Cigarette pulling line pasting detection device and detection method thereof

Abstract

The invention discloses a cigarette pull line pasting detection device and a detection method thereof, the device comprises a rack, a mechanical arm is arranged on the left side of a working table of the rack, and a detection terminal is installed on the front side of the mechanical arm; and the grabbing mechanism is installed at the tail end of the mechanical arm and used for clamping and transferring the cigarette packaging boxes on the external conveyor. Through cooperation of the mechanical arm and the grabbing mechanism, sampling inspection cigarette packaging boxes are automatically fed and discharged, through cooperation of the positioning mechanism and the cleaning mechanism, dust on the cigarette packaging boxes is comprehensively cleaned, the accuracy of the detection result is improved, and the detection efficiency is improved. Meanwhile, the receiving unit is used for receiving a casual inspection cigarette packaging box picture transmitted by the camera, the preprocessing unit is used for carrying out image enhancement and image segmentation operation and segmenting a stay wire area, so that the clearness of the stay wire area is better ensured, the judgment module is used for carrying out similarity calculation, if the similarity value is too high, the stay wire is judged to be unqualified, otherwise, the stay wire is judged to be qualified; convenience and rapidness are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of cigarette pulling wire detection, and specifically relates to a pulling wire covering detection device and a detection method thereof after the pulling wire is covered on a cigarette. Background Art

[0002] The detection of the quality of cigarette outer packaging is one of the key links to ensure the final quality of cigarettes; during the production process of cigarette packs, a layer of transparent wrapping paper is wrapped around the periphery of the cigarette pack to achieve the effects of beauty, sealing, and moisture protection; a pulling wire with a width of about 2-3 mm is attached to the outer surface of the transparent wrapping paper; during the packaging production process of cigarette outer packaging, due to various reasons, quality defect problems such as missing, offset, misaligned teeth, and notch misalignment may occur in the pulling wire, which will affect the packaging quality of the cigarette pack. Therefore, during the final detection process, it is necessary to sample and inspect the finished cigarettes on the production line. The existing method is to manually pick up cigarettes from the cigarette production line before the whole package is packed one by one, and perform inspection and testing by visual observation. However, with the manual visual inspection method, it is necessary to arrange special personnel to work at the workstations on the production line, and the staff needs to work continuously for a long time, resulting in a large labor intensity; at the same time, relying on manual visual inspection, there are often situations of inconsistent standards and distortion. Summary of the Invention

[0003] In order to solve the above technical problems, a device and a detection method for mechanical automation sampling and detection are provided to detect the covering quality of the pulling wire attached to the cigarette, and solve the problems of large manual detection intensity and detection distortion.

[0004] The technical solution for achieving the invention purpose is: a cigarette pulling wire covering detection device, characterized in that: it includes a robotic arm, a detection terminal, a positioning mechanism, and a photographing mechanism arranged on the workbench surface of the frame; the robotic arm is arranged on the left side of the workbench surface of the frame; the detection terminal is arranged on the front side of the robotic arm; a grasping mechanism is arranged at the end of the robotic arm; a positioning mechanism for clamping and flipping the cigarette packaging box is arranged in the middle of the workbench surface of the frame; a photographing mechanism for photographing the cigarette packaging box is arranged on the right side of the workbench surface of the frame.

[0005] The grasping mechanism includes a connecting part, the connecting part is fixedly connected to the end of the robotic arm, a first fixing rod and a first threaded rod are arranged on the connecting part, threads with opposite rotation directions are provided at both ends of the first threaded rod, two groups of clamping plates that can slide on the first fixing rod are arranged on the first fixing rod, and the two groups of clamping plates are respectively threadedly connected to both ends of the first threaded rod, a first servo motor is arranged on the protruding part outside the connecting part, and the output end of the first servo motor is fixedly connected to the first threaded rod.

[0006] The positioning mechanism includes a mounting base, a second threaded rod, a second fixed rod, a second servo motor, a movable plate and a clamping mechanism; there are two sets of mounting bases which are respectively located on both sides of the workbench surface of the frame. A second servo motor is arranged on the outer side of the mounting base. The second threaded rod and the second fixed rod are arranged on the inner sides of the two sets of mounting bases. Threads with opposite thread directions are provided at both ends of the second threaded rod, and one end of the second threaded rod is connected to the second servo motor; two sets of movable plates are respectively threadedly connected to the two ends of the outer surface of the second threaded rod through threads, and the movable plates are sleeved and slidably connected to the second fixed rod. The clamping mechanism is arranged at the upper position of the movable plate.

[0007] The clamping mechanism includes a driving motor, a clamping bracket, a third threaded rod, a third fixed rod, a clamping member and a third servo motor arranged on the outer side of the movable plate; the clamping bracket is fixedly connected to the output end of the driving motor; the third threaded rod and the third fixed rod are installed inside both ends of the clamping bracket. Threads with opposite thread directions are provided at both ends of the third threaded rod, and one end of the third threaded rod is connected to the third servo motor; two sets of the clamping members are sleeved and slidably connected to the third fixed rod, and the clamping member is provided with a receiving groove; the third servo motor for driving the third threaded rod to rotate is arranged on the outer side of the clamping bracket.

[0008] As an improvement, in order to facilitate clamping of the sampled cigarettes, rubber pads are installed on one side of the two sets of clamping plates close to each other.

[0009] As an improvement, the photographing mechanism includes a rotating rod which is rotatably connected to the workbench surface of the frame. A driven wheel is installed at the bottom end of the outer surface of the rotating rod. A driving motor is also arranged on the workbench surface of the frame, and the output end of the driving motor is fixedly connected with a driving wheel. The driving wheel is in transmission connection with the driven wheel through a belt, and an installation plate is fixedly connected to the top of the rotating rod. A camera is arranged at the bottom end of the installation plate. The photographing mechanism is provided with a transmission mechanism, which can meet the requirements of different working positions of the clamping mechanism, and is convenient for collecting information of sampled cigarettes with different packages and different positions of the pulling line.

[0010] As a further specific implementation of the cigarette pulling line sticking detection device, the internal integration of the detection terminal includes: a receiving unit for receiving the packaging box photos transmitted by the camera; a preprocessing unit for preprocessing the packaging box photos to obtain the preprocessed packaging box photos. The preprocessing includes image enhancement and image segmentation; an analysis module for retrieving the packaging box photos with unqualified pulling lines in the historical detection process, and extracting the unqualified pulling line features to form a historical pulling line unqualified feature set; a determination module for retrieving the similarity calculation formula, and extracting the preprocessed packaging box photos to obtain the to-be-detected pulling line set, and determining whether the pulling line is qualified.

[0011] As a further improvement, the cigarette wire-applying detection device is provided with a cleaning mechanism on the work surface of the frame, the cleaning mechanism includes a cleaning mechanism mounting seat, a screw and a cleaning plate, the cleaning mechanism mounting seat is provided with two groups and fixedly installed on both sides of the work surface of the frame, the screw is rotatably connected between the two groups of cleaning mechanism mounting seats, the outer surface of the screw is threadedly connected with an L-shaped plate, the L-shaped plate is slidably connected to the guide rod, the two ends of the guide rod are respectively fixedly connected to the inner walls of the two groups of cleaning mechanism mounting seats, the outer end of the screw is fixedly connected to the output end of the stepper motor, the stepper motor is installed on the outside of one group of cleaning mechanism mounting seats, the top of the cross plate of the L-shaped plate is provided with an electric push rod, the cleaning plate is provided below the cross plate of the L-shaped plate, and the top of the cleaning plate is fixedly connected to the output end of the electric push rod. The gas blown out of the vent (not shown) on the cleaning plate cleans the surface of the sampled cigarette, and can clean the surface of the cigarette packaging box to prevent dust or other impurities from affecting the photos taken by the shooting mechanism 5, thereby improving the detection results.

[0012] A detection method for a cigarette drawstring covering detection device comprises the following detection steps: S1, control the mechanical arm (101) to move above the finished cigarettes to be sampled, and extend the gripping mechanism; the first servo motor drives the first threaded rod to rotate forward, and the two sets of clamping plates move in the opposite direction to open; the first servo motor stops rotating, and the clamping plates stop; the mechanical arm moves downward, and drives the clamping plates of the gripping mechanism to reach both sides of the sampled cigarettes; the first servo motor drives the first threaded rod to rotate in the opposite direction, and the two sets of clamping plates move forward to approach each other so that the clamping plates clamp the sampled cigarettes; the first servo motor stops rotating, and the clamping plates stop; the mechanical arm is lifted and turned to the positioning mechanism, and the gripping mechanism clamps the sampled cigarettes to the positioning mechanism; S2, the second servo motor of the positioning mechanism installed on the mounting seat rotates forward, driving the second threaded rod to rotate, and the two sets of movable plates move forward along the second fixed rod to approach the preset position; the second servo motor stops rotating, and the two sets of movable plates stop moving; The driving motor rotates to drive the clamping bracket to a preset position and then stops; The third servo motor rotates forward, driving the third threaded rod to rotate, and the two groups of clamping members move forward along the third fixed rod to approach to the preset position to clamp the sample inspection cigarette, and the receiving groove of the clamping member receives and positions the sample inspection cigarette; S3, the first servo motor drives the first threaded rod to rotate forward, the two sets of clamping plates move in the opposite direction and open, the gripping mechanism releases the cigarettes for sampling, and the robotic arm rotates away; S4, the driving motor rotates to drive the clamping bracket, so that the clamped sample cigarettes are placed at different angles for the camera to collect visual information of the cigarette pull line; The camera shoots the sampled cigarettes at different angles to collect visual information of the cigarette drawstring stickers until the predetermined visual information is collected; S5. The processing module of the detection terminal processes the visual information of the cigarette drawstring pasting information and makes a judgment of qualified or unqualified; S6. The robotic arm rotates and moves to the position where the sampled cigarette is clamped by the clamping bracket, and the grasping mechanism extends; the first servo motor drives the first threaded rod to rotate in the reverse direction, and the two clamping plates move forward and approach each other to clamp the sampled cigarette; the first servo motor stops rotating; The third servo motor rotates in the reverse direction, driving the third threaded rod to rotate, and the two clamping members move away from each other along the third fixed rod, releasing the clamped sampled cigarette to a predetermined position; the third servo motor stops rotating; The second servo motor (304) rotates in the reverse direction, driving the second threaded rod to rotate, and the two movable plates move away from each other along the second fixed rod to a predetermined position; the second servo motor stops rotating; S7. The robotic arm rotates to drive the grasping mechanism to reach the position where the sampled cigarette is stored; the first servo motor drives the first threaded rod to rotate in the forward direction, and the two clamping plates move in the reverse direction and separate to release the sampled cigarette; the first servo motor stops rotating.

[0013] As an improvement, in steps S3 and S4 of the detection method of the cigarette drawstring pasting detection device, step S3A is added: the driving motor drives the driving wheel to rotate, and under the drive of the belt, the driven wheel and the rotating rod rotate as a whole, driving the camera to rotate to the shooting position of the sampled cigarette, and the driving motor stops rotating; In step S5 of the detection method of the cigarette drawstring pasting detection device, step S5A is added: the receiving unit is used to receive the packaging box photo information transmitted by the camera, the preprocessing unit performs image enhancement and image segmentation operations to enhance the clarity of the drawstring pasting area; the determination module performs similarity calculation, if the similarity value is too high, it is determined as unqualified, otherwise it is determined that the drawstring is qualified.

[0014] As a further improvement and concretization, the image enhancement in the cigarette drawstring pasting detection method specifically includes: Performing adaptive histogram equalization processing on the packaging box photo; By calculating the gray histogram of the packaging box photo, determining the cumulative distribution function of the local area; Based on the cumulative distribution function, adaptively adjusting the gray mapping relationship of the local area to obtain an enhanced image; The image segmentation specifically includes: Segmenting the enhanced image into multiple superpixels by the superpixel segmentation algorithm; Determining the similarity matrix between superpixels as the edge weights of the undirected graph, and constructing a superpixel graph cut undirected graph; Combining the probability distribution preset in the drawstring area, solving the global optimal solution of the superpixel graph cut undirected graph by the maximum flow minimum cut algorithm; Obtain the segmentation result of the drawstring area and acquire the preprocessed photo of the cigarette box.

[0015] As a further improvement and refinement, the similarity calculation formula in the cigarette drawstring covering detection method is: simJaccard(A, B) = |A∩B| / |A∪B| In the formula, A is the set of historical drawstring non - compliance features, B is the set of drawstrings to be detected, |A∩B| is the intersection of the set of historical drawstring non - compliance features and the set of drawstrings to be detected, and |A∪B| is the union of the set of historical drawstring non - compliance features and the set of drawstrings to be detected.

[0016] As a further improvement, in step S5 of the cigarette drawstring covering detection method, S12 is added: the stepper motor (404) rotates, drives the lead screw (402), drives the rotating L - shaped plate (405) to move to the position of the randomly inspected cigarette, the electric push rod (406) is pushed out, so that the cleaning plate (407) moves downward to a predetermined position opposite the randomly inspected cigarette; the air vents on the cleaning plate (407) blow out gas to clean the surface of the randomly inspected cigarette.

[0017] Compared with the prior art, the present invention provides a cigarette drawstring covering detection device and its detection method, having the following beneficial effects: Through the cooperation of the robotic arm and the grasping mechanism, the present invention realizes automatic feeding and discharging of cigarette boxes. Through the combined use of the positioning mechanism and the cleaning mechanism, it realizes the cleaning of dust or foreign objects on the cigarette boxes, improves the accuracy of the detection results. At the same time, the receiving unit is used to receive the photo of the cigarette box transmitted by the camera, the preprocessing unit performs image enhancement and image segmentation operations, and segments the drawstring area, better ensuring the clarity of the drawstring area. The determination module calculates the similarity. If the similarity value is too high, it is determined as unqualified, otherwise the drawstring is determined as qualified, which is convenient and fast, meeting the needs of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the structural schematic diagram of the grasping mechanism in the present invention; Figure 3 is the structural schematic diagram of the photographing mechanism in the present invention; Figure 4 is the structural schematic diagram of the positioning mechanism in the present invention; Figure 5 is the internal structural schematic diagram of the clamping bracket in the present invention; Figure 6 is the structural schematic diagram of the cleaning mechanism in the present invention; Figure 7 is the internal integration schematic diagram of the detection terminal in the present invention. Detailed implementation mode Embodiment 1

[0019] As Figure 1 shown, the cigarette drawstring pasting detection device includes a robotic arm (101), a detection terminal (102), a positioning mechanism (3), and a photographing mechanism (5) arranged on the workbench surface of the frame (1); the robotic arm (101) is arranged on the left side of the workbench surface of the frame (1); the detection terminal (102) is arranged on the front side of the robotic arm (101); a grasping mechanism (2) is arranged at the end of the robotic arm (101); a positioning mechanism (3) for clamping and flipping the cigarette packaging box is arranged in the middle of the workbench surface of the frame (1); and a photographing mechanism (5) for photographing the cigarette packaging box is arranged on the right side of the workbench surface of the frame (1).

[0020] As Figure 1 and Figure 2 shown, the grasping mechanism (2) includes a connecting part (201), the connecting part (201) is fixedly connected to the end of the robotic arm (101), a first fixing rod (203) and a first threaded rod (202) are arranged on the connecting part (201), threads with opposite helix directions are provided at both ends of the first threaded rod (202), two groups of clamping plates (205) that can slide on the first fixing rod (203) are arranged on the first fixing rod (203), the two groups of clamping plates (205) are respectively threadedly connected to both ends of the first threaded rod (202), a first servo motor (204) is arranged on the protruding part outside the connecting part (201), and the output end of the first servo motor (204) is fixedly connected to the first threaded rod (202). Rubber pads (206) are installed on one side of the two groups of clamping plates (205) close to each other.

[0021] As Figure 1 , Figure 4 , Figure 5As shown, the positioning mechanism (3) includes a mounting base (301), a second threaded rod (302), a second fixed rod (303), a second servo motor (304), a movable plate (305) and a clamping mechanism; two sets of mounting bases (301) are provided and are respectively located on both sides of the workbench surface of the frame (1). A second servo motor (304) is provided on the outer side of the mounting base (301). The second threaded rod (302) and the second fixed rod (303) are arranged inside the two sets of mounting bases (301). Threads with opposite thread directions are provided at both ends of the second threaded rod (302), and one end of the second threaded rod (302) is connected to the second servo motor (304); two sets of movable plates (305) are respectively threadedly connected to both ends of the outer surface of the second threaded rod (302) through threads, and the movable plate (305) is sleeved and slidably connected to the second fixed rod (303). The clamping mechanism is arranged at the upper position of the movable plate (305). The clamping mechanism includes a driving motor (306), a clamping bracket (307), a third threaded rod (308), a third fixed rod (309), a clamping member (310), and a third servo motor (311) provided on the outer side of the movable plate (305); the clamping bracket (307) is fixedly connected to the output end of the driving motor (306); the third threaded rod (308) and the third fixed rod (309) are installed inside both ends of the clamping bracket (307). Threads with opposite thread directions are provided at both ends of the third threaded rod (308), and one end of the third threaded rod (308) is connected to the third servo motor (311); two sets of the clamping members (310) are sleeved and slidably connected to the third fixed rod (309), and the clamping member is provided with an accommodation groove (312); the third servo motor (311) for driving the third threaded rod (308) to rotate is arranged on the outer side of the clamping bracket (307).

[0022] As Figure 1 and Figure 3 shown, the photographing mechanism (5) includes a rotating rod (501). The rotating rod (501) is rotatably connected to the workbench surface of the frame (1). A driven wheel (504) is installed at the bottom end of the outer surface of the rotating rod (501). A transmission motor (502) is further arranged on the workbench surface of the frame (1). The output end of the transmission motor (502) is fixedly connected with a driving wheel (503). The driving wheel (503) is in transmission connection with the driven wheel (504) through a belt (505), and the top of the rotating rod (501) is fixedly connected with a mounting plate (506). A camera (507) is arranged at the bottom end of the mounting plate (506).

[0023] As Figure 1 , 6As shown in the figure, a cleaning mechanism (4) is provided on the workbench surface of the frame (1). The cleaning mechanism (4) includes a cleaning mechanism mounting base (401), a lead screw (402), and a cleaning plate (407). There are two groups of cleaning mechanism mounting bases (401), which are respectively fixedly installed on both sides of the workbench surface of the frame (1). The lead screw (402) is rotatably connected between the two groups of cleaning mechanism mounting bases (401). An L-shaped plate (405) is threadedly connected to the outer surface of the lead screw (402). The L-shaped plate (405) is slidably connected to a guide rod (403). Both ends of the guide rod (403) are fixedly connected to the inner walls of the two groups of cleaning mechanism mounting bases (401). The outer end of the lead screw (402) is fixedly connected to the output end of a stepping motor (404). The stepping motor (404) is installed on the outside of one of the cleaning mechanism mounting bases (401). An electric push rod (406) is provided on the top of the horizontal plate of the L-shaped plate (405). The cleaning plate (407) is arranged below the horizontal plate of the L-shaped plate (405), and the top of the cleaning plate (407) is fixedly connected to the output end of the electric push rod (406).

[0024] As Figure 7 As shown in the figure, the interior of the detection terminal (102) is integrated with: a receiving unit (600) for receiving the photos of the packaging boxes transmitted by the camera (507); a preprocessing unit (610) for preprocessing the photos of the packaging boxes to obtain the preprocessed photos of the packaging boxes, and the preprocessing includes image enhancement and image segmentation; an analysis module (620) for retrieving the photos of the packaging boxes with unqualified drawstrings during the historical detection process, extracting the unqualified drawstring features, and forming a historical unqualified drawstring feature set; and a determination module (630) for retrieving the similarity calculation formula, extracting the photos of the packaging boxes after preprocessing, obtaining the set of drawstrings to be detected, and determining whether the drawstrings are qualified. Embodiment 2

[0025] A detection method for a cigarette drawstring pasting detection device, characterized by including the following detection steps: S1. Control the robotic arm (101) to move above the cigarette products to be sampled, and extend the grasping mechanism (2); the first servo motor (204) drives the first threaded rod (202) to rotate forward, and the two groups of clamping plates (205) move in opposite directions to open; the first servo motor (204) stops rotating, and the clamping plates (205) stop; the robotic arm moves downward, driving the clamping plates of the grasping mechanism to reach both sides of the sampled cigarette; the first servo motor (204) drives the first threaded rod (202) to rotate in the reverse direction, and the two groups of clamping plates (205) move forward and close to clamp the sampled cigarette; the first servo motor (204) stops rotating, and the clamping plates (205) stop; the robotic arm (101) lifts and turns to the positioning mechanism, and the grasping mechanism (2) clamps the sampled cigarette and reaches the positioning mechanism. S2. The second servo motor (304) of the positioning mechanism (3) installed on the mounting base (301) rotates forward, driving the second threaded rod (302) to rotate, and the two groups of movable plates (305) move forward along the second fixed rod (303) and close to reach the preset position; the second servo motor (304) stops rotating, and the two groups of movable plates (305) stop moving. The drive motor (306) rotates to drive the clamping bracket (307) to reach the preset position and then stop. The third servo motor (311) rotates forward, driving the third threaded rod (308) to rotate, and the two groups of clamping parts (310) move forward along the third fixed rod (309) and close to reach the preset position to clamp the sampled cigarette. The receiving groove (312) of the clamping part (310) receives and positions the clamped sampled cigarette. S3. The first servo motor (204) drives the first threaded rod (202) to rotate forward, and the two groups of clamping plates (205) move in opposite directions to open, and the grasping mechanism (2) releases the sampled cigarette; the robotic arm (101) rotates and leaves. S3A: The drive motor (502) drives the drive wheel (503) to rotate. Driven by the belt (505), the driven wheel (504) and the rotating rod (501) rotate as a whole, driving the camera (507) to rotate to the shooting position of the sampled cigarette, and the drive motor (502) stops rotating. S3B: The stepping motor (404) rotates, driving the lead screw (402), driving the rotating L-shaped plate (405) to move to the position of the sampled cigarette, and the electric push rod (406) is pushed out, so that the cleaning plate (407) moves downward to the predetermined position to face the sampled cigarette; the air vents on the cleaning plate (407) blow out gas to clean the surface of the sampled cigarette. S4. The drive motor (306) rotates to drive the clamping bracket (307), driving the clamped sampled cigarette to be in different angular positions for the camera (507) to collect the visual information of the cigarette drawstring attachment. The camera (507) takes pictures of the sampled cigarettes at different angles to collect visual information of the cigarette drawstrings until the predetermined visual information is collected; S5. The external processing module of the detection terminal (102) processes the visual information of the cigarette draw string covering information, including: S5A: The receiving unit (600) is used to receive the packaging box photo information transmitted by the camera (507); the pre-processing unit (610) performs image enhancement and image segmentation operations to enhance the clarity of the pull-wire pasting area; the determination module (630) performs similarity calculation, and if the similarity value is too high, it is determined to be unqualified; otherwise, the pull-wire is determined to be qualified; The external processing module of the final detection terminal (102) processes the visual information of the cigarette draw string covering information and makes a qualified or unqualified judgment; S6, the mechanical arm (101) rotates and moves to the position where the clamping bracket (307) clamps the sampled cigarette, and the gripping mechanism (2) extends; the first servo motor (204) drives the first threaded rod (202) to rotate in the opposite direction, and the two sets of clamping plates (205) move forward and close to each other so that the clamping plates (205) clamp the sampled cigarette; the first servo motor stops rotating; The third servo motor (311) rotates in the reverse direction, driving the third threaded rod (308) to rotate, and the two groups of clamping members (310) move away in the reverse direction along the third fixed rod (309), releasing the clamping of the sampled cigarette to a predetermined position; the third servo motor (311) stops rotating; The second servo motor (304) rotates in the reverse direction, driving the second threaded rod (302) to rotate, and the two sets of movable plates (305) move away in the reverse direction along the second fixed rod (303) to a predetermined position; the second servo motor (304) stops rotating; S7, the mechanical arm (101) rotates to drive the grasping mechanism (2) to the storage position of the sampled cigarettes; the first servo motor (204) drives the first threaded rod (202) to rotate in the forward direction, and the two sets of clamping plates (205) move in the reverse direction and separate, so that the clamping plates (205) release the sampled cigarettes; the first servo motor stops rotating.

[0026] The image enhancement of the cigarette pull string covering detection method specifically includes: performing adaptive histogram equalization processing on the packaging box photo; determining the cumulative distribution function of the local area by calculating the grayscale histogram of the packaging box photo; adaptively adjusting the grayscale mapping relationship of the local area based on the cumulative distribution function to obtain an enhanced image. The image segmentation specifically includes: segmenting the enhanced image into multiple superpixels through a superpixel segmentation algorithm; determining the similarity matrix between superpixels as the edge weight of the undirected graph, and constructing a superpixel graph cut undirected graph; combining the pre-set probability distribution of the pull string area, solving the global optimal solution of the superpixel graph cut undirected graph through the maximum flow minimum cut algorithm; obtaining the segmentation result of the pull string area, and obtaining the preprocessed packaging box photo.

[0027] The similarity calculation formula for the detection method of the cigarette pull tab covering detection device is: simJaccard(A, B) = |A∩B| / |A∪B| In the formula, A is the set of historical pull tab unqualified features, B is the set of pull tabs to be detected, |A∩B| is the intersection of the set of historical pull tab unqualified features and the set of pull tabs to be detected, and |A∪B| is the union of the set of historical pull tab unqualified features and the set of pull tabs to be detected.

Claims

1. A cigarette drawstring covering detection device, characterized in that: It includes a robotic arm (101), a detection terminal (102), a positioning mechanism (3), and a photographing mechanism (5) which are arranged on the workbench surface of the frame (1); the robotic arm (101) is arranged on the left side of the workbench surface of the frame (1); the detection terminal (102) is arranged on the front side of the robotic arm (101); a grasping mechanism (2) is arranged at the end of the robotic arm (101); a positioning mechanism (3) for clamping and flipping the cigarette packaging box is arranged in the middle of the workbench surface of the frame (1); a photographing mechanism (5) for photographing the cigarette packaging box is arranged on the right side of the workbench surface of the frame (1). The grasping mechanism (2) includes a connecting part (201), the connecting part (201) is fixedly connected to the end of the robotic arm (101), a first fixing rod (203) and a first threaded rod (202) are arranged on the connecting part (201), threads with opposite helix directions are arranged at both ends of the first threaded rod (202), two groups of clamping plates (205) that can slide on the first fixing rod (203) are arranged on the first fixing rod (203), the two groups of clamping plates (205) are respectively threadedly connected to both ends of the first threaded rod (202), a first servo motor (204) is arranged on the protruding part outside the connecting part (201), and the output end of the first servo motor (204) is fixedly connected to the first threaded rod (202). The positioning mechanism (3) includes a mounting seat (301), a second threaded rod (302), a second fixing rod (303), a second servo motor (304), a movable plate (305), and a clamping mechanism; two groups of mounting seats (301) are arranged and are respectively located on both sides of the workbench surface of the frame (1), a second servo motor (304) is arranged on the outside of the mounting seat (301), the second threaded rod (302) and the second fixing rod (303) are arranged inside the two groups of mounting seats (301), threads with opposite helix directions are arranged at both ends of the second threaded rod (302), and one end of the second threaded rod (302) is connected to the second servo motor (304); two groups of movable plates (305) are threadedly connected to both ends of the outer surface of the second threaded rod (302) respectively, the movable plate (305) is sleeved and slidably connected to the second fixing rod (303), and the clamping mechanism is arranged at the upper position of the movable plate (305). The clamping mechanism includes a driving motor (306), a clamping bracket (307), a third threaded rod (308), a third fixed rod (309), a clamping member (310), and a third servo motor (311) arranged outside the movable plate (305); the clamping bracket (307) is fixedly connected to the output end of the driving motor (306); the third threaded rod (308) and the third fixed rod (309) are installed inside both ends of the clamping bracket (307), and both ends of the third threaded rod (308) are provided with threads with opposite thread directions, and one end of the third threaded rod (308) is connected to the third servo motor (311); two groups of the clamping members (310) are sleeved and slidably connected to the third fixed rod (309), and the clamping member is provided with an accommodation groove (312); the third servo motor (311) for driving the third threaded rod (308) to rotate is arranged outside the clamping bracket (307).

2. The cigarette drawstring pasting detection device according to claim 1, wherein: Rubber pads (206) are installed on one side of the two groups of clamping plates (205) that are close to each other.

3. The cigarette drawstring laminating detection device according to claim 1, wherein: The photographing mechanism (5) includes a rotating rod (501), the rotating rod (501) is rotatably connected to the workbench surface of the frame (1), a driven wheel (504) is installed at the bottom end of the outer surface of the rotating rod (501), a transmission motor (502) is further arranged on the workbench surface of the frame (1), the output end of the transmission motor (502) is fixedly connected with a driving wheel (503), the driving wheel (503) is in transmission connection with the driven wheel (504) through a belt (505), and the top of the rotating rod (501) is fixedly connected with a mounting plate (506), and a camera (507) is arranged at the bottom end of the mounting plate (506).

4. The cigarette drawstring laminating detection device according to claim 1, characterized in that, The interior of the detection terminal (102) is integrated with:[ a receiving unit (600), the receiving unit (600) is used for receiving the photos of the packaging box transmitted by the camera (507); a preprocessing unit (610), the preprocessing unit (610) is used for preprocessing the photos of the packaging box to obtain the preprocessed photos of the packaging box, and the preprocessing includes image enhancement and image segmentation; an analysis module (620), the analysis module (620) is used for retrieving the photos of the packaging boxes with unqualified drawstrings during the historical detection process, and extracting the unqualified drawstring features to form a historical unqualified drawstring feature set; a determination module (630), the determination module (630) is used for retrieving the similarity calculation formula, and extracting the photos of the packaging box after preprocessing to obtain the set of drawstrings to be detected, and determining whether the drawstrings are qualified.

5. The cigarette drawstring pasting detection device according to claim 1, wherein: A cleaning mechanism (4) is provided on the working surface of the frame (1). The cleaning mechanism (4) includes a cleaning mechanism mounting base (401), a lead screw (402) and a cleaning plate (407). Two groups of cleaning mechanism mounting bases (401) are provided and are respectively fixedly installed on both sides of the working surface of the frame (1). The lead screw (402) is rotatably connected between the two groups of cleaning mechanism mounting bases (401). An L-shaped plate (405) is threadedly connected to the outer surface of the lead screw (402). The L-shaped plate (405) is slidably connected to the guide rod (403). Both ends of the guide rod (403) are fixedly connected to the inner walls of the two groups of cleaning mechanism mounting bases (401). The outer end of the lead screw (402) is fixedly connected to the output end of the stepping motor (404). The stepping motor (404) is installed on the outside of one of the cleaning mechanism mounting bases (401). An electric push rod (406) is provided on the top of the horizontal plate of the L-shaped plate (405). The cleaning plate (407) is arranged below the horizontal plate of the L-shaped plate (405), and the top of the cleaning plate (407) is fixedly connected to the output end of the electric push rod (406).

6. A detection method for a cigarette drawstring covering detection device according to any one of claims 1-5, characterized in that, Including the following detection steps: S1. Control the robotic arm (101) to move above the to-be-sampled cigarette products, and the grasping mechanism (2) extends; the first servo motor (204) drives the first threaded rod (202) to rotate forward, and the two clamping plates (205) move in opposite directions to open; the first servo motor (204) stops rotating, and the clamping plates (205) stop; the robotic arm moves downward, driving the clamping plates of the grasping mechanism to reach both sides of the sampled cigarette; the first servo motor (204) drives the first threaded rod (202) to rotate in the reverse direction, and the two clamping plates (205) move forward and close to clamp the sampled cigarette; the first servo motor (204) stops rotating, and the clamping plates (205) stop; the robotic arm (101) lifts and turns to the positioning mechanism, and the grasping mechanism (2) clamps the sampled cigarette and reaches the positioning mechanism; S2. The second servo motor (304) of the positioning mechanism (3) installed on the mounting base (301) rotates forward, driving the second threaded rod (302) to rotate, and the two movable plates (305) move forward along the second fixed rod (303) and approach to reach the preset position; the second servo motor (304) stops rotating, and the two movable plates (305) stop moving; The drive motor (306) rotates to drive the clamping bracket (307) to reach the preset position and then stops; The third servo motor (311) rotates forward, driving the third threaded rod (308) to rotate, and the two clamping members (310) move forward along the third fixed rod (309) and approach to reach the preset position to clamp the sampled cigarette. The receiving groove (312) of the clamping member (310) receives and positions the clamped sampled cigarette; S3. The first servo motor (204) drives the first threaded rod (202) to rotate forward, the two clamping plates (205) move in opposite directions to open, and the grasping mechanism (2) releases the sampled cigarette; the robotic arm (101) rotates and leaves; S4, the driving motor (306) rotates to drive the clamping bracket (307), so as to drive the clamped sample cigarettes to different angles for the camera (507) to collect visual information of the cigarette pull line; The camera (507) takes pictures of the sampled cigarettes at different angles to collect visual information of the cigarette drawstrings until the predetermined visual information is collected; S5, the external processing module of the detection terminal (102) processes the visual information of the cigarette draw string covering information and makes a qualified or unqualified judgment; S6, the mechanical arm (101) rotates and moves to the position where the clamping bracket (307) clamps the sampled cigarette, and the gripping mechanism (2) extends; the first servo motor (204) drives the first threaded rod (202) to rotate in the opposite direction, and the two sets of clamping plates (205) move forward and close to each other so that the clamping plates (205) clamp the sampled cigarette; the first servo motor stops rotating; The third servo motor (311) rotates in the reverse direction, driving the third threaded rod (308) to rotate, and the two groups of clamping members (310) move away in the reverse direction along the third fixed rod (309), releasing the clamping of the sampled cigarette to a predetermined position; the third servo motor (311) stops rotating; The second servo motor (304) rotates in the reverse direction, driving the second threaded rod (302) to rotate, and the two sets of movable plates (305) move away in the reverse direction along the second fixed rod (303) to a predetermined position; the second servo motor (304) stops rotating; S7, the mechanical arm (101) rotates to drive the grasping mechanism (2) to the storage position of the sampled cigarettes; the first servo motor (204) drives the first threaded rod (202) to rotate in the forward direction, and the two sets of clamping plates (205) move in the reverse direction and separate, so that the clamping plates (205) release the sampled cigarettes; the first servo motor stops rotating.

7. A cigarette drawstring covering detection method according to claim 6, characterized in that: Step S3A is added to steps S3 and S4 of the detection method: the transmission motor (502) drives the driving wheel (503) to rotate, and under the drive of the belt (505), the driven wheel (504) and the rotating rod (501) rotate as a whole, driving the camera (507) to rotate to the shooting position of the sampled cigarettes, and the transmission motor (502) stops rotating; Step S5A is added to step S5 of the detection method: the receiving unit (600) is used to receive the packaging box photo information transmitted by the camera (507), and the pre-processing unit (610) performs image enhancement and image segmentation operations to enhance the clarity of the drawstring covering area; The determination module (630) performs similarity calculation. If the similarity value is too high, it is determined to be unqualified. Otherwise, the wire drawing is determined to be qualified.

8. A cigarette drawstring covering detection method according to claim 7, characterized in that: The image enhancement specifically includes: Perform adaptive histogram equalization on the packaging box photos; By calculating the grayscale histogram of the packaging box photo, the cumulative distribution function of the local area is determined; Based on the cumulative distribution function, the grayscale mapping relationship of the local area is adaptively adjusted to obtain an enhanced image; The image segmentation specifically includes: The enhanced image is segmented into multiple superpixels by a superpixel segmentation algorithm; Determine the similarity matrix between superpixels as the edge weights of an undirected graph, and construct an undirected graph of superpixel graph cut; Combined with the preset probability distribution of the wire-pulling area, solve the global optimal solution of the undirected graph of superpixel graph cut through the maximum flow minimum cut algorithm; Obtain the segmentation result of the wire-pulling area, and obtain the preprocessed photo of the cigarette box.

9. The detection method of a cigarette drawstring covering detection device according to claim 7, characterized in that, The similarity calculation formula is as follows: simJaccard(A, B) = |A∩B| / |A∪B| In the formula, A is the set of historical wire-pulling unqualified features, B is the set of wire-pulling to be detected, |A∩B| is the intersection of the set of historical wire-pulling unqualified features and the set of wire-pulling to be detected, and |A∪B| is the union of the set of historical wire-pulling unqualified features and the set of wire-pulling to be detected.

10. A cigarette wire-pulling pasting detection method according to claim 7, characterized in that: In the detection method, step S3B is added to step S3A: the stepping motor (404) rotates, drives the lead screw (402), drives the rotating L-shaped plate (405) to move to the position of the sampled cigarette, the electric push rod (406) is pushed out, so that the cleaning plate (407) moves downward to a predetermined position opposite to the sampled cigarette; the air vent on the cleaning plate (407) blows out gas to clean the surface of the sampled cigarette.

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