Inner paperboard positioning compensation method and system based on machine vision

Abstract

The invention discloses an inner paperboard positioning compensation method and system based on machine vision. The method comprises the steps that after position calibration is conducted on conveying equipment and the inner paperboard, a visual mechanism conducts calibration treatment on the inner paperboard, and calibration coordinates are obtained; the encoder triggers the visual mechanism, so that the visual mechanism obtains the image of the inner paperboard and obtains the phase coordinates of the inner paperboard at the corresponding phase; the visual mechanism compares the phase coordinates with the calibration coordinates to obtain the offset error of the inner paperboard at the corresponding phase; the processing unit analyzes the offset error, if the offset error is within the offset range, deviation correction processing is carried out, and the speed compensation amount is output to the conveying equipment; and the conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount, and the conveying position of the inner paperboard is compensated. The machine vision technology is introduced, the precision and efficiency of positioning compensation of the inner paper jam are improved, and the positioning accuracy and the precision of processing subsequent procedures are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine vision, and in particular to a method and system for compensating for internal paper jam positioning based on machine vision. Background Art

[0002] As tobacco industry reforms continue to deepen, cigarette manufacturers are increasingly demanding the development of inner paper. Inner paper has evolved from a single color to multiple colors. In particular, colored inner paper patterns are becoming widely adopted in high-end cigarettes and have become a key research area for Chinese-style cigarettes.

[0003] The existing cutting equipment for inner paper jams uses mechanical phase positioning. In the actual production process, the tension on the inner paper jams is not absolutely balanced. Coupled with factors such as machine vibration, the conveying speed of the inner paper jams often changes, resulting in the color mark on the inner paper jams lagging or advancing, thereby causing errors in the cutting position.

[0004] Currently, internal paper cutting equipment is equipped with a corresponding correction device to adjust the conveying speed of the internal paper, thereby ensuring that it is cut at the precise position. The correction device mainly adopts the following two solutions: traditional mechanical differential compensation solution or servo-controlled electronic clutch solution. Traditional mechanical differential compensation solution refers to the design of mechanical mechanism, which uses the speed difference of different components to compensate for the deviation of the internal paper during the conveying process. This has limitations and cannot fully guarantee the conveying accuracy of the internal paper. The servo-controlled electronic clutch solution uses a servo-controlled electronic clutch to adjust the speed and tension of the internal paper conveying. This method also cannot fully guarantee the conveying accuracy of the internal paper.

[0005] In the process of implementing the present invention, the inventors found that the prior art has at least the following problems:

[0006] The deviation correction device and method used in the inner paper jam cutting device cannot guarantee the transmission accuracy of the inner paper jam, which will affect the subsequent processing procedures of the subsequent inner paper jam. Summary of the Invention

[0007] The purpose of the present invention is to provide a method and system for positioning and compensating inner paper jams based on machine vision, so as to solve the technical problem in the prior art that the correction devices and methods used in the inner paper jam cutting equipment cannot guarantee the transmission accuracy of the inner paper jams, which will affect the subsequent processing procedures of the subsequent inner paper jams.

[0008] The various technical effects that can be produced by the preferred technical solutions among the various technical solutions provided by the present invention are described in detail below.

[0009] To achieve the above objectives, the present invention provides the following technical solutions:

[0010] In a first aspect, the present invention provides a method for compensating for positioning an inner paper jam based on machine vision, which is used to compensate for positioning an inner paper jam conveyed on a conveying device. The method comprises:

[0011] After the conveying device and the inner paper jam are calibrated, the visual mechanism performs calibration processing on the inner paper jam to obtain calibration coordinates;

[0012] The encoder calculates the working position and conveying speed of the conveying device. When the inner paper jam moves to a corresponding phase, the encoder triggers the visual mechanism to enable the visual mechanism to acquire an image of the inner paper jam and obtain the phase coordinates of the inner paper jam at the corresponding phase.

[0013] The visual mechanism compares the phase coordinate with the calibration coordinate to obtain an offset error of the inner jammed paper at the corresponding phase, and sends the offset error to a processing unit;

[0014] The processing unit analyzes the offset error, performs a correction process if the offset error is within an offset range, and outputs a speed compensation amount to the conveying device;

[0015] The conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount to compensate for the conveying position of the inner paper jam.

[0016] Optionally, if the offset error is within the offset range, performing a correction process and outputting a speed compensation amount to the conveying device includes:

[0017] If the offset error is within the first offset range, a first speed compensation value is output to the conveying device, wherein the first offset range is

[0018] If the offset error is within the second offset range, a second speed compensation value is output to the conveying device, wherein the second offset range is

[0019] If the offset error is within a third offset range, a third speed compensation amount is output to the conveying device, wherein the third offset range is

[0020] If the offset error is within a fourth offset range, a fourth speed compensation amount is output to the conveying device, wherein the fourth offset range is

[0021] Wherein, a is the bag making length; the speed compensation amount is calculated based on the bag making length, the offset error and the offset range.

[0022] Optionally, the formula for the speed compensation is:

[0023] Speed ​​compensation amount = (offset error / bag making length) * actual speed;

[0024] The actual speed is the conveying speed of the conveying device at the corresponding phase calculated by the encoder.

[0025] Optionally, the bag making length is the actual length of a single sheet of the inner cardboard conveyed along the conveying direction of the conveying device.

[0026] Optionally, the conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount, including:

[0027] When the conveying device receives the first speed compensation amount or the second speed compensation amount, the conveying device performs acceleration compensation; the conveying speed formula of the conveying device performing acceleration compensation is:

[0028] Conveying speed = actual speed + first speed compensation or second speed compensation.

[0029] Optionally, the conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount, further comprising:

[0030] When the conveying device receives the third speed compensation amount or the fourth speed compensation amount, the conveying device performs deceleration compensation; the conveying speed formula of the conveying device performing deceleration compensation is:

[0031] Conveying speed = actual speed - third speed compensation or fourth speed compensation.

[0032] Optionally, the visual mechanism calibrates the inner paper jam by using a quadrilateral search method.

[0033] Optionally, after the visual mechanism compares the phase coordinate with the calibration coordinate to obtain an offset error of the inner paper jam at the corresponding phase, and sends the offset error to a processing unit, the method further includes:

[0034] If the offset error is not within the offset range, the processing unit outputs a rejection compensation amount and sends the rejection compensation amount to the conveying device. The conveying device adjusts the conveying speed of the conveying device according to the rejection compensation amount to remove the inner jammed paper.

[0035] In a second aspect, the present invention further provides an internal paper jam positioning compensation system based on machine vision, characterized in that the system is used to perform the above-mentioned internal paper jam positioning compensation method based on machine vision, and includes a conveying device, a visual mechanism, an encoder, and a processing unit, wherein the conveying device and the visual mechanism are both connected to the encoder and the processing unit;

[0036] The conveying device is used to convey the inner jammed paper;

[0037] The visual mechanism is located above the conveying device and is used to obtain the calibration coordinates of the inner paper jam after position calibration and the phase coordinates of the inner paper jam when it is conveyed to the corresponding phase on the conveying device, and compare the phase coordinates with the calibration coordinates to calculate the offset error of the inner paper jam at the corresponding phase;

[0038] The encoder is used to collect the conveying speed of the conveying device and trigger the image collection of the visual mechanism in the original machine synchronization phase;

[0039] The processing unit is used to analyze the offset error and output a speed compensation amount to the conveying device, so that the conveying device compensates for the conveying position of the inner paper jam.

[0040] Optionally, the conveying device includes a paper feeding mechanism, a servo drive mechanism and a conveying guide rail, the paper feeding mechanism is connected to the servo drive mechanism, and the conveying guide rail is used to cooperate with the paper feeding mechanism to convey the inner jammed paper; the servo drive mechanism is used to correct the conveying speed of the paper feeding mechanism according to the speed compensation amount output by the processing unit.

[0041] Implementing one of the above technical solutions of the present invention has the following advantages or beneficial effects:

[0042] The machine vision-based positioning and compensation method for internal paper jams described in this invention obtains calibration coordinates, uses an encoder to collect speed signals, and controls a visual mechanism to obtain phase coordinates. The phase coordinates are then compared with the calibration coordinates, and offset errors are analyzed to calculate a speed compensation amount. Ultimately, the conveying speed of the conveyor equipment is corrected, achieving accurate positioning of the internal paper jam in subsequent processes. By incorporating machine vision technology, this invention implements an automated and intelligent positioning and compensation process, improving the accuracy and efficiency of internal paper jam positioning compensation, and enhancing both positioning accuracy and the precision of subsequent processing steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work. In the drawings:

[0044] Figure 1 1 is a flow chart of a method for compensating for internal paper jam positioning based on machine vision according to a first embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the overall structure of the internal paper jam positioning compensation system based on machine vision according to the second embodiment of the present invention;

[0046] Figure 3 This is a structural diagram of the connection between the feeding device and the vision device in the internal paper jam positioning compensation system based on machine vision in the second embodiment of the present invention;

[0047] In the figure: 1. Conveying equipment; 11. Paper feeding mechanism; 12. Servo drive mechanism; 13. Conveying guide rail; 2. Vision mechanism; 3. Encoder; 4. Processing unit; 5. Internal paper jam. DETAILED DESCRIPTION

[0048] In order to make the objects, technical solutions and advantages of the present invention clearer, the various exemplary embodiments to be described below will refer to the corresponding drawings, which constitute a part of the exemplary embodiments, in which various exemplary embodiments that may be used to implement the present invention are described. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present disclosure. It should be understood that they are only examples of processes, methods and devices that are consistent with some aspects of the present disclosure as detailed in the appended claims, and other embodiments may also be used, or structural and functional modifications may be made to the embodiments listed herein without departing from the scope and essence of the present invention.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", etc. indicate the orientation or position relationship based on the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the elements referred to must have a specific orientation, be constructed and operate in a specific orientation. The terms "first", "second", etc. are only used for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "plurality" means two or more. The terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a communication connection, a direct connection, an indirect connection through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0050] In order to illustrate the technical solution of the present invention, a specific embodiment is provided below, in which only the parts related to the embodiment of the present invention are shown.

[0051] Example 1:

[0052] like Figure 1 As shown, the present invention provides a method for positioning and compensating inner paper jams based on machine vision, which is used to perform positioning compensation on inner paper jams conveyed on a conveying device. The method includes:

[0053] S10, after the conveying device and the inner paper jam are calibrated, the visual mechanism calibrates the inner paper jam to obtain calibration coordinates;

[0054] S20, the encoder calculates the working position and conveying speed of the conveying device. When the inner paper jam moves to the corresponding phase, the encoder triggers the visual mechanism to enable the visual mechanism to obtain an image of the inner paper jam and obtain the phase coordinates of the inner paper jam at the corresponding phase;

[0055] S30, the visual mechanism compares the phase coordinates with the calibration coordinates to obtain the offset error of the inner jam at the corresponding phase, and sends the offset error to the processing unit;

[0056] S40, the processing unit analyzes the offset error, and if the offset error is within the offset range, performs a correction process and outputs a speed compensation amount to the conveying device;

[0057] S50 , the conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount, and compensates for the conveying position of the internal paper jam.

[0058] Specifically, this embodiment can perform positioning compensation for the inner paper jam transported on the conveying device. The specific method is that after the conveying device and the inner paper jam are calibrated, the visual mechanism calibrates the inner paper jam to obtain calibration coordinates. This step can obtain the calibration coordinates of the inner paper jam when the inner paper jam is in a standard position on the conveying device, and use this calibration coordinate as a reference for subsequent comparison. Then, when the conveying device is transporting the inner paper jam, the encoder calculates the working position and conveying speed of the conveying device. When the inner paper jam moves to the corresponding phase, the encoder triggers the visual mechanism, causing the visual mechanism to capture the image of the inner paper jam and obtain the phase coordinates of the inner paper jam at the corresponding phase. In this step, the visual mechanism uses the encoder to obtain the phase coordinates of the inner paper jam at a specific phase when it moves to that phase.

[0059] Next, the vision system compares the phase coordinates with the calibration coordinates to determine the offset error of the inner paper jam at the corresponding phase and sends this offset error to the processing unit. The vision system compares the phase coordinates with the calibration coordinates and calculates the difference between the two. This difference is the offset error of the inner paper jam at the corresponding phase, reflecting the degree of deviation between the actual position of the inner paper jam and the standard position. The processing unit then analyzes the offset error. If the offset error is within the offset range, it performs a correction and outputs a speed compensation value to the conveyor. Once the offset error is determined to be within the offset range, it performs a correction and outputs a speed compensation value for adjusting the conveyor speed. Finally, the conveyor adjusts its conveying speed based on the speed compensation value to compensate for the inner paper jam's conveying position. The conveyor adjusts its conveying speed based on the speed compensation value it previously output. By changing its speed, it compensates for the inner paper jam's conveying position, returning the inner paper jam to its standard conveying position as closely as possible, ensuring conveying accuracy and ensuring the accuracy of subsequent operations involving the inner paper jam.

[0060] The machine vision-based internal paper jam positioning compensation method described in this embodiment obtains calibration coordinates, uses an encoder to collect speed signals, and controls a visual mechanism to obtain phase coordinates. The phase coordinates are then compared with the calibration coordinates, and offset errors are analyzed to calculate a speed compensation amount. Ultimately, the conveyor speed is corrected, achieving accurate positioning of the internal paper jam in subsequent processes. This embodiment incorporates machine vision technology to achieve an automated and intelligent positioning compensation process, improving the accuracy and efficiency of internal paper jam positioning compensation, and enhancing both positioning accuracy and the precision of subsequent processes.

[0061] Next, we will combine Figure 1 The internal paper jam positioning compensation method based on machine vision described in this embodiment is described in detail:

[0062] First, step S10 is executed. After the conveyor device and the inner paper jam are aligned, the visual mechanism calibrates the inner paper jam to obtain calibration coordinates. Specifically, after the conveyor device is powered on, it is initialized and calibrated to ensure that the inner paper jam on the conveyor device is in the correct position, providing a stable foundation for subsequent calibration of the inner paper jam. The visual mechanism is then used to perform a quadrilateral search on the inner paper jam at the standard position for calibration. The specific calibration process involves using the visual camera in the visual mechanism to locate the edge of the inner paper jam, calibrating the coordinates of the edge, and then calibrating the coordinates of the center point of the color mark to obtain the calibration coordinates.

[0063] The color mark refers to the part of the inner paper that has a specific identification function. Calibration of its center point coordinates helps to more accurately identify and locate the inner paper. The calibrated coordinates of the inner paper obtained through the above steps will serve as the basis for subsequent phase coordinate positioning.

[0064] Then, step S20 is executed, the encoder calculates the working position and conveying speed of the conveying device, and when the inner paper jam moves to the corresponding phase, the encoder triggers the visual mechanism to enable the visual mechanism to obtain the image of the inner paper jam and obtain the phase coordinates of the inner paper jam at the corresponding phase.

[0065] Specifically, an encoder is a device capable of measuring mechanical motion parameters. Once installed on a conveyor, the encoder converts the mechanical motion of the equipment into electrical or digital signals through its internal sensing and computing mechanisms. This allows real-time monitoring of the conveyor's operating position and speed, ensuring precise monitoring of its operating status. Specifically, the encoder includes an A pulse and a Z pulse. The A pulse measures the conveyor's operating speed, while the Z pulse triggers the visual mechanism. By driving the visual mechanism with the Z pulse, the camera's image acquisition timing is synchronized with the machine's operation, achieving phase-synchronized image capture, ensuring that the captured image accurately reflects the conveyor's current operating status.

[0066] Among them, the working position refers to the current working position of the conveying equipment, that is, where the equipment is specifically located in the entire work process; the conveying speed refers to the speed at which the conveying equipment moves.

[0067] Then, when the encoder calculates that the inner paper jam has moved to a certain pre-set phase, the system will trigger the visual mechanism and use the visual camera in the visual mechanism to capture images of the inner paper jam for subsequent analysis. After capturing the image of the inner paper jam, the visual mechanism will perform a quadrilateral search based on image processing and analysis technology to confirm the specific coordinate position of the inner paper jam at the corresponding phase and obtain the phase coordinates. More specifically, the phase coordinates can accurately represent the specific position of the inner paper jam in the conveying equipment at the current phase. Step S20 uses the encoder to monitor the movement of the conveying equipment and the inner paper jam, triggers the visual mechanism at a specific position to obtain the image of the inner paper jam, and obtains the precise position information of the inner paper jam through image processing to provide data support for subsequent operations.

[0068] Next, step S30 is executed. The visual system compares the phase coordinates with the calibration coordinates to determine the offset error of the inner paper jam at the corresponding phase. This offset error is then sent to the processing unit. Specifically, after obtaining the phase coordinates of the inner paper jam using the visual system, the system also compares the phase coordinates with the calibration coordinates and calculates the difference between the two. This determines the difference between the actual and theoretical positions of the inner paper jam at the corresponding phase. This reflects the positional deviation of the inner paper jam during transport and provides a basis for subsequent position compensation. The offset error obtained after the visual system's comparison is sent to the processing unit for further processing.

[0069] Next, step S40 is executed, where the processing unit analyzes the offset error. If the offset error is within the offset range, a correction process is performed and a speed compensation value is output to the conveyor. Specifically, for offset errors within the offset range, correction is performed and appropriate corrective measures are taken to bring the actual value as close as possible to the expected value. After the correction process is completed, a speed compensation value is calculated and output to ensure accurate delivery of the internally jammed paper by the conveyor. The speed compensation value can be used to adjust the operating speed of the conveyor to compensate for the effects of the offset error.

[0070] In this embodiment, the offset error is analyzed. If the offset error is within the offset range, a correction process is performed and a speed compensation amount is output, including the following situations.

[0071] If the offset error is within the first offset range, the first speed compensation amount is output to the conveying device, wherein the first offset range is If the offset error is within the second offset range, a second speed compensation amount is output to the conveying device, wherein the second offset range is If the offset error is within the third offset range, the third speed compensation amount is output to the conveying device, wherein the third offset range is If the offset error is within the fourth offset range, a fourth speed compensation amount is output to the conveying device, wherein the fourth offset range is Where a is the bag making length; the speed compensation is calculated based on the bag making length, offset error, and offset range.

[0072] Since the internal paper jam may advance or lag during the actual transportation process, the processing unit will analyze the offset error after receiving it. If the offset error is within the offset range, the corresponding speed compensation amount will be output according to the different ranges of the offset error.

[0073] For the first case, when the offset error is In this interval, the first speed compensation amount is output. The negative sign here indicates that the offset direction is opposite to a certain specified positive direction.

[0074] For the second case, when the offset error is In this range, the second speed compensation value is output. This range indicates that the offset error is relatively small and biased towards the negative direction.

[0075] For the third case, when the offset error is In this range, the third speed compensation is output. This range means that the offset error is in the positive direction and the value is relatively small.

[0076] For the fourth case, when the offset error is In this range, the fourth speed compensation value is output. This range indicates that the offset error is in the positive direction and the value is relatively large.

[0077] In this embodiment, the processing unit will output different speed compensation amounts for adjusting the conveying equipment according to the different ranges of the offset error, and can make corresponding corrections to the impact caused by the offset error, thereby realizing dynamic adjustment of the conveying speed of the conveying equipment to ensure subsequent operation accuracy and stability.

[0078] Furthermore, a in this embodiment represents the bag-making length. The bag-making length is a pre-set fixed length value and serves as an important reference standard in this embodiment. Specifically, the bag-making length in this embodiment refers to the actual length of a single inner cardboard sheet transported along the conveying direction of the conveyor.

[0079] In this embodiment, the speed compensation formula is: Speed ​​Compensation = (Offset Error / Bag Production Length) * Actual Speed; where Actual Speed ​​is the conveyor speed of the conveyor at the corresponding phase, as calculated by the encoder. Specifically, the speed compensation is calculated based on the proportional relationship between the offset error and the bag production length, combined with the actual speed of the conveyor. This speed compensation is then adjusted to ensure production accuracy and stability. For example, when the offset error is large, the calculated speed compensation will also increase accordingly, reducing the offset error by adjusting the conveyor speed.

[0080] Finally, step S50 is executed, where the conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount to compensate for the conveying position of the internal paper jam.

[0081] It should be noted that after the processing unit outputs the speed compensation amount to the conveying device, the conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount, and compensates for the conveying position of the internal paper jam. Since the conveying device compensates for the conveying position of the internal paper jam according to the speed compensation amount, two different compensation situations will occur.

[0082] The first compensation situation is that when the conveying device receives the first speed compensation amount or the second speed compensation amount, the conveying device performs acceleration compensation.

[0083] At this point, because the phase coordinates of the first and second speed compensations lag relative to the calibration coordinates, it is necessary to output the first and second speed compensations to increase the conveyor speed, thereby moving the inner paper jam more quickly and shortening the distance between the inner paper jam and the preset position. This acceleration compensation typically occurs when the actual position of the inner paper jam lags significantly behind the preset position. By increasing the conveyor speed, the position of the inner paper jam can be quickly adjusted, ensuring that it reaches the designated position accurately during subsequent processing or packaging.

[0084] At this time, the conveying speed formula of the conveying equipment performing acceleration compensation is: conveying speed = actual speed + first speed compensation amount or second speed compensation amount.

[0085] The second compensation situation is that when the conveying device receives the third speed compensation amount or the fourth speed compensation amount, the conveying device performs deceleration compensation.

[0086] At this point, because the phase coordinates of the third and fourth speed compensations are ahead of the calibration coordinates when they are output, it is necessary to output the third and fourth speed compensations to reduce the speed of the conveyor, slowing the movement of the inner paper jam and thereby increasing the time it takes for the inner paper jam to reach the preset position. This deceleration compensation typically occurs when the actual position of the inner paper jam is significantly ahead of the preset position. By reducing the conveyor speed, the inner paper jam can be prevented from prematurely reaching or exceeding the preset position, ensuring accurate positioning in subsequent processes.

[0087] At this time, the conveying speed formula of the conveying equipment performing deceleration compensation is: conveying speed = actual speed - third speed compensation amount or fourth speed compensation amount.

[0088] After executing step S50, the conveying position of the inner jammed paper is compensated and the conveying speed of the inner jammed paper is corrected, which can ensure the accurate positioning of the inner jammed paper in the subsequent process and improve the accuracy and efficiency of the positioning compensation. In this embodiment, the subsequent process can be a cutting process of the inner jammed paper.

[0089] As some optional implementations, after step S30, other steps may be performed according to the comparison between the phase coordinates and the calibration coordinates.

[0090] Specifically, after comparing the phase coordinates with the calibration coordinates to obtain the offset error of the internal paper jam at the corresponding phase, it also includes: analyzing the offset error. If the offset error is not within the offset range, the processing unit outputs a rejection compensation amount and sends the rejection compensation amount to the conveying equipment. The conveying equipment adjusts the conveying speed of the conveying equipment according to the rejection compensation amount to remove the internal paper jam.

[0091] If the offset error analysis determines that it's outside the offset range, the extent of the internal jam has exceeded the acceptable range, potentially impacting product quality or production processes. The system then calculates a rejection compensation based on the magnitude of the offset error. The rejection compensation is a parameter used to adjust the conveyor's operating state to remove unacceptable internal jams.

[0092] After the conveyor receives the rejection compensation amount, it adjusts its conveyor speed accordingly. By changing the conveyor speed, inner paper jams with excessive deviation errors can be removed from the conveyor line, ensuring that inner paper jams used in subsequent production processes are within the allowable deviation range, improving product quality and production efficiency.

[0093] The embodiment is only a special example and does not represent only one way of implementing the present invention.

[0094] Example 2:

[0095] Based on the same inventive concept, the second embodiment of the present invention also provides a machine vision-based positioning compensation system for inner paper jam 5, which is used to execute the machine vision-based positioning compensation method for inner paper jam 5 recorded in the first embodiment. The system includes a conveying device 1, a visual mechanism 2, an encoder 3 and a processing unit 4. The conveying device 1 and the visual mechanism 2 are both connected to the encoder 3 and the processing unit 4; the conveying device 1 is used to convey the inner paper jam 5; the visual mechanism 2 is located above the conveying device 1, and is used to obtain the calibration coordinates of the inner paper jam 5 after position calibration and the phase coordinates of the inner paper jam 5 when it is conveyed to the corresponding phase on the conveying device 1, and compare the phase coordinates with the calibration coordinates to calculate the offset error of the inner paper jam 5 at the corresponding phase; the encoder 3 is used to collect the conveying speed of the conveying device 1 and trigger the image acquisition of the visual mechanism 2 at the original machine synchronization phase; the processing unit 4 is used to analyze the offset error and output the speed compensation amount to the conveying device 1, so that the conveying device 1 compensates for the conveying position of the inner paper jam 5.

[0096] Specifically, the positioning compensation system described in this embodiment is composed of four parts: a conveying device 1, a visual mechanism 2, an encoder 3 and a processing unit 4, and the conveying device 1 and the visual mechanism 2 are connected to the encoder 3 and the processing unit 4 to realize data interaction and collaborative work between the parts.

[0097] More specifically, the main function of the conveying device 1 is to convey the inner jammed paper 5 and is the power source for the movement of the inner jammed paper 5 in the entire system.

[0098] The conveying device 1 includes a paper feed mechanism 11, a servo drive mechanism 12, and a conveying guide 13. The paper feed mechanism 11 is connected to the servo drive mechanism 12, and the conveying guide 13 is used to cooperate with the paper feed mechanism 11 to convey the inner jammed paper 5. The servo drive mechanism 12 is used to correct the conveying speed of the paper feed mechanism 11 according to the speed compensation amount output by the processing unit 4. Specifically, the paper feed mechanism 11 is the basic component responsible for paper conveying and is the direct execution part of conveying the inner jammed paper 5. The servo drive mechanism 12 is connected to the paper feed mechanism 11 and can control and adjust the operation of the paper feed mechanism 11. The conveying guide 13 and the paper feed mechanism 11 work together to assist in conveying the inner jammed paper 5 and provide guidance for paper conveying. It should be noted that the servo drive mechanism 12 receives the speed compensation amount output by the processing unit 4 and corrects the conveying speed of the paper feed mechanism 11 based on this compensation amount to ensure the accuracy and stability of the conveying speed and avoid the impact of speed deviation on the conveying effect.

[0099] The visual mechanism 2, located above the conveyor 1, is capable of obtaining the calibration coordinates of the inner paper jam 5 at its standard position. These calibration coordinates can be understood as the ideal position information for the inner paper jam 5. Furthermore, the visual mechanism 2 cooperates with the encoder 3 to obtain the phase coordinates of the inner paper jam 5 when it is conveyed to the corresponding phase on the conveyor 1. The obtained phase coordinates are compared with the previously obtained calibration coordinates to calculate the offset error of the inner paper jam 5 at the corresponding phase. The offset error is the deviation between the actual position of the inner paper jam 5 and its ideal position.

[0100] The encoder 3 is switched on and off by the processing unit 4. The encoder 3 is used to collect the conveying speed of the conveyor 1 and trigger the visual mechanism 2 to collect images in the original machine synchronization phase, ensuring that the image information collected by the visual mechanism 2 is synchronized with the operating status of the conveyor 1, thereby ensuring data accuracy.

[0101] Processing unit 4 receives the offset error calculated by vision mechanism 2, analyzes it, and then outputs a speed compensation value to conveyor device 1 based on the analysis result. Conveyor device 1 adjusts the conveying position of inner paper jam 5 based on this speed compensation value, thereby reducing the offset error of inner paper jam 5 and ensuring that inner paper jam 5 is conveyed as close to the ideal position as possible, thereby improving positioning accuracy and the precision of subsequent processing steps.

[0102] The system described in this embodiment collects the conveying speed through the encoder 3 and triggers the visual mechanism 2 to collect images. The visual mechanism 2 obtains the coordinate information of the inner paper jam 5 and calculates the offset error. The processing unit 4 analyzes the error and outputs the compensation amount. The conveying equipment 1 adjusts the conveying position according to the compensation amount to form a closed-loop control system to improve the system's motion accuracy and work quality, and improve the accuracy of conveying the inner paper jam 5.

[0103] In this embodiment, if a deviation error in the inner jammed paper 5 is detected during transport, the processing unit 4 rapidly calculates the corresponding speed compensation value and transmits it to the servo drive mechanism 12. Upon receiving the speed compensation value, the servo drive mechanism 12 adjusts the transport speed of the paper feed mechanism 11. This adjustment is dynamic and real-time, ensuring that the paper feed mechanism 11 consistently maintains the ideal transport speed when transporting the inner jammed paper 5. Furthermore, the transport guide rail 13 provides guidance, ensuring that the inner jammed paper 5 maintains a stable transport path during transport, further reducing the possibility of deviation errors.

[0104] In summary, through the coordinated work of the paper feeding mechanism 11, the servo drive mechanism 12 and the conveying guide rail 13 in the conveying equipment 1, and the precise calculation and output of the speed compensation amount by the processing unit 4, the system in this embodiment can achieve high precision and high stability in the conveying of the internal jammed paper 5, providing a reliable foundation for subsequent processing steps.

[0105] The foregoing is merely a preferred embodiment of the present invention. Those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the guidance of the present invention, these features and embodiments may be modified to suit specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be within the scope of the present invention.

Claims

1. A method for compensating for internal paper jam positioning based on machine vision, characterized in that: The method is used to perform positioning compensation for internal paper jams conveyed on a conveying device, and the method comprises: After the conveying device and the inner paper jam are calibrated, the visual mechanism performs calibration processing on the inner paper jam to obtain calibration coordinates; The encoder calculates the working position and conveying speed of the conveying device. When the inner paper jam moves to a corresponding phase, the encoder triggers the visual mechanism to enable the visual mechanism to acquire an image of the inner paper jam and obtain the phase coordinates of the inner paper jam at the corresponding phase. The visual mechanism compares the phase coordinate with the calibration coordinate to obtain an offset error of the inner jammed paper at the corresponding phase, and sends the offset error to a processing unit; The processing unit analyzes the offset error, performs a correction process if the offset error is within an offset range, and outputs a speed compensation amount to the conveying device; The conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount to compensate for the conveying position of the inner paper jam.

2. The internal paper jam positioning compensation method based on machine vision according to claim 1 is characterized in that: If the offset error is within the offset range, a correction process is performed and a speed compensation amount is output to the conveying device, including: If the offset error is within the first offset range, a first speed compensation value is output to the conveying device, wherein the first offset range is If the offset error is within the second offset range, a second speed compensation value is output to the conveying device, wherein the second offset range is If the offset error is within a third offset range, a third speed compensation amount is output to the conveying device, wherein the third offset range is If the offset error is within a fourth offset range, a fourth speed compensation amount is output to the conveying device, wherein the fourth offset range is Wherein, a is the bag making length; the speed compensation amount is calculated based on the bag making length, the offset error and the offset range.

3. The internal paper jam positioning compensation method based on machine vision according to claim 2 is characterized in that: The formula for the speed compensation is: Speed ​​compensation amount = (offset error / bag making length) * actual speed; The actual speed is the conveying speed of the conveying device at the corresponding phase calculated by the encoder.

4. The internal paper jam positioning compensation method based on machine vision according to any one of claims 2 or 3, characterized in that: The bag making length is the actual length of a single piece of the inner cardboard conveyed along the conveying direction of the conveying device.

5. The internal paper jam positioning compensation method based on machine vision according to claim 2, characterized in that: The conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount, including: When the conveying device receives the first speed compensation amount or the second speed compensation amount, the conveying device performs acceleration compensation; the conveying speed formula of the conveying device performing acceleration compensation is: Conveying speed = actual speed + first speed compensation or second speed compensation.

6. The internal paper jam positioning compensation method based on machine vision according to claim 2, characterized in that: The conveying device adjusts the conveying speed of the conveying device according to the speed compensation amount, further comprising: When the conveying device receives the third speed compensation amount or the fourth speed compensation amount, the conveying device performs deceleration compensation; the conveying speed formula of the conveying device performing deceleration compensation is: Conveying speed = actual speed - third speed compensation or fourth speed compensation.

7. The internal paper jam positioning compensation method based on machine vision according to claim 1, characterized in that: The visual mechanism performs calibration processing on the inner jammed paper by a quadrilateral search method.

8. The internal paper jam positioning compensation method based on machine vision according to claim 1, characterized in that: After the visual mechanism compares the phase coordinates with the calibration coordinates to obtain an offset error of the inner paper jam at the corresponding phase, and sends the offset error to a processing unit, the method further includes: If the offset error is not within the offset range, the processing unit outputs a rejection compensation amount and sends the rejection compensation amount to the conveying device. The conveying device adjusts the conveying speed of the conveying device according to the rejection compensation amount to remove the inner jammed paper.

9. An internal paper jam positioning compensation system based on machine vision, characterized in that: Used to perform the internal paper jam positioning compensation method based on machine vision according to any one of claims 1 to 8, the system comprising a conveying device, a visual mechanism, an encoder and a processing unit, the conveying device and the visual mechanism being connected to the encoder and the processing unit; The conveying device is used to convey the inner jammed paper; The visual mechanism is located above the conveying device and is used to obtain the calibration coordinates of the inner paper jam after position calibration and the phase coordinates of the inner paper jam when it is conveyed to the corresponding phase on the conveying device, and compare the phase coordinates with the calibration coordinates to calculate the offset error of the inner paper jam at the corresponding phase; The encoder is used to collect the conveying speed of the conveying device and trigger the image collection of the visual mechanism in the original machine synchronization phase; The processing unit is used to analyze the offset error and output a speed compensation amount to the conveying device, so that the conveying device compensates for the conveying position of the inner paper jam.

10. The internal paper jam positioning compensation system based on machine vision according to claim 9, characterized in that: The conveying device includes a paper feeding mechanism, a servo drive mechanism and a conveying guide rail. The paper feeding mechanism is connected to the servo drive mechanism. The conveying guide rail is used to cooperate with the paper feeding mechanism to convey the inner jammed paper; the servo drive mechanism is used to correct the conveying speed of the paper feeding mechanism according to the speed compensation amount output by the processing unit.

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