A fully automatic packaging control method for a strapping machine and an automatic strapping machine

Abstract

The present invention relates to the field of packaging and strapping, and specifically to a fully automatic packaging control method for a strapping machine and an automatic strapping machine. It analyzes the imaging of the strapping operation on the target object to obtain the strapping action trajectory and the output trajectory of the target object, determines the change trend of the strapping covering position on the surface of the target object, estimates the change trend of the strapping covering position deviation on the surface of the target object based on this, and thus adjusts the output state of the target object. It also analyzes the dynamic imaging of the strapping output of the strapping reel to obtain the physical form characteristics of the strapping during the output process, estimates the change trend of the strapping tension based on this, and determines whether a tape break event is about to occur. When a tape break event is about to occur, based on the physical form characteristics of the strapping during the transmission process and the structural state characteristics of the target object, it adjusts the strapping output state of the strapping reel. The present invention can enable the strapping to form a full-range coverage of the surface of the target object, accurately control the strapping output state of the strapping reel to ensure that the strapping maintains an appropriate tension, and tightly cover the surface of the target object.

Description

Technical Field

[0001] The present invention relates to the field of packaging and strapping, and particularly to a full-automatic packaging control method for a strapping machine and an automatic strapping machine. Background Art

[0002] During the production process of cables and optical cables, etc., a layer of metal foil tape needs to be coated on the outer surface of the core wire. Whether the metal foil tape is evenly coated 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 causes a local area of the outer surface of the core wire to be exposed, it will lead to the corresponding local area being unable to effectively shield external electromagnetic interference and reduce the anti-interference ability of the cable. In view of the slender structural characteristics of the cable, a strapping machine is usually used to perform the operation of winding and coating the metal foil tape on the cable. The strapping reel of the strapping machine stores and winds the metal foil tape, and the metal foil tape output by the strapping reel will be rotated at high speed by the winding mechanism of the strapping machine, so as to be coated on the outer surface of the core wire.

[0003] During the actual strapping operation process, the relative positional relationship between the core wire and the winding mechanism will affect the coating position of the metal foil tape on the outer surface of the core wire. In addition, the toughness of the metal foil tape is relatively low. If the tension applied to the metal foil tape during the strapping operation is too large, the problem of metal foil tape breakage is likely to occur. Once the metal foil tape breaks, it will not be able to form a globally tight coating effect on the outer surface of the core wire. At this time, it is necessary to remove the coated metal foil tape and re-perform the strapping operation; if the tension applied to the metal foil tape during the strapping operation is too small, the metal foil tape will not be able to form a tight contact on the surface of the core wire, and the problem of metal foil tape loosening is likely to occur. Therefore, how to dynamically adjust the position and posture of the target object during the strapping operation of the strapping machine, avoid missing the coating of the strapping on the surface of the target object, and control the strapping output state of the strapping reel to ensure that the strapping maintains an appropriate tension is of great significance for the full and tight coating of the strapping on the surface of the target object. Summary of the Invention

[0004] In order to avoid misalignment of the target object due to its own gravity or improper movement during the strapping operation, so that the strapping cannot form a full-range coverage of the surface of the target object, and accurately control the strapping output state of the strapping reel to ensure that the strapping maintains an appropriate tension and achieve the tight coating of the strapping on the surface of the target object, the present invention provides a full-automatic packaging control method for a strapping machine, and the method includes the following steps:

[0005] Collect the strapping operation image of the target object, analyze the strapping operation image to obtain the strapping action trajectory implemented on the target object and the output trajectory of the target object; based on the strapping action trajectory and the output trajectory, determine the change trend of the strapping coating position on the surface of the target object; based on the change trend of the strapping coating position, estimate the change trend of the strapping coating position deviation on the surface of the target object, and adjust the output state of the target object accordingly;

[0006] Collect the dynamic image of the tape output from the tape reel, analyze the dynamic image of the tape output, and obtain the physical form characteristics of the tape during the output process; based on the physical form characteristics, estimate the tension change trend of the tape during the output process;

[0007] Based on the tension change trend, determine whether a tape break event is about to occur; when a tape break event is about to occur, adjust the tape output state of the tape reel based on the physical form characteristics of the tape during the transmission process and the structural state characteristics of the area to be covered of the target object.

[0008] Preferably, collect the tape operation image of the target object, analyze the tape operation image, and obtain the tape action trajectory implemented on the target object and the output trajectory of the target object, specifically:

[0009] Dynamically photograph the tape operation area to obtain the dynamic image of the tape operation on the target object in the tape operation area, and frame the dynamic image of the tape operation into a number of tape operation images;

[0010] Perform pixel contour recognition on the tape operation images to obtain the tape surface contour characteristics and the target object surface contour characteristics in the tape operation images; based on the tape surface contour characteristics and the target object surface contour characteristics, determine the tape spatial position information and the target object axis direction information in the tape operation images;

[0011] Perform time-varying analysis on the tape spatial position information and the target object axis direction information corresponding to all tape operation images respectively to obtain the tape action trajectory implemented on the target object and the output trajectory of the target object; wherein, the tape action trajectory includes the tape winding and covering action trajectory of the target object entering the tape operation area; the output trajectory includes the central axis trajectory of the target object output into the tape operation area.

[0012] Preferably, based on the tape action trajectory and the output trajectory, determine the change trend of the tape covering position on the surface of the target object; based on the change trend of the tape covering position, estimate the change trend of the covering position deviation of the tape on the surface of the target object, and adjust the output state of the target object accordingly, specifically:

[0013] Perform a three-dimensional space comparison between the tape action trajectory and the output trajectory to obtain the relative pose relationship between the central axis of the target object output into the tape operation area and the tape action trajectory;

[0014] Based on the relative pose relationship and the movement speed and / or direction of the target object entering the banding operation area, determine the changing trend of the banding covering position on the surface of the target object; wherein, the changing trend of the banding covering position includes the changing trend of the covering positions of both sides of the band on the surface of the target object.

[0015] Based on the changing trend of the banding covering position, estimate the changing trend of the covering position deviation of the band along the central axis direction of the target object on the surface of the target object; based on the changing trend of the covering position deviation, determine the changing trend of the size of the overlapping range of the band on the surface of the target object, and thereby adjust the movement speed and / or direction of the target object entering the banding operation area.

[0016] Preferably, collect the dynamic image of the band output from the band reel, analyze the dynamic image of the band output, and obtain the physical form characteristics of the band during the output process; based on the physical form characteristics, estimate the changing trend of the tension of the band during the output process, specifically:

[0017] Dynamically photograph the output port of the band reel and its adjacent area to obtain the dynamic image of the band output from the band reel, and frame the dynamic image of the band output into a number of band output images.

[0018] Perform pixel contour recognition on the band output images to obtain the surface topography characteristics of the band and the shape characteristics of both sides of the band within the band output images; perform time-varying analysis on the surface topography characteristics of the band and the shape characteristics of both sides of the band corresponding to all the band output images to obtain the deformation characteristics of the band during the output process; wherein, the deformation characteristics include the deformation amplitude characteristics of the band in the thickness and width dimensions during the output process; based on the deformation characteristics of the band during the output process, estimate the changing trend of the tension of the band during the output process; wherein, the changing trend of the tension includes the changing trend of the tension direction and the tension magnitude of the band during the output process.

[0019] Preferably, based on the changing trend of the tension, determine whether a band break event is about to occur; when a band break event is about to occur, adjust the band output state of the band reel based on the physical form characteristics of the band during the transmission process and the structural state characteristics of the area to be covered of the target object, specifically:

[0020] Based on the changing trend of the tension, determine the two-dimensional distribution change information of the tension direction and magnitude on the surface of the band; based on the two-dimensional distribution change information of the tension direction and magnitude, determine whether the tension received on the surface of the band exceeds the preset tolerable tension condition; if so, determine that a band break event is about to occur; if not, determine that a band break event will not occur.

[0021] When a tape break event is about to occur, based on the deformation amplitude characteristics of the tape in the thickness and width dimensions during transmission and the surface profile curvature characteristics of the area to be covered of the target object, adjust the tape output rate of the tape reel and the resistance applied to the tape during the output of the tape.

[0022] On the other hand, the present invention provides an automatic taping machine, which includes the following modules:

[0023] A taping operation vision recognition module, which is used to collect the taping operation images of the target object, analyze the taping operation images, and obtain the taping action trajectory implemented on the target object and the output trajectory of the target object;

[0024] A target object output state adjustment module, which is used to determine the change trend of the tape covering position on the surface of the target object based on the taping action trajectory and the output trajectory; based on the change trend of the tape covering position, estimate the change trend of the covering position deviation of the tape on the surface of the target object, and adjust the output state of the target object accordingly;

[0025] A tape output vision recognition module, which is used to collect the dynamic images of the tape output of the tape reel, analyze the dynamic images of the tape output, and obtain the physical form characteristics of the tape during the output process;

[0026] A tape tension estimation module, which is used to estimate the change trend of the tape tension during the output process based on the physical form characteristics;

[0027] A tape break event judgment module, which is used to judge whether a tape break event is about to occur based on the change trend of the tension;

[0028] A tape output state adjustment module, which is used to, when a tape break event is about to occur, adjust the tape output state of the tape reel based on the physical form characteristics of the tape during transmission and the structural state characteristics of the area to be covered of the target object.

[0029] Preferably, the taping operation vision recognition module is used to collect the taping operation images of the target object, analyze the taping operation images, and obtain the taping action trajectory implemented on the target object and the output trajectory of the target object, specifically:

[0030] Dynamically photograph the taping operation area to obtain the dynamic taping operation images of the target object within the taping operation area, and frame the dynamic taping operation images into a number of taping operation images;

[0031] Perform pixel contour recognition on the image of the strap operation to obtain the surface contour features of the strap and the surface contour features of the target object within the image of the strap operation; based on the surface contour features of the strap and the surface contour features of the target object, determine the spatial position information of the strap and the axis direction information of the target object within the image of the strap operation;

[0032] Perform time-varying analysis on the spatial position information of the strap and the axis direction information of the target object corresponding to all images of the strap operation respectively to obtain the strap action trajectory and the output trajectory of the target object; wherein, the strap action trajectory includes the strap winding and covering action trajectory of the target object entering the strap operation area; the output trajectory includes the central axis trajectory of the target object output entering the strap operation area.

[0033] Preferably, the target object output state adjustment module is used to determine the changing trend of the strap covering position on the surface of the target object based on the strap action trajectory and the output trajectory; based on the changing trend of the strap covering position, estimate the changing trend of the covering position deviation of the strap on the surface of the target object, and adjust the output state of the target object accordingly. Specifically:

[0034] Perform a three-dimensional space comparison between the strap action trajectory and the output trajectory to obtain the relative pose relationship between the central axis of the target object output entering the strap operation area and the strap action trajectory;

[0035] Based on the relative pose relationship and the movement speed and / or direction of the target object output entering the strap operation area, determine the changing trend of the strap covering position on the surface of the target object; wherein, the changing trend of the strap covering position includes the changing trend of the covering positions of the two sides of the strap on the surface of the target object;

[0036] Based on the changing trend of the strap covering position, estimate the changing trend of the covering position deviation of the strap on the surface of the target object along the central axis direction of the target object; based on the changing trend of the covering position deviation, determine the changing trend of the size of the overlapping range of the strap on the surface of the target object, and adjust the movement speed and / or direction of the target object output entering the strap operation area accordingly.

[0037] Preferably, the strap output visual recognition module is used to collect the dynamic image of the strap output from the strap reel, and analyze the dynamic image of the strap output to obtain the physical form characteristics of the strap during output. Specifically:

[0038] Perform dynamic shooting on the output port of the strap reel and its adjacent area to obtain the dynamic image of the strap output from the strap reel, and frame the dynamic image of the strap output into a number of strap output images;

[0039] Perform pixel contour recognition on the output image of the tape to obtain the surface topography features of the tape and the shape features of the two sides' boundaries of the tape within the output image of the tape; perform time-varying analysis on the surface topography features of the tape and the shape features of the two sides' boundaries of the tape corresponding to all output images of the tape 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.

[0040] The tape tension estimation module is used to estimate the tension change trend of the tape during the output process based on the physical form features, specifically:

[0041] Estimate the tension change trend of the tape during the output process based on the deformation features of the tape during the output process; wherein, the tension change trend includes the tension direction and the tension magnitude change trend of the tape during the output process.

[0042] Preferably, the tape break event judgment module is used to judge whether a tape break event is about to occur based on the tension change trend, specifically:

[0043] Based on the tension change trend, determine the two-dimensional distribution change information of the tension direction and magnitude on the surface of the tape; based on the two-dimensional distribution change information of the tension direction and magnitude, judge whether the tension received on the surface of the tape exceeds the preset tolerable tension condition; if so, judge that a tape break event is about to occur; if not, judge that a tape break event will not occur.

[0044] The tape output state adjustment module is used to, when a tape break event is about to occur, adjust the tape output state of the tape reel based on the physical form features of the tape during the transmission process and the structural state features of the area to be coated of the target object, specifically:

[0045] When a tape break event is about to occur, adjust the tape output rate of the tape reel and the resistance applied to the tape during the output process of the tape based on the deformation amplitude features of the tape in the thickness and width dimensions during the transmission process and the surface contour curvature features of the area to be coated of the target object.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] Collect the image of the banding operation on the target object, analyze the banding operation image, and obtain the banding action trajectory implemented on the target object and the output trajectory of the target object. The banding machine can wind and cover the surface of target objects such as the core wires of cables or optical fibers with bands. There is a banding operation area inside the banding machine, and a winding mechanism and a banding reel are arranged inside the banding operation area. When the band delivered by the banding reel reaches the winding mechanism, the winding mechanism will drive the band to rotate, so that the band winds and covers the surface of the target object output into the banding operation area. The action trajectory of the winding mechanism driving the band to rotate and the trajectory of the target object output into the banding operation area will affect the position accuracy of the band covered on the surface of the target object by the winding mechanism. If there is a deviation in the relative spatial pose between the action trajectory of the winding mechanism driving the band to rotate and the output trajectory of the target object, the band will not be able to cover the entire surface of the target object, and it is possible that some local areas of the target object surface cannot be effectively wound and covered by the band, resulting in some local areas of the target object surface being exposed. If the deviation in the relative spatial pose is not corrected in time, the winding and covering position of the band on the target object surface will accumulate and shift, so that an accurate and global winding and covering of the target object surface cannot be formed, resulting in the invalidation of the banding operation on the target object. In order to timely detect the possible misalignment during the process of winding and covering the band on the target object surface, it is necessary to visually identify the banding operation on the target object, obtain the banding action trajectory implemented on the target object and the output trajectory of the target object, as the basis for determining the change trend of the band covering position on the target object surface subsequently.

[0048] Based on the strap movement trajectory and the output trajectory, determine the changing trend of the strap wrapping position on the surface of the target object; based on the changing trend of the strap wrapping position, estimate the changing trend of the wrapping position deviation of the strap on the surface of the target object, and thus adjust the output state of the target object. During the process of the winding mechanism driving the strap to rotate, the strap will be synchronously wound and wrapped on the surface of the target object. If during the process of the strap being wound and wrapped, due to the winding mechanism not rotating the strap and / or the movement trajectory of the target object outputting into the strap operation area according to the preset trajectory, such as the movement trajectory of the central axis of the target object entering the strap operation area, deviating from the original preset trajectory, resulting in a relative pose deviation between the strap movement trajectory and the output trajectory of the target object, then the position deviation between the actual winding and wrapping position of the strap on the surface of the target object and the expected wrapping and winding position of the strap on the surface of the target object will continuously accumulate, leading to the failure of the strap winding and wrapping on the surface of the target object. To avoid the failure of the strap winding and wrapping on the target object, based on the relative pose relationship between the central axis of the target object outputting into the strap operation area and the strap movement trajectory, as well as the movement speed and / or direction of the target object outputting into the strap operation area, determine the changing trend of the position where the surface of the target object is wound and wrapped by the strap, so as to judge whether the position deviation between the actual winding and wrapping position of the strap on the surface of the target object and the expected wrapping and winding position of the strap on the surface of the target object exceeds the acceptable deviation range, and thus adjust the movement speed and / or direction of the target object outputting into the strap operation area, timely correct the wrapping position of the strap on the surface of the target object, reduce the occurrence probability of the misalignment of the strap wrapped on the surface of the target object, and improve the reliability of the strap operation on the target object.

[0049] Collect the dynamic image of the tape output from the tape reel, analyze the dynamic image of the tape output, and obtain the physical form characteristics of the tape during the output process; based on the physical form characteristics, estimate the trend of the tape tension change during the output process. The tape reel in the tape 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 transmitted to the winding mechanism, and then be wound and wrapped on the surface of the target under the drive of 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 of the tape. Under the action of the tension, the surface of the tape will be in a tight state. When the winding mechanism winds and wraps the tape on the surface of the target, the tape in the tight state will form good and close contact with the surface of the target, increasing the contact and adhesion effect of the tape on the surface of the target. If the output speed of the tape from the output port of the tape reel is too low, it is impossible to form sufficient large tension on the surface of the tape, and the surface of the tape will be in a relaxed state. When the winding mechanism winds and wraps the tape on the surface of the target, the tape in the relaxed state will not be able to form close contact with the surface of the target, resulting in the tape not being tightly wrapped on the surface of the target and coming 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 tolerable tension of the tape itself, the tape will break during the process of winding and wrapping to the surface of the target, that is, a tape break event, resulting in the failure of the tape operation on the surface of the target. Considering that the tolerable tension performance of the tape surface in different dimensional directions is not the same, it is necessary to perform dynamic visual recognition on the tape output situation of the tape reel, estimate the trend of the tape tension change during the transmission process, and provide a reliable basis for subsequent judgment of whether the tape is about to have a tape break event.

[0050] Based on the trend of tension change, determine whether a tape break event is about to occur; when a tape break event is about to occur, adjust the tape output state of the tape reel based on the physical form characteristics of the tape during transmission and the structural state characteristics of the area to be covered of the target object. The tension-bearing performance of the tape surface in different dimensional directions is not the same. In order to accurately judge whether a tape break event is about to occur to the tape, based on the tension change trend of the tape, determine the two-dimensional distribution of the direction and magnitude of the surface tension of the tape, and specifically judge whether the tension on the tape surface is too large in the corresponding dimensional direction, and accurately predict whether the tape breaks, providing a reliable basis for subsequently timely correcting and changing the tape output rate of the tape reel and the resistance applied to the tape. When the tape output rate of the tape reel is greater, the tension on the tape surface is also greater, and a resistance application mechanism is also provided on the tape reel for applying resistances in different directions and / or magnitudes to the tape output by the tape reel. When the tape is applied with resistance, the tension on the tape surface will also change accordingly. When a tape break event is about to occur to the tape, the deformation amplitude of the tape itself in the thickness and width dimensions under the action of excessive tension is more obvious, that is, the deformation amplitude of the tape itself in the thickness and width dimensions is positively correlated with the tension on the tape surface. And the surface contour curvature of the area to be covered of the target object will also affect the tension required for the tape to tightly wind and cover the corresponding area on the surface of the target object. Generally speaking, the greater the surface contour curvature of the area to be covered, the greater the tension required for the tape to tightly wind and cover the corresponding area on the surface of the target object. In order to prevent the tape from actually breaking due to excessive surface tension of the tape and to provide a sufficiently large tension for the tape to tightly wind and cover the surface of the target object, 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 area to be covered of the target object, adjust the tape output rate of the tape reel and the resistance applied to the tape during the output of the tape, and control the tape output state of the tape reel to ensure that the tape maintains an appropriate tension for the tape to fully and tightly cover the surface of the target object. Brief Description of the Drawings

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0052] Figure 1 is a flowchart of a fully automatic packaging control method for a tape wrapping machine provided by the present invention.

[0053] Figure 2 is a structural diagram of an automatic tape wrapping machine provided by the present invention. Detailed Embodiments

[0054] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only for explaining the present invention and not for limiting the present invention. Additionally, it should be noted that for the convenience of description, only the parts related to the present invention rather than all the structures are shown in the drawings. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0055] The terms "comprise" and "have" in the present invention and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, automatic strapping machine, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0056] Referring to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0057] Please refer to Figure 1 As shown, the present invention provides a fully automatic packaging control method for a strapping machine, and the method includes the following steps:

[0058] S100, collect the strapping operation images of the target object, analyze the strapping operation images to obtain the strapping action trajectory implemented on the target object and the output trajectory of the target object; based on the strapping action trajectory and the output trajectory, determine the change trend of the strapping covering position on the surface of the target object; based on the change trend of the strapping covering position, estimate the change trend of the deviation of the strapping covering position on the surface of the target object, and adjust the output state of the target object accordingly.

[0059] Further, collecting the strapping operation images of the target object and analyzing the strapping operation images to obtain the strapping action trajectory implemented on the target object and the output trajectory of the target object specifically includes:

[0060] Dynamically photograph the strapping operation area to obtain the dynamic strapping operation images of the target object in the strapping operation area, and frame the dynamic strapping operation images into a number of strapping operation images;

[0061] Perform pixel contour recognition on the image of the tape operation to obtain the surface contour features of the tape and the surface contour features of the target object within the image of the tape operation; based on the surface contour features of the tape and the surface contour features of the target object, determine the spatial position information of the tape and the axis direction information of the target object within the image of the tape operation;

[0062] Perform time-varying analysis on the spatial position information of the tape and the axis direction information of the target object corresponding to all images of the tape operation respectively, to obtain the tape action trajectory and the output trajectory of the target object during the tape operation on the target object; wherein, the tape action trajectory includes the tape winding and covering action trajectory on the target object entering the tape operation area; the output trajectory includes the output trajectory of the central axis of the target object entering the tape operation area.

[0063] The tape machine can wind and cover the surface of a target object such as the core wire of a cable or an optical cable with tape. There is a tape operation area inside the tape machine, and there is a winding mechanism and a tape reel inside the tape operation area. When the tape output from the tape reel is transmitted to the winding mechanism, the winding mechanism will drive the tape to rotate, so that the tape winds and covers the surface of the target object output and entering the tape operation area. The target object is an object with an elongated structure such as the core wire of a cable or an optical cable. In order to enable the entire surface of the target object to be evenly wound and covered with tape, the target object will be transported by the transport mechanism at an appropriate speed and output from the transport mechanism into the tape operation area. In this way, the target object will form a corresponding output trajectory when entering the tape operation area driven by the transport mechanism.

[0064] The action trajectory of the winding mechanism driving the tape to rotate and the trajectory of the target object output and entering the tape operation area will affect the position accuracy of the tape covered on the surface of the target object by the winding mechanism. If there is a deviation in the relative spatial pose between 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 fully cover the surface of the target object, and it is possible that some local areas of the surface of the target object cannot be effectively wound and covered by the tape, resulting in some local areas of the surface of the target object being exposed. If the deviation in the relative spatial pose is not corrected in time, the winding and covering position of the tape on the surface of the target object will accumulate deviation, thus unable to form a precise and global winding and covering on the surface of the target object, resulting in the invalidation of the tape operation on the target object.

[0065] In order to timely detect possible misalignment during the process of winding and covering the target object with the strap, visual recognition of the strapping operation on the target object is required. Specifically, first, dynamically capture the dynamic image of the strapping operation on the target object within the strapping operation area. The above-mentioned dynamic image of the strapping operation includes the action process of the winding mechanism winding and covering the strap on the surface of the target object and the output process of the transmission mechanism transporting the target object into the strapping operation area. The dynamic image of the strapping operation is framed into a number of strapping operation images, and pixel contour recognition is performed on each strapping operation image to obtain the surface contour features of the strap and the surface contour features of the target object. Among them, the surface contour features of the strap may include, but are not limited to, the boundary contour features on the relative two sides of the strap along its own length direction and the contour features of the upper and lower surfaces of the strap; 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 strap and the surface contour features of the target object are characterized in three-dimensional space to obtain the strap spatial position information and the target object axis direction information (i.e., the extension direction information of the central axis of the target object itself). Time-varying analysis is respectively performed on the strap spatial position information and the target object axis direction information corresponding to all the strapping operation images to obtain the strapping and covering action trajectory of the strap on the target object entering the strapping operation area and the central axis trajectory of the target object output into the strapping operation area, which serves as the basis for subsequently determining the change trend of the strap covering position on the surface of the target object.

[0066] Furthermore, based on the strap action trajectory and the output trajectory, determine the change trend of the strap covering position on the surface of the target object; based on the change trend of the strap covering position, estimate the change trend of the covering position deviation of the strap on the surface of the target object, and adjust the output state of the target object accordingly. Specifically:

[0067] Perform a three-dimensional space comparison on the strap action trajectory and the output trajectory to obtain the relative pose relationship between the central axis of the target object output into the strapping operation area and the strap action trajectory;

[0068] Based on the relative pose relationship and the movement speed and / or direction of the target object output into the strapping operation area, determine the change trend of the strap covering position on the surface of the target object; among them, the change trend of the strap covering position includes the change trend of the covering positions of the two sides of the strap on the surface of the target object;

[0069] Based on the change trend of the strap covering position, estimate the change trend of the covering position deviation of the strap on the surface of the target object along the central axis direction of the target object; based on the change trend of the covering position deviation, determine the change trend of the size of the strap overlapping range on the surface of the target object, and adjust the movement speed and / or direction of the target object output into the strapping operation area accordingly.

[0070] During the process of the winding mechanism driving the wrapping tape to rotate, the wrapping tape will be synchronously wound and wrapped around the surface of the target object. If, during the process of the wrapping tape being wound and wrapped, the wrapping tape and / or the movement trajectory of the target object output into the wrapping tape operation area due to the winding mechanism not rotating along the preset trajectory, for example, the movement trajectory of the central axis of the target object entering the wrapping tape operation area deviates from the original preset trajectory, there will be a relative pose deviation between the movement trajectory of the wrapping tape and the output trajectory of the target object. In this way, the position deviation between the actual winding and wrapping position of the wrapping tape on the surface of the target object and the expected wrapping and winding position of the wrapping tape on the surface of the target object will continuously accumulate, resulting in the failure of the wrapping tape to wind and wrap around the surface of the target object. To avoid the failure of the wrapping tape to wind and wrap around the target object, based on the relative pose relationship between the central axis of the target object output into the wrapping tape operation area and the movement trajectory of the wrapping tape, as well as the movement speed and / or direction of the target object output into the wrapping tape operation area, determine the position change trend of the surface of the target object being wound and wrapped by the wrapping tape, that is, determine the position change trend of the boundaries on both sides of the wrapping tape along its own length direction on the surface of the target object, and accurately determine the change situation of the area range covered by the wrapping tape on the surface of the target object. Also, based on the position change trend of the wrapping tape covering the surface of the target object, estimate the change trend of the wrapping position deviation of the wrapping tape along the central axis direction of the target object on the surface of the target object, so as to determine the change trend of the overlapping range size of the wrapping tape on the surface of the target object, and judge whether the position deviation between the actual winding and wrapping position of the wrapping tape on the surface of the target object and the expected wrapping and winding position of the wrapping tape on the surface of the target object exceeds the acceptable deviation range. If it exceeds, then adjust the movement speed and / or direction of the target object output into the wrapping tape operation area. In this way, only by adjusting the posture of the target object output into the wrapping tape operation area can the wrapping position of the wrapping tape on the surface of the target object be corrected in time, without the need to adjust the winding mechanism, reducing the difficulty of alignment adjustment between the wrapping tape and the surface of the target object, reducing the occurrence probability of misalignment of the wrapping tape wound and wrapped around the surface of the target object, and improving the reliability of the wrapping tape operation on the target object; if it does not exceed, then keep the transmission speed and direction of the transmission mechanism for the target object unchanged.

[0071] S200, collect the dynamic image of the wrapping tape output from the wrapping tape reel, analyze the dynamic image of the wrapping tape output, and obtain the physical form characteristics of the wrapping tape during the output process; based on the physical form characteristics, estimate the tension change trend of the wrapping tape during the output process.

[0072] Further, collect the dynamic image of the wrapping tape output from the wrapping tape reel, analyze the dynamic image of the wrapping tape output, and obtain the physical form characteristics of the wrapping tape during the output process; based on the physical form characteristics, estimate the tension change trend of the wrapping tape during the output process, specifically:

[0073] Dynamically photograph the output port of the wrapping tape reel and its adjacent area to obtain the dynamic image of the wrapping tape output from the wrapping tape reel, and frame the dynamic image of the wrapping tape output into several wrapping tape output images;

[0074] Perform pixel contour recognition on the output image of the strap to obtain the surface topography features of the strap and the shape features of the two side boundaries of the strap within the output image of the strap; perform time-varying analysis on the surface topography features of the strap and the shape features of the two side boundaries of the strap corresponding to all the output images of the strap to obtain the deformation features of the strap during the output process; wherein, the deformation features include the deformation amplitude features of the strap in the thickness and width dimensions during the output process; based on the deformation features of the strap during the output process, estimate the tension change trend of the strap during the output process; wherein, the tension change trend includes the tension direction and the tension magnitude change trend of the strap during the output process.

[0075] The strap reel in the strapping machine is used for winding and storing the strap. The output port of the strap reel corresponds to the winding mechanism. The strap output from the output port of the strap reel will be transmitted to the winding mechanism, and then will be wound and wrapped around the surface of the target object under the drive of the rotation of the winding mechanism. The output port of the strap reel will output the strap at a corresponding speed. After the strap is output from the strap reel, a corresponding tension will be formed on the surface of the strap. Under the action of the tension, the surface of the strap will be in a tight state. When the winding mechanism winds and wraps the strap around the surface of the target object, the strap in the tight state will form good and close contact with the surface of the target object, increasing the contact and adhesion effect of the strap on the surface of the target object. If the output speed of the strap from the output port of the strap reel is too low, sufficient large tension cannot be formed on the surface of the strap, and the surface of the strap will be in a loose state. When the winding mechanism winds and wraps the strap around the surface of the target object, the strap in the loose state will not be able to form close contact with the surface of the target object, resulting in the strap not being tightly wrapped around the surface of the target object and coming off. If the output speed of the strap from the output port of the strap reel is too high, a large tension will be formed on the surface of the strap, and the surface toughness of the strap itself is limited. When the tension on the surface of the strap exceeds the tolerable tension of the strap itself, the strap will break during the process of winding and wrapping around the surface of the target object, that is, a strap break event, resulting in the failure of the strap operation on the surface of the target object. Considering that the tolerable tension performance of the surface of the strap itself is different in different dimensional directions, it is necessary to perform dynamic visual recognition on the strap output situation of the strap reel, estimate the tension change trend of the strap during the transmission process, and provide a reliable basis for subsequent judgment of whether the strap is about to have a strap break event.

[0076] The surface tension of the tape causes the tape to deform, and the magnitude and direction of the tape deformation are related to the magnitude and direction of the tape surface tension. By identifying the magnitude and direction of the tape deformation, the distribution of the tape surface tension can be accurately determined. Specifically, capture the dynamic image of the tape output at the outlet of the tape reel and its adjacent area. The above dynamic image of the tape output characterizes the movement speed and direction of the tape output from the tape reel, and frame the dynamic image of the tape output into a number of tape output images, and identify the surface topography features of the tape and the shape features of the two sides of the tape from the tape output images. When the tape surface is subjected to tensile forces of different magnitudes and directions, the tape will be stretched to different degrees in different directions, causing changes in the topography of the upper and lower surfaces of the tape and the shape of the boundaries on both sides of the tape along its own length direction, so that the tape will exhibit different deformation states after being output from the transmission mechanism. Generally speaking, the greater the tensile force on the tape in a certain direction, the greater the deformation amplitude of the tape in the corresponding direction. In order to accurately estimate the change trend of the tensile force direction and magnitude of the tape during output, perform a time-varying analysis on the surface topography features of the tape and the shape features of the two sides of the tape corresponding to all tape output images, and obtain the deformation amplitude features of the tape in the thickness and width dimensions during output, so as to estimate the change trend of the tensile force direction and magnitude of the tape during output, and thus accurately predict the possible breakage of the tape in different directions.

[0077] S300, based on the change trend of the tensile force, judge 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 form features of the tape during transmission and the structural state features of the area to be covered of the target object.

[0078] Furthermore, based on the change trend of the tensile force, judge 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 form features of the tape during transmission and the structural state features of the area to be covered of the target object, specifically:

[0079] Based on the change trend of the tensile force, determine the two-dimensional distribution change information of the tensile force direction and magnitude on the tape surface; based on the two-dimensional distribution change information of the tensile force direction and magnitude, judge whether the tensile force received by the tape surface exceeds the preset tolerable tensile force condition; if so, judge that a tape breakage event is about to occur; if not, judge that a tape breakage event will not occur;

[0080] When a tape breakage event is about to occur, adjust the tape output rate of the tape reel and the resistance applied to the tape during the tape output process based on the deformation amplitude features of the tape in the thickness and width dimensions during transmission and the surface contour curvature features of the area to be covered of the target object.

[0081] The tension-bearing performance of the surface of the tape itself is not the same in different dimensional directions. To accurately determine whether a tape break event is about to occur, based on the trend of the tape tension change, the two-dimensional distribution of the direction and magnitude of the surface tension of the tape is determined, and it is targeted to judge whether the tension on the tape surface is too large in the corresponding dimensional direction, accurately predicting whether the tape will break, providing a reliable basis for subsequently timely correcting and changing the tape output rate of the tape reel and the resistance applied to the tape. Specifically, based on the two-dimensional distribution change information of the direction and magnitude of the surface tension of the tape, the tension in different directions on the tape surface is compared with a threshold value to judge whether the tension received on the tape surface exceeds the preset tension-bearing condition, thereby determining whether the tape is about to break.

[0082] When the tape output rate of the tape reel is greater, the tension on the tape surface is also greater, and a resistance application mechanism is also provided on the tape reel for applying resistances in different directions and / or magnitudes to the tape output by the tape reel. When the tape is applied with a resistance, the tension on the tape surface will also change accordingly. When a tape break event is about to occur, the deformation amplitude of the tape itself in the thickness and width dimensions under the action of excessive tension is more obvious, that is, the deformation amplitude of the tape itself in the thickness and width dimensions is positively correlated with the tension on the tape surface. And the surface contour curvature of the area to be wrapped of the target object will also affect the tension required for the tape to tightly wrap around the corresponding area of the target object surface. Generally speaking, the greater the surface contour curvature of the area to be wrapped, the greater the tension required for the tape to tightly wrap around the corresponding area of the target object surface. In order to prevent the tape from actually breaking due to excessive surface tension of the tape and to provide a large enough tension for the tape to tightly wrap around the target object surface, based on the deformation amplitude characteristics of the tape in the thickness and width dimensions during the transmission process and the surface contour curvature characteristics of the area to be wrapped of the target object, 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 an appropriate tension, which can effectively prevent the tape from breaking due to excessive surface tension for the tape to fully and tightly wrap around the target object surface, accurately control the tape output state of the tape reel to ensure that the tape maintains an appropriate tension, and tightly wrap the target object surface.

[0083] Please refer to Figure 2 as shown in the figure, the present invention provides an automatic taping machine, which includes the following modules:

[0084] A tape operation vision recognition module, which is used to collect the tape operation images of the target object, analyze the tape operation images, and obtain the tape action trajectory implemented on the target object and the output trajectory of the target object;

[0085] The target object output state adjustment module is used to determine the changing trend of the strap covering position on the surface of the target object based on the strap movement trajectory and the output trajectory; and estimate the changing trend of the covering position deviation of the strap on the surface of the target object based on the changing trend of the strap covering position, so as to adjust the output state of the target object;

[0086] The strap output visual recognition module is used to collect the dynamic images of the strap output from the strap reel, and analyze the dynamic images of the strap output to obtain the physical form characteristics of the strap during the output process;

[0087] The strap tension estimation module is used to estimate the changing trend of the strap tension during the output process based on the physical form characteristics;

[0088] The strap break event judgment module is used to judge whether a strap break event is about to occur based on the changing trend of the tension;

[0089] The strap output state adjustment module is used to, when a strap break event is about to occur, adjust the strap output state of the strap reel based on the physical form characteristics of the strap during the transmission process and the structural state characteristics of the area to be covered on the target object.

[0090] Furthermore, the strap operation visual recognition module is used to collect the strap operation images of the target object, and analyze the strap operation images to obtain the strap movement trajectory and the output trajectory of the target object implemented on the target object. Specifically:

[0091] Dynamically photograph the strap operation area to obtain the dynamic images of the strap operation on the target object within the strap operation area, and frame the dynamic images of the strap operation into a number of strap operation images;

[0092] Perform pixel contour recognition on the strap operation images to obtain the surface contour characteristics of the strap and the surface contour characteristics of the target object within the strap operation images; based on the surface contour characteristics of the strap and the surface contour characteristics of the target object, determine the spatial position information of the strap and the axis direction information of the target object within the strap operation images;

[0093] Perform time-varying analysis on the spatial position information of the strap and the axis direction information of the target object corresponding to all the strap operation images respectively to obtain the strap movement trajectory and the output trajectory of the target object implemented on the target object; among them, the strap movement trajectory includes the strap winding and covering movement trajectory of the target object entering the strap operation area; the output trajectory includes the central axis trajectory of the target object output into the strap operation area.

[0094] Furthermore, the target object output state adjustment module is used to determine the changing trend of the strap covering position on the surface of the target object based on the strap movement trajectory and the output trajectory; and estimate the changing trend of the covering position deviation of the strap on the surface of the target object based on the changing trend of the strap covering position, so as to adjust the output state of the target object. Specifically:

[0095] Compare the trajectory of the strapping action and the output trajectory in three-dimensional space to obtain the relative pose relationship between the central axis of the object entering the strapping operation area and the trajectory of the strapping action;

[0096] Based on the relative pose relationship and the movement speed and / or direction of the object entering the strapping operation area, determine the changing trend of the strapping position on the surface of the object; among them, the changing trend of the strapping position includes the changing trend of the covering positions of both sides of the strapping on the surface of the object;

[0097] Based on the changing trend of the strapping position, estimate the changing trend of the deviation of the strapping position along the central axis direction of the object on the surface of the object; based on the changing trend of the position deviation, determine the changing trend of the overlapping range size of the strapping on the surface of the object, and thus adjust the movement speed and / or direction of the object entering the strapping operation area.

[0098] Furthermore, the strapping output vision recognition module is used to collect the dynamic image of the strapping output of the strapping reel, analyze the dynamic image of the strapping output, and obtain the physical form characteristics of the strapping during the output process, specifically:

[0099] Dynamically photograph the output port of the strapping reel and its adjacent area to obtain the dynamic image of the strapping output of the strapping reel, and frame the dynamic image of the strapping output into a number of strapping output images;

[0100] Perform pixel contour recognition on the strapping output images to obtain the surface topography characteristics of the strapping and the shape characteristics of both sides of the strapping in the strapping output images; perform time-varying analysis on the surface topography characteristics of the strapping and the shape characteristics of both sides of the strapping corresponding to all the strapping output images to obtain the deformation characteristics of the strapping during the output process; among them, the deformation characteristics include the deformation amplitude characteristics of the strapping in the thickness and width dimensions during the output process;

[0101] The strapping tension estimation module is used to estimate the changing trend of the tension of the strapping during the output process based on the physical form characteristics, specifically:

[0102] Based on the deformation characteristics of the strapping during the output process, estimate the changing trend of the tension of the strapping during the output process; among them, the changing trend of the tension includes the changing trend of the tension direction and the tension magnitude of the strapping during the output process.

[0103] Furthermore, the broken strapping event judgment module is used to judge whether a broken strapping event is about to occur based on the changing trend of the tension, specifically:

[0104] Based on the trend of tension change, determine the two-dimensional distribution change information of the tension direction and magnitude on the surface of the wrapping tape; based on the two-dimensional distribution change information of the tension direction and magnitude, determine whether the tension received on the surface of the wrapping tape exceeds the preset tolerable tension condition; if so, determine that a tape break event is about to occur; if not, determine that a tape break event will not occur;

[0105] The wrapping tape output state adjustment module is used to, when a tape break event is about to occur, adjust the wrapping tape output state of the wrapping tape reel based on the physical form characteristics of the wrapping tape during transmission and the structural state characteristics of the area to be wrapped of the target object. Specifically:

[0106] When a tape break event is about to occur, based on the deformation amplitude characteristics of the wrapping tape in the thickness and width dimensions during transmission and the surface contour curvature characteristics of the area to be wrapped of the target object, adjust the output rate of the wrapping tape of the wrapping tape reel and the resistance applied to the wrapping tape during the output of the wrapping tape.

[0107] The automatic wrapping tape machine of the present invention corresponds to the operation and effect of the above-mentioned fully automatic wrapping control method of the wrapping tape machine, and the description of the automatic wrapping tape machine will not be repeated here.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of adding a necessary general hardware platform, and of course, it can also be implemented by a combination of hardware and software. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can adopt 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 code.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Other embodiments can also be adopted; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and 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; 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, which is 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 tape surface morphology features and tape boundary shape features on both sides of the tape in the tape output image; perform 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; based on the deformation features of the tape during the output process, estimate the tension change trend of the tape during the output process; wherein the tension change trend includes the tension direction and tension magnitude change trend of the tape during the output process; 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, which is 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.

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. 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; 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, which are 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, which is 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; 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, which is 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, which is 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.

5. The automatic taping machine according to claim 4, 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.

6. The automatic taping machine according to claim 4, 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.

Images