Automatic paper delivery and taking control system and control method

Abstract

The invention discloses an automatic paper-out and paper-taking control system and method, and relates to the technical field of glass production, and the system comprises an operation acquisition module, a visual processing module, a multi-sheet detection module and a paper-out and paper-taking control module; the operation acquisition module is used for acquiring a paper taking image and a paper taking weight; the visual processing module is used for analyzing the paper taking image to obtain interval paper abnormal data; the multi-sheet detection module is used for judging the paper taking weight to obtain a paper taking state; the paper taking and discharging control module corrects the paper taking process based on the interval paper abnormal data and the paper taking state; the paper delivery machine is used for solving the problems that according to an existing paper delivery machine, due to lateral air blowing, spacing paper packaging is untidy, or spacing paper waste and unqualified packaging are caused by excessive paper delivery.

Description

Technical Field

[0001] The invention relates to the technical field of glass production, and in particular to an automatic paper discharging and taking control system and a control method. Background Art

[0002] The automatic paper discharging technology of glass spacer paper plays an important role in modern glass production lines, especially in the production of high-precision products such as flat glass, touch glass, optical glass, etc. In order to prevent scratches and contamination caused by friction between glasses, and to improve the safety of storage and transportation, a layer of spacer paper is usually laid between the glasses.

[0003] The existing spacer paper dispensing machine uses a side blowing mechanism when dispensing paper to separate each piece of spacer paper as much as possible. However, after using the side blowing, the spacer paper will not be aligned at the front end, resulting in an unstable suction cup grabbing position each time during paper dispensing and uneven paper packaging. At the same time, since the spacer paper has good air permeability, too much paper will be discharged during paper dispensing, resulting in waste of spacer paper and unqualified packaging. Therefore, an automatic paper dispensing and paper picking control system and control method are needed to solve the above problems. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent, by collecting paper picking images and paper picking weights, analyzing the paper picking images to obtain abnormal data of interval paper, correcting the subsequent paper picking operation based on the abnormal data of interval paper, judging the paper picking weight, obtaining the paper picking status, and correcting the performed paper picking operation based on the paper picking status, so as to solve the problem of uneven interval paper packaging or excessive paper discharge in existing paper dispensing machines due to side blowing, resulting in waste of interval paper and unqualified packaging.

[0005] To achieve the above-mentioned purpose, in a first aspect, the present application provides an automatic paper discharging and picking control system, including an operation acquisition module, a visual processing module, a multiple sheet detection module and a paper picking and discharging control module;

[0006] The operation acquisition module is used to acquire the paper picking image and the paper picking weight;

[0007] The visual processing module is used to analyze the paper picking image to obtain abnormal data of the spacer paper, and the abnormal data of the spacer paper includes a light-transmitting area and a folding area;

[0008] The multiple sheet detection module is used to determine the weight of the paper to obtain the paper status;

[0009] The paper picking and discharging control module corrects the paper picking process based on the abnormal interval paper data and the paper picking status.

[0010] Furthermore, the operation acquisition module includes a visual acquisition unit and a weight acquisition unit, the visual acquisition unit is configured with a paper picking image acquisition strategy, the paper picking image acquisition strategy includes setting a photographic device on the paper picking robot arm, and setting a lighting unit under the spacer paper placement tray, wherein the spacer paper placement tray is a light-transmitting material, when the paper picking robot arm is preparing to pick up paper, turning on the lighting unit, and using the photographic device to capture an image of the spacer paper placement position to obtain a paper picking image.

[0011] Furthermore, the weight collection unit is configured with a weight collection strategy, which includes setting a weight sensor on the paper picking robot arm and a pressure sensor on the spacer paper placement tray. When the paper picking robot arm performs a paper picking operation, the change value of the weight sensor is obtained and set as the first weight, and the change value of the pressure sensor is obtained and set as the second weight. The first weight and the second weight are collectively referred to as the paper picking weight.

[0012] Furthermore, the visual processing module includes a spacer paper acquisition unit, a light transmittance analysis unit and a folding analysis unit, and the spacer paper acquisition unit is configured with a spacer paper acquisition unit, and the spacer paper acquisition unit includes grayscale processing of the paper pickup image, deleting all pixel points with a pixel value of 255 from the grayscale image, and setting the remaining grayscale image as the spacer paper grayscale image.

[0013] Further, the light transmission analysis unit is configured with a light transmission analysis strategy, which includes obtaining pixel values ​​on the grayscale image of the spacer paper, establishing a grayscale histogram of the spacer paper, obtaining two peak points in the grayscale histogram of the spacer paper, using the valley point between the two peak points as a binarization threshold, binarizing the grayscale image of the spacer paper, setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are greater than or equal to the binarization threshold to 255, and setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are less than the binarization threshold to 0, to obtain a binary image of the spacer paper;

[0014] Obtain the pixel points with a pixel value of 255 in the binary image of the spacer paper, set them as the highlight area, obtain the edge contour of the binary image of the spacer paper, and when the highlight area coincides with any edge contour of the binary image, set the highlight area as the light-transmitting area;

[0015] When the highlighted area does not overlap with any edge contour of the binary image, it is determined that there is no light-transmitting area in the spacer paper image.

[0016] Further, the folding analysis unit is configured with a folding analysis strategy, which includes, when there is no light-transmitting area, performing pixel partitioning on the grayscale image of the spacer paper to obtain multiple pixel areas, wherein the pixel partitioning includes obtaining eight neighboring pixel points of any pixel point C, setting them as neighboring pixel points 1 to neighboring pixel points 8, and when the pixel value of any pixel point from neighboring pixel points 1 to neighboring pixel points 8 is the same as the pixel value of pixel point C, setting the neighboring pixel point and pixel point C as eight connected pixel points, and marking them as connected point C; obtaining all connected points with the same mark, and setting them as a pixel connected domain;

[0017] For any pixel connected domain, when any two pixels on the pixel connected domain coincide with the edge of the grayscale image of the spacer paper, the pixel connected domain is set as the fold area.

[0018] Further, the multiple-sheet detection module is configured with a paper pickup calibration strategy, and the paper pickup calibration strategy includes outputting a paper pickup fall-off signal when the first weight is not equal to the second weight;

[0019] When the first weight is equal to the second weight, the first weight is compared with the standard weight, which is the weight of a spacer paper. When the first weight is the same as the standard weight, a normal paper pickup signal is output.

[0020] When the first weight is greater than the standard weight, an excessive paper picking signal is output;

[0021] When the first weight is less than the standard weight, a paper-dropping signal is output.

[0022] Furthermore, the paper picking and discharging control module includes a paper picking correction unit and a paper discharging correction unit, and the paper picking correction unit is configured with a paper picking correction strategy, and the paper picking correction strategy includes: when a light-transmitting area or a crease area is obtained, using a manipulator arm to grab the first spacer paper and then discard it; when no light-transmitting area or a crease area is obtained, performing a paper picking operation;

[0023] The paper-out correction unit is provided with a paper-out correction strategy, and the paper-out correction strategy includes: when a paper-out fall-off signal is obtained, re-preparing for paper-out until a normal paper-out signal is obtained;

[0024] When the excessive paper picking signal is obtained, the spacer paper on the robot arm is placed and the paper picking operation is performed again until the normal paper picking signal is obtained.

[0025] In a second aspect, an automatic paper discharging and picking control method comprises the following steps:

[0026] Collecting paper picking images and paper picking weight;

[0027] Analyze the paper picking image to obtain the abnormal data of the interval paper;

[0028] The paper picking weight is judged to obtain the paper picking status;

[0029] The paper picking process is corrected based on the interval paper abnormality data and paper picking status.

[0030] Beneficial effects of the present invention: The present invention acquires the paper picking image and the paper picking weight, and then analyzes the paper picking image to obtain the abnormal data of the spacer paper, the abnormal data of the spacer paper includes the light-transmitting area and the crease area, and corrects the subsequent paper picking operation based on the abnormal data of the spacer paper. The advantage is that the paper picking image reflects the placement state of the spacer paper before the robot arm picks up the paper, and the light-transmitting area and the crease area obtained by analyzing the image can determine whether the paper picking operation is qualified, thereby improving the accuracy and effectiveness of the paper picking operation;

[0031] The present invention determines the paper picking weight to obtain the paper picking status, and corrects the paper picking operation that has been performed based on the paper picking status. The advantage is that different changes in paper picking weight reflect different situations in the paper picking process, and analyzing the paper picking weight improves the rationality and accuracy of the paper picking operation correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a functional block diagram of the system of the present invention;

[0033] Figure 2 A schematic diagram of obtaining a grayscale image of a spacing paper according to the present invention;

[0034] Figure 3 It is a schematic diagram of a pixel connected domain of the present invention;

[0035] Figure 4 The figure is a flow chart of the steps of the method of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Example 1, please refer to Figure 1 As shown, the present application provides an automatic paper discharging and picking control system, including an operation acquisition module, a visual processing module, a multiple sheet detection module and a paper picking and discharging control module;

[0038] Running the acquisition module to acquire the paper picking image and paper picking weight;

[0039] The operation acquisition module includes a visual acquisition unit and a weight acquisition unit. The visual acquisition unit is configured with a paper picking image acquisition strategy. The paper picking image acquisition strategy includes setting a photographic device on the paper picking robot arm and setting a lighting unit under the spacer paper placement tray. The spacer paper placement tray is a light-transmitting material. When the paper picking robot arm is preparing to pick up paper, the lighting unit is turned on and the photographic device is used to collect images of the spacer paper placement position to obtain a paper picking image. In the specific implementation process, the spacer paper has a certain light transmittance. Stacking multiple spacer papers together will result in reduced light transmittance. Therefore, when the spacer paper is misplaced, the brightness distribution on the collected image will be significantly different.

[0040] The weight collection unit is configured with a weight collection strategy, which includes setting a weight sensor on the paper picking robot arm and a pressure sensor on the interval paper placement tray. When the paper picking robot arm performs a paper picking operation, a change value of the weight sensor is obtained and set as a first weight, and a change value of the pressure sensor is obtained and set as a second weight. The first weight and the second weight are collectively referred to as the paper picking weight. In a specific implementation process, when the paper picking robot arm picks up paper from the interval paper placement tray, too much paper may be picked up or paper may fall off. Therefore, when only the weight change on the paper picking robot arm is detected, paper may fall off, resulting in an error in judgment. Therefore, the weight change on the paper picking robot arm and the weight change on the interval paper placement tray are monitored at the same time, and the paper picking status can be judged by mutual verification.

[0041] See also Figure 2 As shown, the visual processing module is used to analyze the paper picking image to obtain the abnormal data of the spacer paper, and the abnormal data of the spacer paper includes the light-transmitting area and the folding area;

[0042] The visual processing module includes a spacer paper acquisition unit, a light transmission analysis unit and a folding analysis unit. The spacer paper acquisition unit is configured with a spacer paper acquisition unit. The spacer paper acquisition unit includes graying the paper pickup image, deleting all pixel points with a pixel value of 255 from the gray image, and setting the remaining gray image as the spacer paper gray image. In the specific implementation process, there is a lighting unit under the spacer paper, and the acquired paper pickup image will show that the spacer paper area is darker, while the area outside the spacer paper is bright, and the area outside the spacer paper is displayed as a pixel point with a pixel value of 255;

[0043] The light transmission analysis unit is configured with a light transmission analysis strategy, which includes obtaining pixel values ​​on the grayscale image of the spacer paper, establishing a grayscale histogram of the spacer paper, obtaining two peak points in the grayscale histogram of the spacer paper, using the valley point between the two peak points as a binarization threshold, binarizing the grayscale image of the spacer paper, setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are greater than or equal to the binarization threshold to 255, and setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are less than the binarization threshold to 0, so as to obtain a binarized image of the spacer paper;

[0044] Obtaining a pixel point with a pixel value of 255 in the binary image of the spacer paper, setting it as a highlight area, obtaining the edge contour of the binary image of the spacer paper, and when the highlight area coincides with any edge contour of the binary image, setting the highlight area as a light-transmitting area; in a specific implementation process, the light transmittance of a normally placed spacer paper pile is the same, when the spacer paper is misplaced, a portion with strong light transmittance will appear in the edge area of ​​the spacer paper, and when the highlight area coincides with any edge contour of the binary image, the highlight area is a misplaced area of ​​the spacer paper;

[0045] When the highlighted area does not coincide with any edge contour of the binary image, it is determined that there is no light-transmitting area in the spacer paper image;

[0046] See also Figure 3 As shown, the folding analysis unit is configured with a folding analysis strategy, which includes, when there is no light-transmitting area, performing pixel partitioning on the grayscale image of the spacer paper to obtain multiple pixel areas, the pixel partitioning includes obtaining eight neighboring pixel points of any pixel point C, setting them as neighboring pixel points 1 to neighboring pixel points 8, and when the pixel value of any pixel point from neighboring pixel points 1 to neighboring pixel points 8 is the same as the pixel value of pixel point C, setting the neighboring pixel point and pixel point C as eight connected pixel points, and marking them as connected point C; obtaining all connected points with the same mark, and setting them as a pixel connected domain;

[0047] For any pixel connected domain, when any two pixels on the pixel connected domain coincide with the edge of the grayscale image of the spacer paper, the pixel connected domain is set as a crease area; in a specific implementation process, when the spacer paper is folded, a shadow will appear on the folded part, which is shown as a connected domain on the grayscale image;

[0048] The multiple sheet detection module is used to judge the weight of the paper to obtain the paper status;

[0049] The multiple detection modules are configured with a paper picking calibration strategy, which includes outputting a paper picking falling-off signal when the first weight is not equal to the second weight; in the specific implementation process, the first weight indicates the weight of the spacing paper picked up by the robot arm, and the second weight indicates the weight reduced on the spacing paper tray; when the weight of the spacing paper picked up is different from the weight reduced on the spacing paper tray, it may be that the spacing paper at the bottom falls off after taking more spacing paper or the spacing paper on the robot arm falls off to the outside of the spacing paper tray after normal paper picking;

[0050] When the first weight is equal to the second weight, the first weight is compared with the standard weight, which is the weight of a piece of spacer paper. When the first weight is the same as the standard weight, a normal paper taking signal is output. In the specific implementation process, when more spacer paper is taken but the spacer paper does not fall off or the lower spacer paper falls off into the spacer paper tray after more spacer paper is taken, the weight of the spacer paper taken will be the same as the weight reduced on the spacer paper tray, so the first weight needs to be compared with the standard weight;

[0051] When the first weight is greater than the standard weight, an excessive paper picking signal is output;

[0052] When the first weight is less than the standard weight, a paper-dropping signal is output;

[0053] The paper picking and discharging control module corrects the paper picking process based on the abnormal data of the interval paper and the paper picking status;

[0054] The paper picking and discharging control module includes a paper picking correction unit and a paper discharging correction unit. The paper picking correction unit is configured with a paper picking correction strategy. The paper picking correction strategy includes: when a light-transmitting area or a crease area is obtained, the first spacer paper is grabbed by a manipulator arm and then discarded; when no light-transmitting area or a crease area is obtained, a paper picking operation is performed;

[0055] The paper-out correction unit is equipped with a paper-out correction strategy, which includes: when a paper-out fall-off signal is obtained, re-preparing for paper-out until a normal paper-out signal is obtained;

[0056] When the excessive paper picking signal is obtained, the spacer paper on the robot arm is placed and the paper picking operation is performed again until the normal paper picking signal is obtained.

[0057] Second, see Figure 4 As shown, the present invention provides an automatic paper discharging and picking control method, comprising the following steps:

[0058] Step S1: Collecting the paper picking image and paper picking weight; including the following sub-steps:

[0059] Step S101: a photographic device is arranged on the paper picking robot arm, and a lighting unit is arranged under the spacer paper placement tray, wherein the spacer paper placement tray is made of a light-transmitting material, and when the paper picking robot arm is preparing to pick up paper, the lighting unit is turned on;

[0060] Step S102: using a photographic device to capture an image of the spacer paper placement position to obtain a paper picking image;

[0061] Step S103: a weight sensor is provided on the paper picking robot arm, and a pressure sensor is provided on the spacer paper placement tray. When the paper picking robot arm performs a paper picking operation, a change value of the weight sensor is obtained and set as a first weight, and a change value of the pressure sensor is obtained and set as a second weight. The first weight and the second weight are collectively referred to as the paper picking weight.

[0062] Step S2: Analyze the paper picking image to obtain abnormal data of the spacing paper; including the following sub-steps:

[0063] Step S201: after graying the paper pickup image, all pixels with a pixel value of 255 are deleted from the gray image, and the remaining gray image is set as the spacer paper gray image;

[0064] Step S202: obtaining pixel values ​​on the grayscale image of the spacer paper, establishing a grayscale histogram of the spacer paper, obtaining two peak points in the grayscale histogram of the spacer paper, using the valley point between the two peak points as a binarization threshold, binarizing the grayscale image of the spacer paper, setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are greater than or equal to the binarization threshold to 255, and setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are less than the binarization threshold to 0, thereby obtaining a binary image of the spacer paper;

[0065] Step S203: obtaining pixel points with a pixel value of 255 in the binary image of the spacing paper, setting them as highlight areas, and obtaining edge contours of the binary image of the spacing paper;

[0066] Step S204: when the highlight area coincides with any edge contour of the binary image, the highlight area is set as a light-transmitting area;

[0067] When the highlighted area does not coincide with any edge contour of the binary image, it is determined that there is no light-transmitting area in the spacer paper image;

[0068] Step S205: When there is no light-transmitting area, pixel partitioning is performed on the grayscale image of the spacer paper to obtain multiple pixel areas, wherein the pixel partitioning includes obtaining eight neighboring pixel points of any pixel point C, setting them as neighboring pixel points 1 to 8, and when the pixel value of any pixel point from neighboring pixel points 1 to 8 is the same as the pixel value of pixel point C, setting the neighboring pixel point and pixel point C as eight connected pixel points and marking them as connected point C; obtaining all connected points with the same mark and setting them as a pixel connected domain;

[0069] For any pixel connected domain, when any two pixels in the pixel connected domain coincide with the edge of the grayscale image of the spacer paper, the pixel connected domain is set as the fold area;

[0070] Step S3: judging the paper picking weight to obtain the paper picking status; including the following sub-steps:

[0071] Step S301: when the first weight is not equal to the second weight, outputting a paper-dropping signal;

[0072] When the first weight is equal to the second weight, the first weight is compared with a standard weight, the standard weight being the weight of a spacer paper;

[0073] Step S302: When the first weight is the same as the standard weight, a normal paper pickup signal is output.

[0074] When the first weight is greater than the standard weight, an excessive paper picking signal is output;

[0075] When the first weight is less than the standard weight, a paper-dropping signal is output;

[0076] Step S4: Correcting the paper picking process based on the abnormal data of the interval paper and the paper picking status; including the following sub-steps:

[0077] Step S401: when a light-transmitting area or a folding area is obtained, the first spacer paper is grabbed by the robot arm and then discarded; when no light-transmitting area or a folding area is obtained, a paper picking operation is performed;

[0078] Step S402: when a paper picking-off signal is obtained, re-prepare for paper picking until a normal paper picking signal is obtained;

[0079] When the excessive paper picking signal is obtained, the spacer paper on the robot arm is placed and the paper picking operation is performed again until the normal paper picking signal is obtained.

[0080] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0081] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. Automatic paper discharging and paper picking control system, characterized in that: It includes operation acquisition module, visual processing module, multiple sheet detection module and paper picking and discharging control module; The operation acquisition module is used to acquire the paper picking image and the paper picking weight; The visual processing module is used to analyze the paper picking image to obtain abnormal data of the spacer paper, and the abnormal data of the spacer paper includes a light-transmitting area and a folding area; The multiple sheet detection module is used to determine the weight of the paper to obtain the paper status; The paper picking and discharging control module corrects the paper picking process based on the abnormal interval paper data and the paper picking status.

2. The automatic paper discharging and picking control system according to claim 1 is characterized in that: The operation acquisition module includes a visual acquisition unit and a weight acquisition unit. The visual acquisition unit is configured with a paper picking image acquisition strategy. The paper picking image acquisition strategy includes setting a photographic device on the paper picking robot arm, and setting a lighting unit under the spacer paper placement tray, wherein the spacer paper placement tray is a light-transmitting material. When the paper picking robot arm is preparing to pick up paper, the lighting unit is turned on, and the photographic device is used to capture an image of the spacer paper placement position to obtain a paper picking image.

3. The automatic paper discharging and paper taking control system according to claim 2 is characterized in that: The weight collection unit is configured with a weight collection strategy, which includes setting a weight sensor on the paper picking robot arm and setting a pressure sensor on the interval paper placement tray. When the paper picking robot arm performs a paper picking operation, the change value of the weight sensor is obtained and set as the first weight, and the change value of the pressure sensor is obtained and set as the second weight. The first weight and the second weight are collectively referred to as the paper picking weight.

4. The automatic paper discharging and taking control system according to claim 3 is characterized in that: The visual processing module includes a spacer paper acquisition unit, a light transmittance analysis unit and a folding analysis unit. The spacer paper acquisition unit is configured with a spacer paper acquisition unit. The spacer paper acquisition unit includes grayscale processing of the paper pickup image, deleting all pixel points with a pixel value of 255 from the grayscale image, and setting the remaining grayscale image as the spacer paper grayscale image.

5. The automatic paper discharging and taking control system according to claim 4 is characterized in that: The light transmission analysis unit is configured with a light transmission analysis strategy, which includes obtaining pixel values ​​on the grayscale image of the spacer paper, establishing a grayscale histogram of the spacer paper, obtaining two peak points in the grayscale histogram of the spacer paper, using a valley point between the two peak points as a binarization threshold, performing binarization processing on the grayscale image of the spacer paper, setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are greater than or equal to the binarization threshold to 255, and setting the pixel values ​​of the pixel points on the grayscale image of the spacer paper whose pixel values ​​are less than the binarization threshold to 0, so as to obtain a binarized image of the spacer paper; Obtain the pixel point with a pixel value of 255 in the binary image of the spacer paper, set it as the highlight area, obtain the edge contour of the binary image of the spacer paper, and when the highlight area coincides with any edge contour of the binary image, set the highlight area as the light-transmitting area; When the highlighted area does not overlap with any edge contour of the binary image, it is determined that there is no light-transmitting area in the spacer paper image.

6. The automatic paper discharging and taking control system according to claim 5, characterized in that: The folding analysis unit is configured with a folding analysis strategy, which includes, when there is no light-transmitting area, performing pixel partitioning on the grayscale image of the spacer paper to obtain a plurality of pixel areas, wherein the pixel partitioning includes obtaining eight neighboring pixel points of any pixel point C, setting the eight neighboring pixel points 1 to the neighboring pixel points 8, and when the pixel value of any pixel point from the neighboring pixel points 1 to the neighboring pixel points 8 is the same as the pixel value of the pixel point C, setting the neighboring pixel point and the pixel point C as eight connected pixel points, and marking them as connected point C; obtaining all connected points with the same mark, and setting them as a pixel connected domain; For any pixel connected domain, when any two pixels on the pixel connected domain coincide with the edge of the grayscale image of the spacer paper, the pixel connected domain is set as the fold area.

7. The automatic paper discharging and taking control system according to claim 6, characterized in that: The multiple-sheet detection module is configured with a paper pickup calibration strategy, and the paper pickup calibration strategy includes outputting a paper pickup fall-off signal when the first weight is not equal to the second weight; When the first weight is equal to the second weight, the first weight is compared with the standard weight, which is the weight of a spacer paper. When the first weight is the same as the standard weight, a normal paper pickup signal is output. When the first weight is greater than the standard weight, an excessive paper picking signal is output; When the first weight is less than the standard weight, a paper-dropping signal is output.

8. The automatic paper discharging and taking control system according to claim 7, characterized in that: The paper picking and discharging control module includes a paper picking correction unit and a paper discharging correction unit. The paper picking correction unit is configured with a paper picking correction strategy. The paper picking correction strategy includes: when a light-transmitting area or a crease area is obtained, using a manipulator arm to grab the first spacer paper and then discard it; when no light-transmitting area or a crease area is obtained, performing a paper picking operation; The paper-out correction unit is provided with a paper-out correction strategy, and the paper-out correction strategy includes: when a paper-out fall-off signal is obtained, re-preparing for paper-out until a normal paper-out signal is obtained; When the excessive paper picking signal is obtained, the spacer paper on the robot arm is placed and the paper picking operation is performed again until the normal paper picking signal is obtained.

9. An automatic paper discharging and paper picking control method, applicable to the automatic paper discharging and paper picking control system according to any one of claims 1 to 8, characterized in that: The steps include: Collecting paper picking images and paper picking weight; Analyze the paper picking image to obtain the abnormal data of the interval paper; The paper picking weight is judged to obtain the paper picking status; The paper picking process is corrected based on the interval paper abnormality data and paper picking status.

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