Paper tube processing equipment control method and device, electronic equipment and storage medium

Abstract

The invention provides a paper tube processing equipment control method and device, electronic equipment and a storage medium, and relates to the technical field of can making. The method comprises the steps of calculating target parameters based on a paper tube image by identifying end faces, edges or mark points of a paper tube; acquiring point cloud data of the paper pasting mechanism and the slitting mechanism in corresponding action areas on the surface of the paper tube, and determining shape change of the paper tube before and after stress according to the point cloud data; determining real-time state information of the paper tube according to the target parameter and the shape change of the paper tube before and after being stressed in combination with deformation characteristics corresponding to the specification of the paper tube; according to the real-time state information of the paper tube, action parameters of slitting tools in a paper pasting mechanism and a slitting mechanism are calculated; and according to the action parameters of the paper pasting mechanism and the slitting tool, the paper pasting mechanism and the slitting tool are controlled to synchronously machine the paper tube. According to the method, the machining precision and quality of the thin-wall paper tube easy to deform are remarkably improved, and the limitation of a traditional scheme in dealing with deviation, deformation and multi-specification switching of the paper tube is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of can making, and more particularly, to a control method, device, electronic device and storage medium for a paper tube processing device. Background Art

[0002] In modern automated food packaging production, thin-walled paper tubes are common packaging. The sticker and slitting stations have high requirements for equipment accuracy and efficiency. To optimize the production rhythm, sticker application and slitting are often completed at the same station. The equipment control system needs to coordinate the paper tube transportation, positioning, drive the sticker mechanism to fit the outer packaging, and then cut the paper tube by the slitting mechanism.

[0003] However, during the transportation and positioning of the paper tube, affected by factors such as friction force fluctuations, guiding clearances, and dimensional deviations, the actual position, attitude deviate from the ideal state, such as axial and radial offsets or rotational angle deviations, and even axis inclination. Traditional control methods rely on simple sensors to detect whether the paper tube reaches the preset position, unable to sense these minute deviations, and it is difficult to ensure that the sticker and slitting operations are aligned with the actual state of the paper tube.

[0004] Failure to accurately align the paper tube state will result in sticker skew, slant, slitting skew, and uneven cross-sections, affecting the packaging quality. Thin-walled paper tubes have thin walls and limited stiffness, and are prone to elastic deformation, such as radial compression or axial bending, when subjected to the pressure of the sticker mechanism or the cutting force of the slitting tool. Sticker application and slitting are closely executed, and the deformation generated by the previous action will affect the accuracy of the subsequent action. For example, when the sticker applies pressure instantaneously, the paper tube deforms. If slitting is immediately performed, the tool will act on the deformed rather than the original state of the paper tube, increasing the slitting difficulty and resulting in slitting skew.

[0005] To improve the processing accuracy, the equipment needs to accurately perceive the real state of the paper tube at the station in real time, including the axial and radial positions, rotational angle, axis inclination, and even the elastic deformation at the moment of force application, such as the displacement or contour change of the paper tube surface before and after being stressed. Based on this, the control system needs to dynamically adjust the pressure application position, speed, stroke of the sticker mechanism, as well as the starting timing, feed speed, and trajectory of the slitting mechanism, to ensure that the actions accurately act on the actual position and the deformed surface of the paper tube.

[0006] Traditional systems based on simple sensors and fixed time sequences cannot meet the requirements of real-time perception and dynamic adjustment. It is necessary to introduce advanced technologies such as vision sensors, laser displacement sensors, line array cameras, or force sensors, combined with complex control strategies such as closed-loop control, force feedback adaptive control, or predictive control algorithms, to achieve accurate perception of the paper tube state and dynamic coordinated control of the actuator actions.

[0007] At high production rates, the paper tube stays at the workstation for a short time, posing challenges to the real-time performance of the system. The control system needs to quickly complete state perception, data processing, decision-making calculations, and instruction output when the paper tube is being conveyed at high speed or briefly stopped.

[0008] In addition, there are various specifications for food packaging paper tubes, and the physical characteristics of paper tubes with different specifications vary significantly, with different sensitivities to sticker pressure, cutting force, and deformation. Different sensing and control strategies need to be adopted for different specifications. When switching the paper tube specification, the equipment control system needs to quickly load or configure parameters matching the new specification to reduce downtime and improve the changeover efficiency. The existing system is time-consuming for manual adjustment and difficult to meet the requirements of rapid changeover. Summary of the Invention

[0009] The purpose of the present invention is to provide a control method, device, electronic device, and storage medium for a paper tube processing equipment. By real-time sensing the dynamic state of the paper tube (including deformation) and dynamically adjusting the processing actions based on this, the processing accuracy and quality of thin and easily deformable paper tubes for food packaging are significantly improved, overcoming the limitations of traditional solutions in dealing with paper tube deviation, deformation, and multi-specification switching.

[0010] In a first aspect, the present invention provides a control method for a paper tube processing equipment, which is applied to a paper tube processing equipment integrating labeling and cutting functions. The paper tube processing equipment is used as a separate workstation to cut the paper tube into multiple small segments while labeling the paper tube. The control method for the paper tube processing equipment includes the following steps: Obtain a paper tube image, and calculate target parameters based on the paper tube image by identifying the end face, edge, or marking points of the paper tube; the target parameters include the axial position, radial position of the paper tube, and the deflection angle of the paper tube axis relative to a reference direction. Obtain the point cloud data of the corresponding action areas of the sticker mechanism and the cutting mechanism on the paper tube surface, and determine the shape change of the paper tube before and after being stressed according to the point cloud data. Determine the real-time state information of the paper tube according to the target parameters, the shape change of the paper tube before and after being stressed, and the deformation characteristics corresponding to the paper tube specification. Calculate the action parameters of the cutting tool in the sticker mechanism and the cutting mechanism according to the real-time state information of the paper tube. Control the sticker mechanism and the cutting tool to synchronously process the paper tube according to the action parameters of the sticker mechanism and the cutting tool.

[0011] The control method for paper tube processing equipment provided by the present invention perceives the state of the paper tube by combining vision and laser sensors, dynamically adjusts and controls the sticker pasting and slitting actions based on the perception results, and simultaneously realizes the parametric management of paper tubes of multiple specifications. By introducing multi-sensor collaborative perception, data fusion, deformation calculation, and dynamic closed-loop control based on the perceived data, significant improvements have been made to the sticker pasting and slitting equipment at the same station applied to food packaging paper tube processing.

[0012] In a second aspect, the present invention provides a control device for paper tube processing equipment, which is applied to paper tube processing equipment integrating label pasting and slitting functions. The paper tube processing equipment is used as a separate station to slit the paper tube into multiple small segments while pasting labels on the paper tube; The control device for paper tube processing equipment includes: A first acquisition module, configured to acquire an image of the paper tube, and calculate target parameters based on the paper tube image by identifying the end face, edge or marking points of the paper tube; the target parameters include the axial position, radial position of the paper tube, and the deflection angle of the paper tube axis relative to the reference direction; A second acquisition module, configured to acquire the point cloud data of the corresponding acting areas of the sticker pasting mechanism and the slitting mechanism on the surface of the paper tube, and determine the shape change of the paper tube before and after being stressed according to the point cloud data; A determination module, configured to determine the real-time state information of the paper tube according to the target parameters and the shape change of the paper tube before and after being stressed, in combination with the deformation characteristics corresponding to the paper tube specifications; A calculation module, configured to calculate the action parameters of the slitting tool in the sticker pasting mechanism and the slitting mechanism according to the real-time state information of the paper tube; A control module, configured to control the sticker pasting mechanism and the slitting tool to synchronously process the paper tube according to the action parameters of the sticker pasting mechanism and the slitting tool.

[0013] In a third aspect, the present invention provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the control method for paper tube processing equipment provided in the first aspect as described above are run.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the control method for paper tube processing equipment provided in the first aspect as described above are run.

[0015] As described above, the control method for the paper tube processing equipment provided by the present invention, when applied to the automatic sticker pasting and slitting (especially at the same station) of thin-walled and easily deformable paper tubes, overcomes the dynamic, minute position, attitude, and elastic deformation of the paper tubes caused by their own characteristics, feeding positioning, and stress at high production beats, realizes real-time and accurate state perception of the paper tubes, and dynamically adjusts subsequent processing actions based on this to ensure the accuracy and quality of sticker pasting and slitting, and meet the rapid changeover requirements of multi-specification paper tubes.

[0016] Other features and advantages of the present invention will be described in the subsequent description, and, in part, will be obvious from the description, or will be understood by implementing the embodiments of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written description and the drawings. Brief Description of the Drawings

[0017] Figure 1 It is a flowchart of a control method for the paper tube processing equipment provided by an embodiment of the present invention.

[0018] Figure 2 It is a schematic structural diagram of the paper tube processing equipment when it is ready for processing in an embodiment of the present invention.

[0019] Figure 3 It is a schematic structural diagram of the paper tube processing equipment when it is in the process of processing in an embodiment of the present invention.

[0020] Figure 4 It is a schematic structural diagram of a control device for the paper tube processing equipment provided by an embodiment of the present invention.

[0021] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0022] Label Description: 1. Raw material input device; 2. Paper tube to be processed; 3. Sticker pasting mechanism; 4. Positioning rotating shaft; 5. Slitting mechanism; 51. Cutting machine; 6. Conveyor belt; 7. Sticker; 100. First acquisition module; 200. Second acquisition module; 300. Determination module; 400. Calculation module; 500. Control module; 13. Electronic device; 1301. Processor; 1302. Memory; 1303. Communication bus. Detailed Embodiments

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention claimed, but merely represents selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0024] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present invention, terms such as "first", "second", etc. are only used for differential description and cannot be understood as indicating or implying relative importance.

[0025] In the automated production process of modern food packaging products, as a common packaging form, thin-walled paper tubes have relatively high requirements for the accuracy and efficiency of equipment in subsequent processing steps. Especially on an automated production line, the paper tubes need to go through a series of continuous or intermittent processing steps. One of the key workstations is the fitting of outer packaging stickers and the slitting of paper tubes. To optimize the production rhythm and space utilization, usually the two actions of sticking and slitting are designed to be completed at the same workstation or closely connected in time. Specifically, the equipment control system coordinates the conveying and precise docking and positioning of the paper tubes, and then drives the sticker mechanism to partially or completely fit the prefabricated outer packaging stickers onto the circumferential surface of the paper tubes. Immediately or synchronously thereafter, the slitting mechanism controls the cutter to cut the paper tube part with stickers, and slit the long paper tube into multiple independent packaging units according to a preset length.

[0026] However, during the process of the paper tube being conveyed from the previous workstation to this sticker-slitting workstation and positioned, due to the influence of various factors, such as the friction force fluctuation between the conveyor belt and the paper tube, the inevitable small gap between the guiding mechanism and the outer diameter of the paper tube, and the small deviations in dimensions (such as roundness, straightness) or shape generated during the manufacturing process of the paper tube itself, it may cause the actual position and attitude of the paper tube at the workstation to deviate from the ideal position. These deviations may be reflected in the axial position offset, the radial position offset, or the rotational angle deviation around its own axis. Furthermore, due to the structural characteristics of the thin-walled paper tube, its axis may not be orthogonal to the conveying direction or the reference plane of the workstation, presenting a slightly inclined attitude.

[0027] Traditional automated equipment control methods often rely on simple sensors (such as photoelectric switches) to detect whether the paper tube reaches a preset fixed position, and then trigger the sticker and slitting actions based on fixed timing or simple logic. This control method cannot sense the above-mentioned small position deviations and attitude inclinations of the paper tube, let alone cope with the dynamic changes that may occur during the subsequent processing of the paper tube. Therefore, traditional control methods are difficult to ensure that the sticker action and the slitting action can be aligned with the actual and precise position and attitude of the paper tube.

[0028] Due to the failure to accurately align with the actual state of the paper tube, problems are likely to occur in the traditional sticker process. When the sticker mechanism applies pressure to attach the outer packaging sticker to the circumferential surface of the paper tube, if the paper tube has position or attitude deviations, the sticker may not accurately cover the preset area, resulting in sticker skew, tilt, or even the label edge exceeding the end face of the paper tube, affecting the product appearance and subsequent sealing. Similarly, when the slitting tool cuts, if the cutting trajectory is set based on the ideal position of the paper tube, and the actual position of the paper tube has deviations or is inclined, the cutting trajectory of the tool will deviate from the ideal axis of the paper tube or the plane perpendicular to the axis, resulting in cutting skew, uneven cross-section, burrs, and even possible damage to the edge of the paper tube, all of which seriously affect the quality of the packaging.

[0029] It should be noted that paper tubes used for food packaging are usually made of relatively thin cardboard materials, with a small wall thickness and limited structural stiffness. When subjected to the pressure of the sticker mechanism or the cutting force of the slitting tool, this thin-walled structure is very prone to elastic deformation. This deformation can be a slight radial compression or expansion, or a slight axial bending or torsion. This deformation is dynamic, and its degree and manner depend on the magnitude, direction, and point of application of the force, as well as the material properties and geometric dimensions of the paper tube itself.

[0030] Since the sticker and slitting actions are closely and sequentially executed at the same station, the deformation generated by the previous action on the paper tube will directly affect the execution accuracy of the other action immediately following it. For example, at the moment when the sticker mechanism applies a downward pressure to attach the label, the paper tube will undergo a slight radial compression or axial bending. If the slitting action starts immediately afterwards, the slitting tool will act on a paper tube that is already in a deformed state, rather than its original unloaded state. This means that the slitting tool needs to perform precise cutting on an object with a geometric shape and position that are different from the expected ones, which significantly increases the complexity and uncertainty of the slitting process and is more likely to cause problems such as cutting skew and reduced cross-section quality.

[0031] To overcome the above challenges and improve the processing accuracy, especially when dealing with thin and easily deformable wallpaper cylinders, the equipment needs to be able to accurately sense the real state of the cylinder at the working station in real time, including its precise axial and radial positions, the rotation angle around the axis, the inclination of the axis, and even the minute elastic deformation generated instantaneously under the action of sticker or slitting forces. For example, it is necessary to obtain information on the minute displacement or contour change of the cylinder surface before and after being stressed. Based on this real-time sensed cylinder state information, the control system needs to be able to dynamically adjust the action parameters of the sticker mechanism (such as the pressing position, speed, stroke, force control target) and the action parameters of the slitting mechanism (such as the starting time, feed speed, feed trajectory, rotation speed) to ensure that both actions can accurately act on the actual position of the cylinder and the geometric surface after deformation.

[0032] Traditional systems based on simple sensors and fixed timing control cannot meet the requirements of this real-time sensing and dynamic adjustment. Simple photoelectric switches can only provide discrete in-place signals and cannot provide continuous and accurate position, attitude, or deformation information of the cylinder. Fixed timing control cannot cope with the real-time and dynamic changes of the cylinder state. Therefore, it is necessary to introduce more advanced sensor technologies, such as vision sensors, laser displacement sensors, line array cameras, or force sensors, and combine more complex control strategies, such as feedback-based closed-loop control, force feedback-based adaptive control, or predictive control algorithms, to achieve precise sensing of the cylinder state and dynamic and coordinated control of the actuator actions.

[0033] At high production rhythms, the time that the cylinder stays at the sticker and slitting working station is very short, leaving an extremely narrow time window for the sensor to collect data, the control system to process data, make decision calculations, and the actuator to respond. This poses a severe test to the real-time performance of the entire system. The control system must be able to quickly complete state sensing, massive data processing, complex decision calculations, and precise command output at the moment when the cylinder is conveyed at high speed or stops briefly to ensure that the sticker and slitting actions can accurately and timely act on the current position and state of the cylinder.

[0034] In addition, food packaging paper tubes usually come in a variety of specifications (such as different diameters, wall thicknesses, lengths) and materials (such as different paper types). Paper tubes with different specifications and materials have significant differences in their physical properties (such as stiffness, elastic modulus, surface friction), and also have different sensitivities to sticker pressure, cutting force, and the resulting deformations. This means that for paper tubes of different specifications, different sensing strategies (such as different sensor sampling frequencies, resolutions, or data processing algorithms) and control strategies (such as different sticker downward pressure thresholds, pressure application speed curves, cutting feed speed curves, or compensation coefficients) may be required. When switching the paper tube specifications during the production process, the equipment control system needs to be able to quickly and automatically load or allow the operator to quickly and accurately configure the sensing parameters and control parameters that match the new paper tube specifications, minimizing the equipment downtime and improving the changeover efficiency. Existing systems often require time-consuming manual adjustments or parameter settings and are difficult to meet the rapid changeover requirements.

[0035] In response to this, referring to the attached Figure 1 , the present invention provides a control method for a paper tube processing device, which is applied to a paper tube processing device integrating labeling and cutting functions. The paper tube processing device is used as a separate station to cut the paper tube into multiple small segments while labeling the paper tube; The control method for the paper tube processing device includes the following steps: Obtain a paper tube image, and calculate target parameters based on the paper tube image by identifying the end face, edge, or marking points of the paper tube; the target parameters include the axial position, radial position of the paper tube, and the deflection angle of the paper tube axis relative to the reference direction; Obtain the point cloud data of the corresponding acting areas of the sticker mechanism and the cutting mechanism on the paper tube surface, and determine the shape change of the paper tube before and after being stressed according to the point cloud data; According to the target parameters and the shape change of the paper tube before and after being stressed, combined with the deformation characteristics corresponding to the paper tube specifications, determine the real-time state information of the paper tube; According to the real-time state information of the paper tube, calculate the action parameters of the cutting tool in the sticker mechanism and the cutting mechanism; According to the action parameters of the sticker mechanism and the cutting tool, control the sticker mechanism and the cutting tool to perform synchronous processing on the paper tube.

[0036] Specifically, referring to the attached Figure 2 and the attached Figure 3 , the paper tube processing device includes: A raw material input device 1 for loading the paper tube 2 to be processed; The sticker mechanism 3 can reciprocate in the left - right direction. When the sticker mechanism 3 moves towards the processing position, the paper tube 2 to be processed is fed into the processing position from the raw material input device 1 by the sticker mechanism 3. The processing position includes a positioning rotating shaft 4, a slitting mechanism 5 and a conveyor belt 6. The paper tube 2 to be processed is sleeved on the positioning rotating shaft 4, and the positioning rotating shaft 4 then drives the paper tube 2 to be processed to rotate through rotation. The slitting mechanism 5 is provided with a plurality of adjustable cutting machines 51 arranged at intervals. The conveyor belt 6 is used to feed the sticker 7 to be pasted into the designated position in the left - right direction. Subsequently, the sticker mechanism 3 feeds the sticker 7 in the front - back direction and presses it against a part of the circumferential surface of the paper tube 2 to be processed at the designated position. As the paper tube 2 to be processed rotates, the sticker 7 gradually covers the circumferential surface of the paper tube 2 to be processed. While pasting the sticker 7, the slitting mechanism 5 controls the cutting machine 51 to cut the part of the paper tube 2 to which the sticker 7 has been pasted. As the paper tube 2 to be processed rotates, the paper tube 2 to be processed is gradually divided. While completing the pasting of the sticker 7, the slitting of the paper tube 2 to be processed is synchronously completed. After the processing is completed, the sticker mechanism 3 moves away from the processing position, so that the cut multiple finished small segments are no longer sleeved on the positioning rotating shaft 4. The multiple finished small segments are finally sent out of the processing position and collected.

[0037] Obtaining a paper tube image and calculating target parameters based on the paper tube image by identifying the end face, edge, or marking points of the paper tube means using a vision sensor to capture a two-dimensional image of the paper tube and analyzing the image content through image processing algorithms to identify specific geometric features of the paper tube, such as the circular end face contour of the paper tube, the longitudinal edge line of the paper tube, or the positioning marking points pre-printed on the paper tube. Based on the spatial position information of these identified features, the macroscopic position and attitude information of the paper tube at the current station are calculated. It can be achieved by using an industrial camera in combination with a light source, such as using a line array camera or a area array camera. Its main purpose is to obtain the initial spatial state information of the paper tube and provide basic positioning data for subsequent precise processing. Obtaining the point cloud data of the corresponding action areas of the sticker mechanism and the slitting mechanism on the surface of the paper tube and determining the shape change of the paper tube before and after force means using a three-dimensional measurement sensor to collect a set of three-dimensional space points in a local area of the paper tube surface. These point sets constitute the point cloud data of the paper tube surface. By comparing the point cloud data collected when the paper tube is in an unloaded state with the point cloud data collected during the sticker or slitting force action process, the changes in the point cloud data are analyzed, thereby quantifying the small geometric deformations that occur on the paper tube surface. It can be achieved by using a laser displacement sensor or a structured light sensor, such as using multiple laser triangulation sensors to scan along a specific trajectory. Its main purpose is to sense the dynamic microscopic deformations of the paper tube during the processing and provide a basis for real-time adjustment of the processing actions. Determining the real-time state information of the paper tube according to the target parameters and the shape change of the paper tube before and after force, combined with the deformation characteristics corresponding to the paper tube specifications, means fusing the initial macroscopic position and attitude information of the paper tube obtained through the image with the dynamic microscopic deformation information of the paper tube sensed through the point cloud data, and at the same time considering the mechanical response characteristics determined by the material properties and geometric dimensions of the current processed paper tube. These information are comprehensively analyzed to deduce the precise three-dimensional geometric state and possible stress distribution of the paper tube at the current moment. It can be achieved by using data fusion algorithms and mechanical model calculations, such as constructing a multi-variable state space model and combining finite element analysis. Its main purpose is to obtain a complete and accurate real-time state description of the paper tube during the processing and provide reliable input for subsequent control decisions. Calculating the action parameters of the sticker mechanism and the slitting tool according to the real-time state information of the paper tube means calculating the precise motion instructions and force control instructions that the sticker mechanism and the slitting tool need to execute based on the determined real-time state information of the paper tube through control algorithms. These parameters directly determine how the sticker and slitting actions act on the paper tube. It can be achieved by using optimization algorithms or adaptive control algorithms, such as solving a multi-objective optimization function based on the real-time state information. Its main purpose is to dynamically adjust the processing actions to ensure that the sticker and slitting can accurately act on the actual position and the deformed surface of the paper tube.Controlling the sticker mechanism and the slitting tool to synchronously process the paper tube according to the motion parameters of the sticker mechanism and the slitting tool means sending the calculated motion parameters to the drive systems of the sticker mechanism and the slitting mechanism, driving the actuators to move and apply force according to the instructions, and completing the labeling and slitting operations of the paper tube at the same station or within a tight time window. It can be implemented using a motion controller or a programmable logic controller. For example, controlling the servo motor and the cylinder through the EtherCAT bus. It is mainly used to execute precise machining actions and achieve the synchronous progress of sticking and slitting.

[0038] The core innovation of this application lies in combining the perception of the initial position and attitude of the paper tube based on images with the perception of the dynamic force deformation of the paper tube based on point clouds, and integrating the deformation characteristics of the paper tube material, so as to determine the complete state information of the paper tube in real time and accurately, and dynamically calculate and adjust the motion parameters of the sticker mechanism and the slitting tool based on this, thereby effectively coping with the position deviation of the paper tube and the force deformation during the processing, achieving the effect of improving the sticker and slitting accuracy.

[0039] Specifically, this method first obtains the two-dimensional image of the paper tube through an image sensor, uses image processing technology to identify the features such as the end face, edge or marking points of the paper tube, and calculates the initial macroscopic position and attitude parameters such as the axial position, radial position and axis deflection angle of the paper tube. At the same time, the three-dimensional sensor is used to collect the point cloud data of the surface of the paper tube in the action areas of the sticker mechanism and the slitting mechanism, and by comparing the point cloud data before and after the force, the microscopic shape changes such as radial compression, axial bending or torsion of the paper tube are quantified. Subsequently, these initial position and attitude parameters and shape changes are combined with the preset deformation characteristic parameters of the paper tube material (such as elastic modulus, Poisson's ratio), and by establishing a state space model containing these variables and performing mechanical analysis (such as finite element analysis), the accurate real-time state information of the paper tube at the current moment is determined, including the three-dimensional coordinate distribution and stress distribution on the surface of the paper tube. Based on the obtained real-time state information of the paper tube, the system no longer relies on fixed processing parameters, but according to the actual state of the paper tube, calculates the optimal motion parameters such as the fitting trajectory, fitting pressure of the sticker mechanism and the feed speed, cutting angle of the slitting tool by solving an optimization function with the sticker accuracy and slitting quality as the goals. Finally, the control system drives the sticker mechanism and the slitting tool to perform synchronous labeling and slitting processing on the paper tube according to the calculated motion parameters. The whole process forms a closed-loop control, perceiving the state of the paper tube in real time and dynamically adjusting the processing actions to ensure high-precision sticking and slitting can still be achieved in the case of initial deviation and dynamic deformation of the paper tube.

[0040] As a preferred embodiment, the solution of the present application is specifically implemented as follows: An industrial camera is used to acquire the image of the paper tube, and edge detection and template matching algorithms are used to calculate the axial position, radial position, and deflection angle of the paper tube. Multiple line laser scanners are used to synchronously collect the point cloud data on the surface of the paper tube, and the radial compression amount, axial bending amount, and torsion angle of the paper tube before and after being stressed are determined through point cloud registration and deviation calculation. The corresponding elastic modulus and Poisson's ratio parameters are loaded from a preset paper tube specification database. A three-dimensional finite element model of the paper tube is established, the target parameters are converted into displacement constraints of the model, and the shape changes are converted into loads of the model. The stress distribution and displacement distribution of the paper tube are calculated through a finite element solver to obtain the real-time state information of the paper tube. A multi-objective optimization model is established, with the sticker position deviation and the roughness of the cut-off section as the optimization objectives, and the sticker pressure and the cut-off feed speed as independent variables. According to the real-time state information of the paper tube, the processing effects under different parameter combinations are calculated, and the NSGA-II algorithm is used to solve the optimal action parameters. The calculated action parameters of the sticker mechanism and the cutting tool are sent to the motion controller to drive the servo motor and the cylinder to perform precise sticking and cutting actions.

[0041] Through the above solution, the present application can real-time sense the initial position and attitude deviation of the paper tube and the stress deformation during the processing, and dynamically adjust the actions of the sticker mechanism and the cutting tool based on the real-time state of the paper tube, thus effectively solving the problems such as sticker skew, cutting skew, and poor cross-section quality caused by the position, attitude deviation, and stress deformation of the paper tube, and improving the processing accuracy and product quality of paper tube labeling and cutting.

[0042] In some embodiments, the step of acquiring the point cloud data of the corresponding acting areas of the sticker mechanism and the cutting mechanism on the surface of the paper tube and determining the shape change of the paper tube before and after being stressed according to the point cloud data includes: Multiple laser displacement sensors are used to synchronously collect the point cloud data of the corresponding acting areas of the sticker mechanism and the cutting mechanism on the surface of the paper tube and use it as the first point cloud data; Through coordinate transformation, the first point cloud data is unified into the world coordinate system, and a statistical filtering algorithm is used to filter out the point cloud noise to obtain the filtered first point cloud data; According to the filtered first point cloud data, the RANSAC algorithm is used to fit the initial contour curve of the paper tube surface to obtain the first contour curve parameters; the first contour curve parameters include the first curvature and the first torsion; After the sticker mechanism or the cutting mechanism applies a force to the paper tube, multiple laser displacement sensors are used again to synchronously collect the point cloud data of the corresponding acting areas of the sticker mechanism and the cutting mechanism on the surface of the paper tube and use it as the second point cloud data; Through coordinate transformation, the second point cloud data is unified into the world coordinate system, and a statistical filtering algorithm is used to filter out the point cloud noise to obtain the filtered second point cloud data; According to the filtered second point cloud data, the RANSAC algorithm is used to fit the surface contour curve of the paper tube after being stressed, and the second contour curve parameters are obtained. The second contour curve parameters include the second curvature and the second torsion; According to the first contour curve parameters and the second contour curve parameters, by calculating the change in the surface contour of the paper tube, the shape change of the paper tube before and after being stressed is determined; the shape change includes the radial compression amount, the axial bending amount, and the torsion angle.

[0043] Multiple laser displacement sensors refer to laser sensors used for non-contact measurement of the surface distance of an object. Using multiple sensors can synchronously collect the point cloud data of the surface of the paper tube from different angles or positions, and it can be implemented using multiple independent laser displacement sensor units. Synchronous acquisition means that multiple sensors complete data acquisition at the same moment or within a very short time interval to ensure that the acquired surface point cloud data of the paper tube is in a certain instantaneous state, and it can be implemented using a unified trigger signal or a high-speed data acquisition system. Coordinate system transformation refers to converting the point cloud data in the respective local coordinate systems of the sensors to a unified global coordinate system for subsequent overall processing and analysis, and it can be implemented using a pre-calibrated coordinate transformation matrix. The statistical filtering algorithm refers to a filtering method that identifies and removes outliers based on the local statistical characteristics of the point cloud (such as the standard deviation of the distances of neighboring points) to filter out the noise points in the point cloud data, and it can be implemented using a statistical analysis method based on the point cloud density or distance distribution. The RANSAC algorithm refers to a robust parameter estimation method that can fit the model parameters from a dataset containing a large amount of noise or outliers, and is used here to fit the contour curve of the surface of the paper tube, and it can be implemented using iterative sampling and model verification. The contour curve parameters refer to the numerical values used to describe the geometric characteristics of the fitted surface contour curve of the paper tube, and it can include curvature, torsion, etc. Curvature refers to the quantity that measures the degree of bending of a curve. The larger the curvature, the more curved the curve, and it can be calculated through the mathematical expression of the curve. Torsion refers to the quantity that measures the degree to which a curve deviates from a plane. The larger the torsion, the more twisted the curve, and it can also be calculated through the mathematical expression of the curve. Shape change refers to the change in the geometric shape of the paper tube relative to the non-stressed state after being subjected to external forces, and it can include the radial compression amount, the axial bending amount, and the torsion angle, etc. The radial compression amount refers to the amount by which the diameter or radius of the paper tube decreases along the radial direction, and it can be determined by comparing the radial dimension changes of the contour curves before and after being stressed. The axial bending amount refers to the degree to which the axis of the paper tube bends and deviates from a straight line along the axial direction, and it can be determined by comparing the inclination or offset of the axis fitting curves before and after being stressed. The torsion angle refers to the rotation angle of the paper tube along its axis direction, and it can be determined by comparing the circumferential position changes of specific feature points or contours on the surface of the paper tube before and after being stressed.

[0044] The solution of this application uses multiple laser displacement sensors to synchronously collect the point cloud data of the corresponding action areas of the sticker mechanism and the slitting mechanism on the paper tube in the unloaded state as the first point cloud data. Using multiple sensors can obtain more comprehensive surface information. Synchronous collection ensures the instantaneity of the data, and focusing on the corresponding action areas improves the efficiency and pertinence of data collection. Then, through coordinate system transformation, these point cloud data are unified into the world coordinate system, which is the basis for subsequent processing. The statistical filtering algorithm is used to filter out the point cloud noise, improving the quality and reliability of the data and effectively suppressing the false points caused by factors such as the surface texture of the paper tube. Then, according to the filtered first point cloud data, the RANSAC algorithm is used to fit the initial contour curve of the paper tube surface, and the first contour curve parameters are extracted, including the first curvature and the first torsion. The RANSAC algorithm is a robust fitting method that can effectively process data with noise. The parameters such as curvature and torsion obtained by fitting can simply describe the geometric characteristics of the paper tube surface. Subsequently, after the sticker mechanism or the slitting mechanism applies a force to the paper tube, multiple laser displacement sensors are used again to synchronously collect the point cloud data of the same area as the second point cloud data. Synchronous collection is carried out again to obtain the instantaneous surface data of the paper tube in the loaded state. Similarly, through coordinate system transformation, the second point cloud data are unified into the world coordinate system, and the statistical filtering algorithm is used to filter out the noise to ensure the accuracy of the data and further reduce the influence of texture interference. According to the filtered second point cloud data, the RANSAC algorithm is used to fit the surface contour curve of the paper tube after being stressed, and the second contour curve parameters are obtained, including the second curvature and the second torsion. Finally, according to the first contour curve parameters and the second contour curve parameters, by calculating the change amount of the paper tube surface contour, the shape change of the paper tube before and after being stressed is determined. The shape change includes the radial compression amount, the axial bending amount and the torsion angle. By comparing the contour curve parameters before and after being stressed, the minute geometric changes on the paper tube surface can be quantified, and then the radial compression amount, the axial bending amount and the torsion angle reflecting the overall deformation can be calculated. These accurate deformation parameters directly reflect the real-time state of the paper tube, providing key input information for subsequent precise control based on the real-time state. As a step in the control method of the paper tube processing equipment, this solution enables the subsequent determination of the real-time state of the paper tube and the calculation of the action parameters to be more accurate by providing accurate paper tube deformation information, thereby improving the control accuracy and reliability of the entire processing method.

[0045] For example, in specific implementation, three laser displacement sensors can be used and arranged in a ring near the sticker or slitting action area around the paper tube to synchronously collect point cloud data. These sensors can be calibrated in the coordinate system through an industrial camera or a dedicated calibration tool to obtain the transformation matrix from the sensor coordinate system to the device world coordinate system. The collected raw point cloud data can be input into the data processing unit, which runs a statistical filtering algorithm, such as a filtering method based on the average distance and standard deviation of neighboring points, to remove the noise points that deviate significantly from the surface of the paper tube. The filtered point cloud data is used to fit the surface contour curve of the paper tube. The RANSAC algorithm can be combined with a cylindrical surface or a specific curve model for fitting, and parameters such as the curvature and torsion of the fitted curve are extracted. After the sticker or slitting action occurs, the point cloud data is synchronously collected again, and the same coordinate system transformation, statistical filtering, and RANSAC fitting are performed to obtain the contour curve parameters after force application. Finally, by comparing the differences in the two sets of contour curve parameters before and after force application, the radial compression amount (e.g., through the change in the average radius), the axial bending amount (e.g., through the change in the axis tilt angle), and the torsion angle (e.g., through the change in the circumferential feature point angle) of the paper tube are calculated, so as to determine the shape change of the paper tube before and after force application.

[0046] Through the above technical means, the solution of the present application can effectively suppress the interference caused by the surface texture of the paper tube to the laser scanning point cloud data and filter out the false deformation data. By using multiple sensors to synchronously collect and a robust fitting algorithm, the surface contour information of the paper tube before and after force application can be obtained more accurately. The radial compression amount, axial bending amount, and torsion angle calculated based on the precise change of the contour parameters can truly reflect the micro-deformation state of the paper tube. This provides a reliable input for subsequent precise control based on the real-time state of the paper tube, and improves the accuracy and quality of sticker and slitting.

[0047] In some embodiments, the steps of determining the real-time state information of the paper tube according to the target parameters and the shape change of the paper tube before and after force application, in combination with the deformation characteristics corresponding to the paper tube specifications, include: From the preset deformation characteristic parameter library, load the corresponding deformation characteristic parameters according to the paper tube specifications; the deformation characteristic parameters include elastic modulus, Poisson's ratio, and yield strength; Establish a multi-variable state space including the target parameters and the shape change, and based on the loaded deformation characteristic parameters, determine the relationship between the shape changes of the paper tube before and after force application through finite element analysis; Based on the relationship between the shape changes of the paper tube before and after force application, according to the target parameters and the shape change of the paper tube before and after force application, by solving the optimal solutions of each variable in the multi-variable state space, obtain the state vector of the paper tube in the current state; Perform Kalman filtering on the state vector, and predict the real-time state information of the paper tube by fusing the historical state information; the real-time state information includes the three-dimensional coordinate distribution and stress distribution on the surface of the paper tube.

[0048] From the preset deformation characteristic parameter library, load the corresponding deformation characteristic parameters according to the paper tube specifications. The deformation characteristic parameters include elastic modulus, Poisson's ratio, and yield strength. The deformation characteristic parameter library is a collection that stores the mechanical property data of paper tubes with different specifications. The elastic modulus describes the ability of a material to resist elastic deformation. Poisson's ratio describes the strain ratio that occurs in the perpendicular direction when a material is stretched or compressed in one direction. The yield strength describes the stress threshold at which a material begins to undergo plastic deformation. These parameters are the basis for accurate mechanical analysis because paper tubes with different specifications and materials will deform differently when subjected to the same force. By loading the corresponding parameters from the library according to the specifications of the currently processed paper tube, it can be ensured that the subsequent analysis is carried out for this specific paper tube, improving the accuracy of the analysis.

[0049] Establish a multi-variable state space that includes target parameters and shape changes, and based on the loaded deformation characteristic parameters, determine the relationship between the shape changes of the paper tube before and after being subjected to force through finite element analysis. The multi-variable state space is a mathematical model framework that takes the macroscopic position, attitude (target parameters) of the paper tube, and the overall deformation (shape changes) caused by the force as input or state variables. Finite element analysis is a numerical simulation technique that discretizes a complex structure into many small elements and simulates the mechanical behavior of the overall structure by calculating the responses of these elements under the action of loads. Based on the loaded deformation characteristic parameters of the paper tube, a finite element model that can reflect the true mechanical response of the paper tube can be constructed. By analyzing this model, the stress, strain, and displacement distributions of the paper tube under different force conditions can be obtained, thereby establishing the relationship between the macroscopic shape changes and the more refined internal states.

[0050] Substitute the target parameters and the shape changes of the paper tube before and after being subjected to force into this relationship, and by solving the optimal solutions of each variable in the multi-variable state space, obtain the state vector of the paper tube in the current state (specifically, the target parameters (including the axial position, radial position, and deflection angle of the paper tube) and the shape changes (including the radial compression amount, axial bending amount, and torsion angle) jointly serve as the input conditions for the finite element analysis model to solve the state vector in the state space, thereby obtaining the three-dimensional deformation distribution of the paper tube under the current working conditions). The state vector is a comprehensive description of the overall state of the paper tube at the current moment, and it may contain information such as the precise position, attitude, displacements, and stresses of each part of the paper tube. By inputting the macro data (target parameters, shape changes) obtained from actual measurements into the relationship model established based on finite element analysis, the detailed internal and surface states of the paper tube corresponding to these macroscopic manifestations can be deduced. The process of solving the optimal solution can be understood as searching for the state of the paper tube in the state space that best matches the current measurement data.

[0051] Perform Kalman filtering on the state vector to predict the real-time state information of the paper tube by fusing historical state information. The real-time state information includes the three-dimensional coordinate distribution and stress distribution on the surface of the paper tube. Kalman filtering is a recursive algorithm that can combine the dynamic model of the system and the measurement data with noise to optimally estimate and predict the state of the system. Taking the current state vector obtained in the previous step as the measurement input and combining the dynamic model of the paper tube state changing over time, Kalman filtering can filter out the influence of measurement errors and model uncertainties to obtain a smoother and more accurate state estimate. At the same time, Kalman filtering can also predict the state of the paper tube at the next moment, which is particularly important for an automated control system that requires rapid response. The finally output real-time state information, such as the precise three-dimensional coordinate distribution and internal stress distribution on the surface of the paper tube, is a more detailed and accurate description than the macroscopic shape change, providing the necessary data for subsequent precise control.

[0052] The method of this application constructs a mechanical model (through finite element analysis) that can reflect the real force behavior of the paper tube by combining the macroscopic information (target parameters, shape changes) obtained from the paper tube image and point cloud data with the microscopic mechanical property parameters loaded based on the paper tube specifications. This enables the system to infer the finer internal and surface states of the paper tube from macroscopic measurements. Further, the state estimation is optimized and predicted through Kalman filtering, fusing historical information and improving the accuracy and real-time performance of the state information. This method overcomes the problem that relying solely on macroscopic measurements cannot accurately describe the real state of the paper tube, especially considering the deformation differences of paper tubes with different specifications, so as to obtain detailed real-time state information including the three-dimensional coordinate distribution and stress distribution on the surface of the paper tube. These detailed and accurate real-time state information provide a solid foundation for calculating the action parameters of the sticker mechanism and cutting tool in the subsequent steps, enabling the control system to more precisely adjust parameters such as the fitting trajectory, fitting pressure, feed speed, and cutting angle to adapt to the real-time position, posture, and deformation state of the paper tube.

[0053] In some embodiments, the steps of establishing a multivariable state space including target parameters and shape changes and determining the relationship between the shape changes of the paper tube before and after loading based on the loaded deformation characteristic parameters through finite element analysis include: Based on the deformation characteristic parameters, use ANSYS software to establish a three-dimensional finite element model of the paper tube based on the multivariable state space. The three-dimensional finite element model of the paper tube includes shell elements, nodes, and material properties. Among them, the shell elements are used to simulate the thin-walled structure of the paper tube, the nodes are used to define the connection relationship between the shell elements, and the material properties are used to describe the mechanical properties of the paper tube; Convert the axial position, radial position, and deflection angle in the target parameters into displacement constraints in the finite element model; among them, the axial position and radial position are used as fixed constraints applied to the bottom of the three-dimensional finite element model of the paper tube, and the deflection angle is used as a rotational constraint applied to the top of the three-dimensional finite element model of the paper tube; Convert the radial compression amount, axial bending amount, and torsion angle in the shape change into loads in the finite element model; among them, the radial compression amount is used as a uniform pressure applied to the surface of the three-dimensional finite element model of the paper tube, the axial bending amount is used as a bending moment applied to the top of the three-dimensional finite element model of the paper tube, and the torsion angle is used as a torque applied to the top of the three-dimensional finite element model of the paper tube; Use the Newton-Raphson iteration method to solve the equilibrium equation of the three-dimensional finite element model of the paper tube under displacement constraints and loads, and obtain the stress distribution and displacement distribution of the paper tube before and after loading; among them, the solution accuracy of the equilibrium equation is set to 1e-6, and the maximum number of iterations is set to 100; According to the stress distribution and displacement distribution, calculate the shape change relationship of the paper tube before and after loading; the shape change relationship includes the displacement and strain of each point on the surface of the paper tube; among them, the displacement is obtained by extracting the displacement values of each node in the three-dimensional finite element model of the paper tube, and the strain is obtained by extracting the strain values of each shell element in the three-dimensional finite element model of the paper tube and performing conversion.

[0054] The multi-variable state space refers to a mathematical model that describes the state of a system, and its variables include target parameters and shape changes. The finite element model refers to a numerical model that discretizes a complex structure into a set of simple elements. The displacement constraint refers to the restriction imposed on the degrees of freedom of motion of specific points or regions in the model. The load refers to the external force or moment applied to the model. The equilibrium equation refers to a set of mathematical equations that describe the conditions that should be satisfied when the model reaches equilibrium under the action of forces. The Newton-Raphson iteration method refers to a numerical method for solving non-linear equations.

[0055] Based on the deformation characteristic parameters of the paper tube, a three-dimensional finite element model of the paper tube is established using ANSYS software. The model uses shell elements to simulate the thin-walled structure of the paper tube, defines the element connections with nodes, and describes the mechanical properties of the paper tube with material properties. The target parameters such as the axial position, radial position, and deflection angle of the paper tube obtained through methods such as image recognition are converted into displacement constraints in the finite element model. For example, the axial position and radial position are used as bottom fixed constraints, and the deflection angle is used as the top rotation constraint. At the same time, the shape changes such as the radial compression amount, axial bending amount, and torsion angle of the paper tube measured through methods such as point cloud data are converted into loads in the finite element model. For example, the radial compression amount is converted into a uniform surface pressure, the axial bending amount is converted into a top bending moment, and the torsion angle is converted into a top torque. After applying the displacement constraints and loads, the Newton-Raphson iteration method is used to solve the equilibrium equation of the three-dimensional finite element model of the paper tube, and the stress distribution and displacement distribution of the paper tube before and after loading are obtained. The Newton-Raphson iteration method is suitable for solving nonlinear problems and obtains the equilibrium state through iterative calculations. According to the obtained stress distribution and displacement distribution, the relationship between the shape changes of the paper tube before and after loading is calculated. The relationship between the shape changes includes the displacement amount and strain amount of each point on the surface of the paper tube. The displacement amount is obtained by extracting the displacement values of each node in the model, and the strain amount is obtained by extracting the strain values of the shell elements and performing conversion. By establishing an accurate three-dimensional finite element model, converting the actual measurement data into the constraints and loads of the model, and using a solution method suitable for nonlinear analysis, the deformation behavior of the thin-walled paper tube under complex loading can be accurately simulated, detailed stress distribution and displacement distribution can be obtained, and then the accurate relationship between the shape changes can be calculated. This accurate relationship between the shape changes provides basic data for subsequent determination of the real-time state information of the paper tube, thus improving the determination accuracy of the real-time state information of the paper tube.

[0056] In one embodiment, the method for determining the relationship between the shapes of the paper tube before and after being stressed can be implemented as follows. First, based on the deformation characteristic parameters such as the elastic modulus, Poisson's ratio, and yield strength of the paper tube, a three-dimensional finite element model of the paper tube is constructed using ANSYS software. The model can use shell elements of the Shell181 type to mesh the paper tube wall, and nodes are used to connect these elements, and the corresponding material properties are defined according to the paper tube material. Then, the axial position and radial position information of the paper tube obtained by the vision sensor are used to apply fixed displacement constraints at the bottom of the finite element model. The measured deflection angle information of the paper tube is used to apply rotational displacement constraints at the top of the model. Then, the radial compression amount, axial bending amount, and torsional angle information of the paper tube obtained by the laser displacement sensor are converted into equivalent loads on the finite element model. For example, the radial compression amount is converted into a uniform pressure applied to the outer surface of the paper tube, the axial bending amount is converted into a bending moment applied to the top of the paper tube, and the torsional angle is converted into a torque applied to the top of the paper tube. In the ANSYS solver, select the structural analysis module and enable the nonlinear analysis option, and use the Newton-Raphson iteration method for solution. During the solution process, the solution accuracy of the equilibrium equation can be set to 1e-6, and the maximum number of iterations can be set to 100. After the solution is completed, the displacement results of each node of the paper tube model are extracted in the post-processing module, and the displacement amounts of each point on the paper tube surface are calculated. At the same time, the strain results of each shell element are extracted and converted to obtain the strain amounts of the paper tube material. These displacement amounts and strain amount data constitute the relationship between the shapes of the paper tube before and after being stressed.

[0057] Through the above method, the complex deformation behavior of the thin-wall paper tube under the action of sticker and slitting forces can be accurately simulated. The target parameters and shape changes obtained by actual measurement are accurately converted into the constraints and loads of the finite element model, making the simulation results close to the actual stress state of the paper tube. Using the Newton-Raphson iteration method suitable for nonlinear analysis for solution, the stress distribution and displacement distribution of the paper tube before and after being stressed can be obtained. The relationship between the shape changes calculated based on these distributions includes the displacement amounts and strain amounts of each point on the paper tube surface, and these detailed data provide an accurate basis for determining the real-time state information of the paper tube. The improvement of the accuracy of determining the real-time state information of the paper tube supports more accurate calculation of the action parameters, thereby improving the processing quality of sticker and slitting.

[0058] In some embodiments, the steps of calculating the action parameters of the sticker mechanism and the slitting tool according to the real-time state information of the paper tube include: Obtain the real-time state information of the paper tube, where the real-time state information of the paper tube includes the three-dimensional coordinate distribution and stress distribution on the surface of the paper tube; Establish a multi-objective optimization function with the sticker accuracy and slitting quality as the optimization objectives and the motion parameters of the sticker mechanism and slitting tool as independent variables; among them, the motion parameters of the sticker mechanism include the fitting trajectory and fitting pressure; the motion parameters of the slitting tool include the feed speed and cutting angle; the sticker accuracy is quantified by the deviation between the sticker position and the target position, and the slitting quality is quantified by the roughness of the slitting cross-section and the burr height; According to the three-dimensional coordinate distribution and stress distribution on the surface of the paper tube, calculate the fitting area and fitting pressure distribution during the sticker process, as well as the tool force and paper tube deformation during the slitting process, under the combination of motion parameters of different fitting trajectories, fitting pressures, feed speeds and cutting angles; According to the calculated fitting area, fitting pressure distribution, tool force and paper tube deformation, combined with the evaluation functions of sticker accuracy and slitting quality, calculate the sticker accuracy score and slitting quality score corresponding to each combination of motion parameters; Use the NSGA-II algorithm to solve the multi-objective optimization function to obtain the Pareto optimal solution set. Each solution in the Pareto optimal solution set corresponds to a set of fitting trajectories, fitting pressures of the sticker mechanism, feed speeds and cutting angles of the slitting tool, as well as the corresponding sticker accuracy scores and slitting quality scores; According to the production requirements, select the motion parameters whose sticker accuracy scores and slitting quality scores both meet the requirements from the Pareto optimal solution set as the final motion parameters of the sticker mechanism and slitting tool.

[0059] The real-time status information of the paper tube refers to the physical state description of the paper tube at a specific moment, including geometric shape and internal force conditions, which can be obtained by means of sensor data fusion, physical model prediction, etc. Among them, the three-dimensional coordinate distribution refers to the set of positions of each point on the surface of the paper tube in three-dimensional space, which can be represented by point cloud data, mesh models, parametric surfaces, etc. Among them, the stress distribution refers to the internal force state borne by each point or region inside the paper tube, which can be represented by stress tensor fields, principal stress distribution diagrams, etc. Among them, the multi-objective optimization function refers to an objective function that contains multiple objectives to be optimized (maximized or minimized) simultaneously and takes a set of variables as input, which can be established by means of mathematical models, simulation models, etc. Among them, the sticker accuracy refers to the accuracy of the sticker fitting position on the surface of the paper tube, which can be quantified by means of the distance deviation between the sticker edge and the target position, the offset of the sticker center from the target center, etc. Among them, the cutting quality refers to the flatness and integrity of the cut section of the paper tube, which can be quantified by means of section roughness parameters, burr height, section perpendicularity deviation, etc. Among them, the action parameters refer to the adjustable variables that control the processing actions of the sticker mechanism and the cutting tool, which can be represented by numerical values, function curves, discrete instruction sequences, etc. Among them, the fitting trajectory refers to the movement path of the sticker mechanism relative to the paper tube during the fitting process, which can be represented by spatial curve equations, discrete path point sequences, etc. Among them, the fitting pressure refers to the force or pressure exerted by the sticker mechanism on the paper tube during the fitting process, which can be controlled or quantified by means of a constant pressure value, a pressure curve that changes with time or position, etc. Among them, the feed speed refers to the moving speed of the cutting tool relative to the paper tube along the cutting direction, which can be controlled by means of a constant speed value, a speed curve that changes with the cutting depth or position, etc. Among them, the cutting angle refers to the angle formed by the cutting edge of the cutting tool and the surface or tangent direction of the paper tube, which can be controlled by means of a fixed angle value, an angle that is dynamically adjusted during the cutting process, etc. Among them, the fitting area refers to the size of the actual contact area between the sticker and the surface of the paper tube, which can be calculated or predicted by means of geometric calculations, contact mechanics simulations, etc. Among them, the fitting pressure distribution refers to the spatial distribution of the pressure within the contact area between the sticker and the paper tube, which can be represented by pressure field diagrams, discrete pressure value matrices, etc. Among them, the tool force refers to the force borne by the cutting tool during the cutting process, which can be calculated or predicted by means of tangential force, normal force, resultant force, etc. Among them, the deformation of the paper tube refers to the shape or size change of the paper tube under the action of force, which can be represented by displacement fields, strain fields, displacement amounts of specific points, etc. Among them, the evaluation function refers to a mathematical function that converts the predicted physical quantity into a quantified quality score, which can be established by means of weighted summation, fuzzy logic, neural networks, etc. Among them, the NSGA-II algorithm refers to a multi-objective genetic algorithm based on non-dominated sorting and crowding distance, which can be applied by means of software library implementation, custom programming implementation, etc.Among them, the Pareto optimal solution set refers to a set of non-dominated solutions in a multi-objective optimization problem. Any one of these solutions cannot improve other objectives without sacrificing at least one objective, and it can be presented in ways such as algorithm output and chart display. Among them, production requirements refer to specific requirements or preferences for the paper tube processing process, which can be reflected in ways such as the minimum scoring requirements for sticker accuracy and slitting quality, and the consideration of processing efficiency.

[0060] This solution converts the calculation of the action parameters of the sticker mechanism and the slitting tool into a multi-objective optimization problem based on the obtained real-time state information of the paper tube. First, the three-dimensional coordinate distribution and stress distribution on the surface of the paper tube are obtained. These information accurately reflect the current geometric shape, position, and internal stress state of the paper tube, providing a basis for subsequent accurate calculations. Then, a multi-objective optimization function is established with sticker accuracy and slitting quality as the optimization objectives, and the fitting trajectory, fitting pressure of the sticker mechanism, and the feed speed and cutting angle of the slitting tool as independent variables. Sticker accuracy is quantified by the deviation between the sticker position and the target position, and slitting quality is quantified by the roughness of the slitting cross-section and the height of burrs, making the optimization objectives computable. Then, using the obtained real-time state information of the paper tube, predict the fitting area and fitting pressure distribution during the sticker process, and the tool force and paper tube deformation during the slitting process under different combinations of action parameters. This prediction process takes into account the current actual state of the paper tube, making the prediction results able to reflect the dynamic response of the paper tube. Further, according to the predicted physical quantities, combined with the preset evaluation function, calculate the sticker accuracy score and slitting quality score corresponding to each combination of action parameters. The evaluation function associates the physical process with the processing quality index, enabling the effects of different parameter combinations to be compared under a unified scoring system. Subsequently, the NSGA-II algorithm is used to solve the multi-objective optimization function to obtain the Pareto optimal solution set. The NSGA-II algorithm can find a series of non-dominated solutions that perform well in both the sticker accuracy and slitting quality objectives, providing multiple feasible solutions for trade-offs between the two objectives. Finally, according to the actual production requirements, select the action parameters whose sticker accuracy score and slitting quality score both meet the requirements from the Pareto optimal solution set as the final action parameters of the sticker mechanism and the slitting tool. In this way, the system can dynamically determine the optimal combination of action parameters according to the current state of the paper tube and the specific requirements for processing quality. This solution uses accurate real-time state information of the paper tube and, through a prediction-based multi-objective optimization method, can simultaneously consider the two interrelated processing processes of sticking and slitting, seeking a balance or optimum in the two objectives, thus solving the problems that fixed action parameters cannot adapt to the dynamic changes of the paper tube and the control objectives of the sticking and slitting processes conflict.

[0061] In one embodiment, obtaining the real-time status information of the paper tube can be accomplished collaboratively by a vision system and a force / displacement sensor system, and fused and predicted by a data processing unit to obtain the point cloud data on the surface of the paper tube and the stress distribution data based on the finite element model. The multi-objective optimization function can be established in the calculation module of a controller. The objective function can adopt a prediction function based on a physical model. For example, the sticker position deviation, cross-section roughness, and burr height under different fitting trajectories, fitting pressures, feed speeds, and cutting angles can be calculated through simulation in the current paper tube state. The evaluation functions for sticker accuracy and slitting quality can be set to map these predicted values to a score from 0 to 100. For example, the smaller the sticker position deviation, the higher the sticker accuracy score; the lower the cross-section roughness and burr height, the higher the slitting quality score. The NSGA-II algorithm can run on the processor of the controller and be implemented using an existing optimization algorithm library. The solution process outputs a set of action parameter combinations on a Pareto front. According to production requirements, such as setting a minimum quality score threshold, the parameter combinations that meet the requirements are screened out from this set. The finally selected fitting trajectory can be represented as a sequence of discrete spatial points, the fitting pressure can be a force control target value, and the feed speed and cutting angle can be numerical values. These parameters are sent to the motion controllers or servo drivers of the sticker mechanism and the slitting tool to control them to perform corresponding actions.

[0062] Through the above technical solution, it is possible to dynamically adjust the action parameters of the sticker mechanism and the slitting tool according to the real-time geometric shape and internal force state of the paper tube. This method based on real-time status information and multi-objective optimization can predict the influence of different action parameter combinations on sticker accuracy and slitting quality, and select the parameter combination that can optimize both of these two objectives simultaneously. This solves the problem that fixed action parameters cannot adapt to the dynamic changes of the paper tube, and can effectively handle the conflicts between the control objectives in the sticker and slitting processes, thereby improving the sticker accuracy and slitting quality of paper tube processing.

[0063] Please refer to Figure 4 , Figure 4 FIG. is a control device for a paper tube processing equipment in some embodiments of the present invention, which is applied to a paper tube processing equipment integrating labeling and slitting functions. The paper tube processing equipment is used as a separate station to slit the paper tube into multiple small segments while labeling the paper tube; this paper tube processing equipment control device is integrated in the backend control equipment in the form of a computer program, and includes: A first acquisition module 100, configured to acquire a paper tube image, and calculate target parameters based on the paper tube image by identifying the end face, edge, or marking points of the paper tube; the target parameters include the axial position, radial position of the paper tube, and the deflection angle of the paper tube axis relative to a reference direction; The second acquisition module 200 is configured to acquire the point cloud data of the corresponding action areas of the sticker mechanism and the slitting mechanism on the surface of the paper tube, and determine the shape change of the paper tube before and after being stressed according to the point cloud data; The determination module 300 is configured to determine the real-time state information of the paper tube according to the target parameters and the shape change of the paper tube before and after being stressed, in combination with the deformation characteristics corresponding to the paper tube specifications; The calculation module 400 is configured to calculate the action parameters of the slitting tool in the sticker mechanism and the slitting mechanism according to the real-time state information of the paper tube; The control module 500 is configured to control the sticker mechanism and the slitting tool to synchronously process the paper tube according to the action parameters of the sticker mechanism and the slitting tool.

[0064] Please refer to Figure 5 , Figure 5 FIG. 13 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The present invention provides an electronic device 13, including: a processor 1301 and a memory 1302. The processor 1301 and the memory 1302 are interconnected and communicate with each other through a communication bus 1303 and / or other forms of connection mechanisms (not marked). The memory 1302 stores computer-readable instructions executable by the processor 1301. When the electronic device runs, the processor 1301 executes the computer-readable instructions to execute the paper tube processing equipment control method in any optional implementation manner of the above embodiment to implement the following functions: acquiring a paper tube image, and calculating target parameters based on the paper tube image by recognizing the end face, edge or marking point of the paper tube; the target parameters include the axial position, radial position of the paper tube and the deflection angle of the paper tube axis relative to the reference direction; acquiring the point cloud data of the corresponding action areas of the sticker mechanism and the slitting mechanism on the surface of the paper tube, and determining the shape change of the paper tube before and after being stressed according to the point cloud data; determining the real-time state information of the paper tube according to the target parameters and the shape change of the paper tube before and after being stressed, in combination with the deformation characteristics corresponding to the paper tube specifications; calculating the action parameters of the slitting tool in the sticker mechanism and the slitting mechanism according to the real-time state information of the paper tube; controlling the sticker mechanism and the slitting tool to synchronously process the paper tube according to the action parameters of the sticker mechanism and the slitting tool.

[0065] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it executes the control method of the paper tube processing device in any optional implementation manner of the above embodiment to achieve the following functions: obtaining a paper tube image, and calculating target parameters based on the paper tube image by identifying the end face, edge or marking point of the paper tube; the target parameters include the axial position, radial position of the paper tube and the deflection angle of the paper tube axis relative to the reference direction; obtaining the point cloud data of the corresponding action areas of the sticker mechanism and the slitting mechanism on the surface of the paper tube, and determining the shape change of the paper tube before and after force application according to the point cloud data; determining the real-time state information of the paper tube according to the target parameters and the shape change of the paper tube before and after force application, in combination with the deformation characteristics corresponding to the paper tube specifications; calculating the action parameters of the slitting tool in the sticker mechanism and the slitting mechanism according to the real-time state information of the paper tube; and controlling the sticker mechanism and the slitting tool to perform synchronous processing on the paper tube according to the action parameters of the sticker mechanism and the slitting tool.

[0066] Among them, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, abbreviated as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, abbreviated as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, abbreviated as EPROM), programmable read-only memory (Programmable Red-Only Memory, abbreviated as PROM), read-only memory (Read-Only Memory, abbreviated as ROM), magnetic memory, flash memory, magnetic disk or optical disc.

[0067] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical or other form.

[0068] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] Furthermore, in each embodiment of the present invention, the various functional modules may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0070] In this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0071] The above description is only for the embodiments of the present invention and is not intended to limit the protection scope of the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for a paper tube processing device, which is applied to a paper tube processing device integrating labeling and slitting functions, and is characterized in that, The paper tube processing equipment is used as a separate station to cut the paper tube into multiple small segments while labeling the paper tube; The control method of the paper tube processing equipment includes the following steps: Obtain the paper tube image, and calculate the target parameters based on the paper tube image by identifying the end face, edge or marking point of the paper tube; the target parameters include the axial position, radial position of the paper tube and the deflection angle of the paper tube axis relative to the reference direction; Obtain the point cloud data of the corresponding action areas of the sticker mechanism and the cutting mechanism on the paper tube surface, and determine the shape change of the paper tube before and after being stressed according to the point cloud data; Determine the real-time state information of the paper tube according to the target parameters, the shape change of the paper tube before and after being stressed, and the deformation characteristics corresponding to the paper tube specifications; Calculate the action parameters of the cutting tool in the sticker mechanism and the cutting mechanism according to the real-time state information of the paper tube; Control the sticker mechanism and the cutting tool to process the paper tube synchronously according to the action parameters of the sticker mechanism and the cutting tool.

2. The control method of the paper tube processing equipment according to claim 1, characterized in that The steps of obtaining the point cloud data of the corresponding action areas of the sticker mechanism and the cutting mechanism on the paper tube surface, and determining the shape change of the paper tube before and after being stressed include: Use multiple laser displacement sensors to synchronously collect the point cloud data of the corresponding action areas of the sticker mechanism and the cutting mechanism on the paper tube surface and use it as the first point cloud data; Through coordinate transformation, unify the first point cloud data into the world coordinate system, and use the statistical filtering algorithm to filter out the point cloud noise to obtain the filtered first point cloud data; According to the filtered first point cloud data, use the RANSAC algorithm to fit the initial contour curve of the paper tube surface to obtain the first contour curve parameters; the first contour curve parameters include the first curvature and the first torsion; After the sticker mechanism or the cutting mechanism applies a force to the paper tube, use multiple laser displacement sensors to synchronously collect the point cloud data of the corresponding action areas of the sticker mechanism and the cutting mechanism on the paper tube surface again, and use it as the second point cloud data; Through coordinate transformation, unify the second point cloud data into the world coordinate system, and use the statistical filtering algorithm to filter out the point cloud noise to obtain the filtered second point cloud data; According to the filtered second point cloud data, use the RANSAC algorithm to fit the contour curve of the paper tube surface after the paper tube is stressed to obtain the second contour curve parameters, and the second contour curve parameters include the second curvature and the second torsion; According to the first contour curve parameters and the second contour curve parameters, determine the shape change of the paper tube before and after being stressed by calculating the contour change amount of the paper tube surface; the shape change includes the radial compression amount, the axial bending amount and the torsion angle.

3. The control method of the paper tube processing equipment according to claim 2, wherein, The steps of determining the real-time state information of the paper tube according to the target parameters, the shape change of the paper tube before and after being stressed, and the deformation characteristics corresponding to the paper tube specifications include: Load the corresponding deformation characteristic parameters according to the paper tube specifications from the preset deformation characteristic parameter library; Establish a multi-variable state space including the target parameters and the shape change, and based on the loaded deformation characteristic parameters, determine the relationship between the shape changes of the paper tube before and after being stressed through finite element analysis; Based on the relationship between the shape changes of the paper tube before and after being stressed, according to the target parameters and the shape change of the paper tube before and after being stressed, obtain the state vector of the paper tube in the current state by solving the optimal solutions of each variable in the multi-variable state space; Perform Kalman filtering on the state vector to predict the real-time state information of the paper tube by fusing historical state information.

4. The control method of the paper tube processing equipment according to claim 3, characterized in that, The deformation characteristic parameters include elastic modulus, Poisson's ratio, and yield strength.

5. The control method of the paper tube processing equipment according to claim 3, wherein, The steps of establishing a multivariable state space including target parameters and shape changes and determining the relationship between the shapes of the paper tube before and after loading based on the loaded deformation characteristic parameters through finite element analysis include: Based on the deformation characteristic parameters, use ANSYS software to establish a three-dimensional finite element model of the paper tube based on the multivariable state space; Convert the axial position, radial position, and deflection angle of the paper tube in the target parameters into displacement constraints in the finite element model; among them, the axial position and radial position are used as fixed constraints applied to the bottom of the three-dimensional finite element model of the paper tube, and the deflection angle is used as a rotational constraint applied to the top of the three-dimensional finite element model of the paper tube; Convert the radial compression amount, axial bending amount, and torsion angle in the shape changes into loads in the finite element model; among them, the radial compression amount is used as a uniform pressure applied to the surface of the three-dimensional finite element model of the paper tube, the axial bending amount is used as a bending moment applied to the top of the three-dimensional finite element model of the paper tube, and the torsion angle is used as a torque applied to the top of the three-dimensional finite element model of the paper tube; Solve the equilibrium equation of the three-dimensional finite element model of the paper tube under displacement constraints and loads to obtain the stress distribution and displacement distribution of the paper tube before and after loading; According to the stress distribution and displacement distribution, calculate the relationship between the shapes of the paper tube before and after loading; the relationship between the shapes of the paper tube includes the displacement and strain of each point on the surface of the paper tube; among them, the displacement is obtained by extracting the displacement values of each node in the three-dimensional finite element model of the paper tube, and the strain is obtained by extracting the strain values of each shell element in the three-dimensional finite element model of the paper tube and performing conversion.

6. The control method of the paper tube processing equipment according to claim 5, characterized in that, The three-dimensional finite element model of the paper tube includes shell elements, nodes, and material properties. Among them, the shell elements are used to simulate the thin-walled structure of the paper tube, the nodes are used to define the connection relationship between the shell elements, and the material properties are used to describe the mechanical properties of the paper tube.

7. The control method of the paper tube processing equipment according to claim 1, wherein The steps of calculating the action parameters of the sticker mechanism and the cutting tool according to the real-time state information of the paper tube include: Obtain the real-time state information of the paper tube; Establish a multi-objective optimization function with sticker accuracy and cutting quality as the optimization objectives and the action parameters of the sticker mechanism and the cutting tool as independent variables; among them, the action parameters of the sticker mechanism include the fitting trajectory and fitting pressure; the action parameters of the cutting tool include the feed speed and cutting angle; the sticker accuracy is quantified by the deviation between the sticker position and the target position, and the cutting quality is quantified by the roughness of the cutting section and the burr height. According to the real-time state information of the paper tube, calculate the fitting area and fitting pressure distribution during the sticker process, and the tool force and paper tube deformation during the cutting process under different combinations of action parameters of the fitting trajectory, fitting pressure, feed speed, and cutting angle; According to the calculated fitting area, fitting pressure distribution, tool force, and paper tube deformation, combined with the evaluation functions of sticker accuracy and cutting quality, calculate the sticker accuracy score and cutting quality score corresponding to each combination of action parameters; The NSGA-II algorithm is used to solve the multi-objective optimization function to obtain the Pareto optimal solution set. Each solution in the Pareto optimal solution set corresponds to a set of fitting trajectories, fitting pressures of the sticker mechanism, feed speeds, cutting angles of the cutting tool, and corresponding sticker accuracy scores and cutting quality scores. According to production requirements, the action parameters with both sticker accuracy scores and cutting quality scores meeting the requirements are selected from the Pareto optimal solution set as the final action parameters of the sticker mechanism and the cutting tool.

8. A control device for a paper tube processing equipment, which is applied to a paper tube processing equipment integrating labeling and slitting functions, is characterized in that, The paper tube processing equipment is used as a separate station to cut the paper tube into multiple small segments while labeling the paper tube. The control device of the paper tube processing equipment includes: The first acquisition module is used to acquire the paper tube image and calculate the target parameters based on the paper tube image by identifying the end face, edge or marked points of the paper tube. The target parameters include the axial position, radial position of the paper tube, and the deflection angle of the paper tube axis relative to the reference direction. The second acquisition module is used to acquire the point cloud data of the corresponding action areas of the sticker mechanism and the cutting mechanism on the paper tube surface and determine the shape change of the paper tube before and after being stressed according to the point cloud data. The determination module is used to determine the real-time state information of the paper tube according to the target parameters, the shape change of the paper tube before and after being stressed, and the deformation characteristics corresponding to the paper tube specifications. The calculation module is used to calculate the action parameters of the cutting tool in the sticker mechanism and the cutting mechanism according to the real-time state information of the paper tube. The control module is used to control the sticker mechanism and the cutting tool to synchronously process the paper tube according to the action parameters of the sticker mechanism and the cutting tool.

9. An electronic device, characterized in that, It includes a processor and a memory. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the paper tube processing equipment control method according to any one of claims 1-7 are run.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps in the paper tube processing equipment control method according to any one of claims 1-7 are run.

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