement speed and / or direction of the target object entering the wrapping operation area.

9. The automatic taping machine according to claim 6, characterized in that: The tape output visual recognition module is used to collect the tape output dynamic image of the tape reel, analyze the tape output dynamic image, and obtain the physical morphological characteristics of the tape during the output process, specifically: Dynamically photographing the output port of the tape wrapping reel and its adjacent area to obtain a dynamic image of the tape wrapping output of the tape wrapping reel, and dividing the dynamic image of the tape wrapping output into a plurality of tape wrapping output images; Performing pixel contour recognition on the tape output image to obtain tape surface morphology features and tape boundary shape features on both sides of the tape in the tape output image; performing time-varying analysis on the tape surface morphology features and tape boundary shape features on both sides of the tape corresponding to all tape output images to obtain deformation features of the tape during the output process; wherein the deformation features include deformation amplitude features of the tape in thickness and width dimensions during the output process; The tape tension estimation module is used to estimate the tension change trend of the tape during the output process based on the physical morphological characteristics, specifically: Based on the deformation characteristics of the wrapping tape during the output process, the tension change trend of the wrapping tape during the output process is estimated; wherein the tension change trend includes the tension direction and tension magnitude change trend of the wrapping tape during the output process.

10. The automatic taping machine according to claim 6, characterized in that: The belt breaking event judgment module is used to judge whether a belt breaking event is about to occur based on the tension change trend, specifically: Based on the tension change trend, determine the tension direction and size two-dimensional distribution change information on the surface of the wrapping tape; based on the tension direction and size two-dimensional distribution change information, determine whether the tension on the surface of the wrapping tape exceeds the preset tolerable tension condition; If yes, it is determined that a belt break event will occur; if no, it is determined that a belt break event will not occur; The tape output state adjustment module is used to adjust the tape output state of the tape reel when a tape break event is about to occur, based on the physical morphological characteristics of the tape during the transmission process and the structural state characteristics of the area to be coated of the target object, specifically: When a tape breakage event is about to occur, the tape output rate of the tape reel and the resistance applied to the tape during the tape output process are adjusted based on the deformation amplitude characteristics of the tape in thickness and width dimensions during transmission and the surface contour curvature characteristics of the target object's area to be coated.

Images