High-precision food packaging mark printing system, device and method based on machine vision dynamic compensation

Abstract

The invention relates to the technical field of food packaging automatic production, and discloses a high-precision food packaging mark printing system, device and method based on machine vision dynamic compensation. The machine vision module is connected with the edge computer through a high-speed network interface, the communication delay is less than 5ms, and the machine vision module is used for identifying a cross datum line on a packaging bag to detect position deviation and output a delta x / delta y offset signal; the edge computer operates a dynamic compensation algorithm to generate a laser marking coordinate adjusting instruction in real time, sends the laser marking coordinate adjusting instruction to the laser marking machine and receives a marking completion signal fed back by the laser marking machine; the laser marking machine executes printing according to the adjusting instruction and synchronously feeds back a marking completion signal; and after receiving the marking completion signal, the edge computer controls the machine vision module to carry out secondary vision inspection so as to form closed-loop control of detection-compensation-verification.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of food packaging automation, in particular to a high-precision food packaging mark printing system, device and method based on machine vision dynamic compensation. BACKGROUND

[0002] In the process of printing date, coding and other marks in food packaging automation, a machine vision dynamic compensation technology is often used, which refers to the real-time correction of image blurring, distortion or position offset caused by the movement (such as vibration, displacement, rotation, etc.) of the camera itself or the shooting object in the machine vision system, so as to ensure the accuracy and stability of visual detection, recognition or measurement.

[0003] Food packaging mark laser marking is a process of permanently marking production date, shelf life, batch number and other key information on the surface of food packaging (such as plastic, paper, metal foil and other materials) using laser technology. As an important part of the food industry traceability system and safety management, it has become the mainstream technology to replace traditional ink printing with its non-contact, high precision, pollution-free and other advantages. Laser marking machine irradiates the surface of packaging material with focused high-energy laser beam (common wavelengths include 1064nm, 532nm, 355nm, etc.), causing physical or chemical changes (such as vaporization, carbonization, discoloration or micro-fusion) on the surface layer of the material, forming clear and permanent marks.

[0004] However, in actual use, on the one hand, the poor stability and adjustability of the marking device itself easily lead to marking offset or unclear phenomenon on the packaging, and on the other hand, the angle marking adjustment of the traditional device is not convenient, so the lack of real-time correction leads to low accuracy of the device. Therefore, we propose a high-precision food packaging mark printing system and method based on machine vision dynamic compensation. SUMMARY

[0005] To overcome the shortcomings of the prior art, the present application provides a high-precision food packaging mark printing system, device and method based on machine vision dynamic compensation, which solves the problems of poor stability and adjustability of the existing marking technology and lack of real-time correction.

[0006] To achieve the above purpose, the present application is realized by the following technical scheme.

[0007] A high-precision food packaging mark printing system based on machine vision dynamic compensation, comprising a laser projection lamp, a machine vision module, an edge computer and a laser marking machine.

[0008] The laser projection lamp is fixed on the optical path of the laser marking machine and projects a high-brightness cross reference line calibrated with the laser marking light path.

[0009] a machine vision module connected with the edge computer through a high-speed network interface and with a communication delay of less than 5 ms, used to identify the cross reference line on the packaging bag to detect the position deviation and output the Δx / Δy offset signal;

[0010] the edge computer receives the offset signal of the machine vision module, runs a dynamic compensation algorithm to generate laser marking coordinate adjustment instructions in real time and sends them to the laser marking machine, and simultaneously receives the marking completion signal fed back by the laser marking machine;

[0011] the laser marking machine executes printing according to the adjustment instructions and synchronously feeds back the marking completion signal;

[0012] After receiving the marking completion signal, the edge computer controls the machine vision module to perform secondary visual inspection, forming a "detection-compensation-verification" closed-loop control.

[0013] A high-precision food packaging marking printing method based on machine vision dynamic compensation, which adopts the aforementioned high-precision food packaging marking printing system, comprising the following steps:

[0014] S1. The packaging machine conveys the packaging bag to the printing station, and the laser projection lamp projects a high-brightness cross reference line with the same reference as the laser marking light path to the packaging bag;

[0015] S2. The machine vision module identifies the cross reference line to detect the position deviation of the packaging bag, and outputs the Δx / Δy offset signal to the edge computer, with a communication delay of less than 5 ms;

[0016] S3. The edge computer runs a dynamic compensation algorithm according to the offset signal and the formula ΔP = K1·V_jitter + K2·Δt;

[0017] where ΔP is the compensation displacement, V_jitter is the packaging machine jitter speed, Δt is the system response delay, K1 / K2 is the machine learning calibration coefficient, the compensation amount is calculated, and the laser marking coordinate adjustment instruction is generated;

[0018] S4. The laser marking machine receives the adjustment instruction, executes date printing according to the compensated coordinates, and synchronously feeds back the marking completion signal to the edge computer;

[0019] S5. After receiving the feedback signal, the edge computer controls the machine vision module to perform secondary visual inspection on the printing result, forming a closed-loop control.

[0020] The utility model provides a high-precision food packaging mark printing device based on machine vision dynamic compensation adopts foregoing high-precision food packaging mark printing system, including the support column of base one side, the side of support column close to base is equipped with pivot no.

[0021] Preferably, the side of the movable frame away from the support rod is fixedly connected with an F-shaped mounting piece, the F-shaped mounting piece is inserted into the side of the support column and fixedly connected with the chain belt, and the support column is provided with an opening matched with the F-shaped mounting piece.

[0022] Preferably, the side of the movable frame close to the support rod is provided with a movable clamp wheel, and the movable clamp wheel is arranged in the movable frame and movably connected with the movable frame; the side of the support rod away from the movable frame is fixedly provided with a connecting piece, and the side of the connecting piece close to the support column is fixedly connected with the support column.

[0023] Preferably, the side of the pivot no. 1 away from the shell is provided with a rotating rod no. 3, one end of the rotating rod no. 3 close to the pivot no. 1 is fixedly connected with the pivot no. 1, and the other end of the rotating rod no. 3 is inserted into the support column; the side of the pivot no. 1 away from the shell is provided with a motor, and the side of the motor close to the base is fixedly connected with the base.

[0024] Preferably, the side of the pivot no. 2 away from the shell is provided with a mounting rod, one end of the mounting rod close to the pivot no. 2 is fixedly connected with the mounting rod, and the other end of the pivot no. 2 is fixedly connected with the support column; the side of the support column close to the shell is fixedly provided with an auxiliary groove, the side of the shell close to the auxiliary groove is fixedly provided with a sliding block, and the side of the sliding block close to the support column is movably connected in the auxiliary groove.

[0025] Preferably, the movable shell is provided with a rotating rod I near one side of the shell, the rotating rod I is inserted into the movable shell and located at the center of the movable shell, the shell is fixedly connected with a supporting plate near one side of the movable shell, the rotating rod I is inserted into the supporting plate and located at the center of the supporting plate, the gear II is fixedly connected with the rotating rod I away from the movable shell, the gear II is located in the shell, the gear I is movably connected with the gear II away from the movable shell, and the rotating rod II is connected with the gear I.

[0026] Preferably, the rotating rod II is movably connected with the gear I away from the gear II, and the other end of the rotating rod II is inserted into the shell, the rotating handle is mounted on one side of the rotating rod II near the gear I, and the rotating handle is fixedly connected with the rotating rod II near one side of the shell.

[0027] Preferably, the visual projection machine is provided with a laser marking device near one side of the base, the laser marking device is fixedly connected with the visual projection machine near one side of the visual projection machine, and the visual projection machine is provided with a packaging mechanism away from the cylinder.

[0028] Preferably, the base is provided with a computing mechanism near one side of the supporting column, the computing mechanism is fixedly connected with the base near one side of the base, and the computing mechanism is fixedly connected with a controller near one side of the shell.

[0029] Beneficial effects:

[0030] The scheme of the present application can realize compensation accuracy of ±0.3mm, and effectively control the printing area offset;

[0031] The present application is provided with a movable frame matched with lifting on one side of the supporting column, the horizontal movable assembly on the device is arranged on one side of the movable frame, and the laser marking assembly is driven to lift and displace, and the belt pulley structure in the supporting column is stable and directional for lifting and adjusting, so as to adapt to the packaging mechanism at the side end, and improve the stability and adjustability of the marking device itself.

[0032] In the present application, the cylinder matched with use is arranged on one side of the shell, the longitudinal and horizontal pushing adjustment in the device is angle displacement in the basic adjustment, in the actual marking stage, in order to adapt to the packaging mechanism at the side end, the cylinder is used for horizontal accurate adjustment, and then the cursor position of the visual projection machine fixedly connected with one side of the cylinder is determined, so as to improve the high-precision use effect of the whole device.

[0033] In the present application, the device can project a high-light cross reference line on the packaging mechanism opposite the device by setting a visual projector with a matching device on one side of the cylinder, the internal optical structure of the device is fixed on the optical path of the laser machine, which can be calibrated with the laser marking light path in real time, so as to ensure that the visual system is consistent with the marking reference, and the accuracy of the whole device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a whole structure schematic diagram of the high-precision food packaging mark printing system and method based on machine vision dynamic compensation of the present application;

[0035] Figure 2 It is a whole structure schematic diagram of the support column of the present application;

[0036] Figure 3 It is a cross-sectional structure schematic diagram of the support column of the present application;

[0037] Figure 4 It is a whole structure schematic diagram of the movable frame of the present application;

[0038] Figure 5 It is a whole structure schematic diagram of the shell, cylinder and visual projector of the present application;

[0039] Figure 6 It is an internal structure schematic diagram of the shell of the present application.

[0040] In the figure: 1, base; 2, support column; 201, auxiliary groove; 202, opening; 203, connecting piece; 3, shell; 301, movable shell; 302, rotating rod one; 303, rotating rod two; 304, gear one; 305, gear two; 306, support plate; 307, rotating handle; 308, sliding block; 4, movable frame; 401, support rod; 402, F-shaped mounting piece; 403, L-shaped mounting plate; 404, movable clamp wheel; 5, cylinder; 501, U-shaped mounting piece; 6, visual projector; 601, laser marking piece; 7, computing mechanism; 701, controller; 8, packaging mechanism; 9, motor; 901, rotating rod three; 902, rotating shaft one; 903, mounting rod; 904, rotating shaft two; 905, chain belt. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] REFERENCE Figures 1-6The embodiment of the application shown is a high-precision food packaging mark printing system based on machine vision dynamic compensation, comprising a laser projection lamp, a machine vision module, an edge computer, and a laser marking machine.

[0043] The laser projection lamp is fixed on the optical path of the laser marking machine and projects a high-brightness cross reference line that is calibrated with the laser marking light path as a reference.

[0044] The machine vision module is connected to the edge computer through a high-speed network interface and has a communication delay of less than 5 ms, and is used to identify the cross reference line on the packaging bag to detect the position deviation and output a Δx / Δy offset signal.

[0045] The edge computer receives the offset signal of the machine vision module, runs a dynamic compensation algorithm to generate a laser marking coordinate adjustment instruction in real time and sends it to the laser marking machine, and simultaneously receives a marking completion signal fed back by the laser marking machine.

[0046] The laser marking machine executes printing according to the adjustment instruction and synchronously feeds back a marking completion signal.

[0047] After receiving the marking completion signal, the edge computer controls the machine vision module to perform secondary visual inspection, forming a “detection-compensation-verification” closed-loop control.

[0048] A high-precision food packaging mark printing method based on machine vision dynamic compensation adopts the aforementioned high-precision food packaging mark printing system and comprises the following steps:

[0049] S1. The packaging machine conveys the packaging bag to the printing station, and the laser projection lamp projects a high-brightness cross reference line that is calibrated with the laser marking light path as a reference to the packaging bag.

[0050] S2. The machine vision module identifies the cross reference line to detect the position deviation of the packaging bag, and outputs a Δx / Δy offset signal to the edge computer, with a communication delay of less than 5 ms.

[0051] S3. The edge computer runs a dynamic compensation algorithm, calculates the compensation amount according to the offset signal and the formula ΔP = K1·V_jitter + K2·Δt, and generates a laser marking coordinate adjustment instruction.

[0052] Wherein ΔP is the compensation displacement, V_jitter is the jitter speed of the packaging machine, Δt is the system response delay, K1 / K2 is the machine learning calibration coefficient.

[0053] S4. The laser marking machine receives the adjustment instruction, executes date printing according to the compensated coordinates, and synchronously feeds back a marking completion signal to the edge computer.

[0054] S5. After receiving the feedback signal, the edge computer controls the machine vision module to perform secondary visual inspection on the printing result, forming a closed-loop control.

[0055] A high-precision food packaging mark printing device based on machine vision dynamic compensation adopts the high-precision food packaging mark printing system, and comprises a base 1 and a support column 2 on one side of the base 1. A rotating shaft one 902 is arranged on the side of the support column 2 close to the base 1, and a rotating rod three 901 is arranged in the support column 2. A rotating shaft two 904 is arranged on the side of the support column 2 away from the rotating shaft one 902, and the rotating shaft two 904 is arranged in the support column 2 and is placed in parallel with the rotating shaft one 902. A chain belt 905 is installed on the side of the rotating shaft one 902 close to the base 1. One end of the chain belt 905 close to the rotating shaft one 902 is fixedly connected to the rotating shaft one 902, and the other end of the chain belt 905 close to the rotating shaft two 904 is fixedly connected to the rotating shaft two 904. An activity frame 4 is fixedly connected to an F-shaped mounting piece 402 on the side of the support column 2 away from the support rod 401. The F-shaped mounting piece 402 is inserted into the support column 2 and fixedly connected to the chain belt 905. An opening 202 is arranged on the support column 2 for cooperating with the F-shaped mounting piece 402. The support column 2 is placed in parallel with a support rod 401 on the side of the support column 2 away from the chain belt 905. The activity frame 4 is movably installed on the side of the support rod 401 close to the support column 2, and the support rod 401 penetrates and is connected to the activity frame 4. An activity clamp wheel 404 is installed on the side of the activity frame 4 close to the support rod 401, and the activity clamp wheel 404 is arranged in the activity frame 4 and movably connected to the activity frame 4. A connecting piece 203 is fixedly installed on the side of the support rod 401 away from the activity frame 4, and the connecting piece 203 is fixedly connected to the support column 2 on the side of the support column 2 close to the support rod 401. An L-shaped mounting plate 403 is fixedly connected to the activity frame 4 on the side of the activity frame 4 away from the support rod 401. The L-shaped mounting plate 403 is fixedly connected to a shell piece 3 on the side of the shell piece 3 away from the activity frame 4. An activity shell 301 is installed on the side of the shell piece 3 away from the support column 2, and the activity shell 301 is arranged in the shell piece 3 and movably connected to the shell piece 3. A U-shaped mounting piece 501 is fixedly connected to the activity shell 301 on the side of the activity shell 301 away from the support column 2. A pneumatic cylinder 5 is fixedly connected to the U-shaped mounting piece 501 on the side of the U-shaped mounting piece 501 away from the activity shell 301. A vision projector 6 is fixedly connected to the pneumatic cylinder 5 on the side of the pneumatic cylinder 5 perpendicular to the shell piece 3.

[0056] The rotating shaft one 902 is installed on the side of the shell piece 3 away from the shell piece 3. The rotating rod three 901 is fixedly connected to the rotating shaft one 902 on the side of the rotating shaft one 902 close to the rotating rod three 901. The other end of the rotating rod three 901 is inserted and connected to the support column 2. The rotating shaft two 904 is installed on the side of the shell piece 3 away from the shell piece 3. A motor 9 is fixedly connected to the rotating shaft one 902 on the side of the rotating shaft one 902 close to the base 1. The motor 9 is fixedly connected to the base 1 on the side of the base 1 close to the motor 9. The rotating shaft two 904 is installed on the side of the shell piece 3 away from the shell piece 3. An installation rod 903 is fixedly connected to the rotating shaft two 904 on the side of the rotating shaft two 904 close to the installation rod 903. The other end of the rotating shaft two 904 is fixedly connected to the support column 2. The support column 2 is fixedly connected to an auxiliary groove 201 on the side of the support column 2 close to the shell piece 3. The shell piece 3 is fixedly connected to a sliding block 308 on the side of the shell piece 3 close to the auxiliary groove 201. The sliding block 308 is movably connected to the auxiliary groove 201 on the side of the sliding block 308 close to the support column 2.

[0057] The side, close to the shell 301, of the rotating rod one 302 is fixedly connected with the gear two 305, and the gear two 305 is arranged in the inside of the shell 3; the side, far away from the shell 301, of the gear two 305 is movably connected with the gear one 304; the side, perpendicular to the gear two 305, of the gear one 304 is penetratedly connected with the rotating rod two 303; the end, far away from the gear one 304, of the rotating rod two 303 is movably connected in the shell 3, and the other end of the rotating rod two 303 is insertedly connected with the shell 3; the side, close to the gear one 304, of the rotating rod two 303 is mounted with the rotating handle 307, and the side, close to the shell 3, of the rotating handle 307 is fixedly connected with the rotating rod two 303.

[0058] The side, close to the base 1, of the visual projector 6 is mounted with the laser marking part 601, and the side, close to the visual projector 6, of the laser marking part 601 is fixedly connected with the visual projector 6; the side, far away from the cylinder 5, of the visual projector 6 is provided with the packaging mechanism 8; the side, perpendicular to the supporting column 2, of the base 1 is mounted with the calculation mechanism 7, and the side, close to the base 1, of the calculation mechanism 7 is fixedly connected with the base 1; the side, close to the shell 3, of the calculation mechanism 7 is fixedly connected with the controller 701.

[0059] The working principle and process of the present application are as follows:

[0060] Firstly, the belt gear structure in the supporting column 2 is driven to rotate by starting the motor 9, thereby driving the movable frame 4 on the supporting rod 401 to perform lifting adjustment operation, so that the device side assembly enters the appropriate height.

[0061] Secondly, the cylinder 5 is arranged on one side of the shell 3 for cooperation; during basic adjustment, the longitudinal and transverse pushing adjustment in the device is a conventional angular displacement; in the actual marking stage, in order to adapt to the packaging mechanism 8 on the side, the cylinder 5 is used for transverse precise adjustment, and then the cursor position of the visual projector 6 mounted on one side of the cylinder 5 is determined.

[0062] Finally, the visual projector 6 is arranged on one side of the cylinder 5 for cooperation with the device; the device can project a high-light cross reference line on the packaging mechanism 8 opposite to the device; the internal optical structure of the device is fixed on the optical path of the laser machine, and can be calibrated with the laser marking light path in real time; the principle steps are as follows:

[0063] Packaging machine → Edge computer → Machine vision (offset detection) → Laser marking machine (dynamic adjustment) → Edge computer → Secondary vision inspection.

[0064] The electrical components appearing in this text are all connected with the main controller and 220V mains, and the main controller can be a computer or other conventional known device that can be controlled.

[0065] In one of the application schemes, the bag packaging machine has a packaging speed of 40 bags per minute, and the shaking amplitude is ±2mm; the vision system captures the cross line position at 100fps, the edge computer calculates the compensation amount (the average processing time is 8ms), the laser machine prints the date according to the corrected coordinates, and the secondary vision verification checks the printing quality (the error rate is less than 100ppm), finally achieving a printing area offset of ≤0.5mm and a white area reduction of 40%.

Claims

1. A high-precision food packaging label printing system based on machine vision dynamic compensation, characterized in that: Including laser projection lights, machine vision modules, edge computers and laser marking machines; The laser projection lamp is fixed on the optical path of the laser marking machine and projects a bright cross reference line that is calibrated with the same reference as the laser marking optical path; The machine vision module is connected to the edge computer via a high-speed network interface with a communication delay of less than 5ms. It is used to identify the cross reference line on the packaging bag to detect position deviation and output Δx / Δy offset signals; The edge computer receives the offset signal from the machine vision module, runs the dynamic compensation algorithm to generate the laser marking coordinate adjustment command in real time and sends it to the laser marking machine. At the same time, it receives the marking completion signal from the laser marking machine. The laser marking machine executes printing according to the adjustment instructions and synchronously feeds back the marking completion signal; After receiving the marking completion signal, the edge computer controls the machine vision module to perform a secondary visual inspection, forming a closed-loop control of detection-compensation-verification.

2. A high-precision food packaging label printing method based on machine vision dynamic compensation, characterized in that: The high-precision food packaging label printing system according to claim 1 is used, comprising the following steps: S1. The packaging machine transports the packaging bag to the printing station, and the laser projection lamp projects a bright cross reference line on the packaging bag, which is the same as the laser marking light path; S2. The machine vision module identifies the cross reference line to detect the position deviation of the packaging bag and outputs the Δx / Δy offset signal to the edge computer with a communication delay of less than 5ms. S3. The edge computer runs a dynamic compensation algorithm based on the offset signal and the formula ΔP = K1·V_jitter + K2·Δt. Where ΔP is the compensation displacement, V_jitter is the vibration speed of the packaging machine, Δt is the system response delay, and K1 / K2 is the machine learning calibration coefficient. The compensation amount is calculated and the laser marking coordinate adjustment instruction is generated; S4. The laser marking machine receives the adjustment command, prints the date based on the compensated coordinates, and simultaneously sends a marking completion signal to the edge computer. S5. After receiving the feedback signal, the edge computer controls the machine vision module to perform a secondary visual inspection of the printed results, forming a closed-loop control.

3. A high-precision food packaging label printing device based on machine vision dynamic compensation, characterized by: The high-precision food packaging label printing system according to claim 1 is adopted, comprising a base (1) and a support column (2) on one side of the base (1), wherein the support column (2) is provided with a rotating shaft (902) on the side close to the base (1), and a rotating rod (901) is placed inside the support column (2), and the support column (2) is provided with a rotating shaft (904) on the side away from the rotating shaft (902), and the rotating shaft (904) is placed inside the support column (2) and is placed parallel to the rotating shaft (902), and a chain belt (905) is installed on the side of the rotating shaft (902) close to the base (1), and one end of the chain belt (905) close to the rotating shaft (902) is fixedly connected to the rotating shaft (902), and the other end of the chain belt (905) close to the rotating shaft (904) is fixedly connected to the rotating shaft (904), and the support column (2) is placed parallel to the side away from the chain belt (905). A support rod (401) is provided, wherein a movable frame (4) is movably mounted on a side of the support rod (401) close to the support column (2), and the support rod (401) is connected to the movable frame (4); an L-shaped mounting plate (403) is fixedly connected to a side of the movable frame (4) away from the support rod (401); a shell (3) is fixedly connected to a side of the L-shaped mounting plate (403) away from the movable frame (4); a movable shell (301) is mounted on a side of the shell (3) away from the support column (2), and the movable shell (301) is placed inside the shell (3) and movably connected to the shell (3); a U-shaped mounting member (501) is fixedly connected to a side of the movable shell (301) away from the support column (2); a cylinder (5) is fixedly connected to a side of the U-shaped mounting member (501) away from the movable shell (301); and a visual projector (6) is fixedly connected to a side of the cylinder (5) perpendicular to the shell (3).

4. The high-precision food packaging label printing device based on machine vision dynamic compensation according to claim 1, characterized in that: An F-shaped mounting piece (402) is fixedly connected to one side of the movable frame (4) away from the support rod (401); the F-shaped mounting piece (402) is inserted into one side of the support column (2) and fixedly connected to the chain belt (905); and an opening (202) for use with the F-shaped mounting piece (402) is provided on the support column (2).

5. The high-precision food packaging label printing device based on machine vision dynamic compensation according to claim 1, characterized in that: A movable clamping wheel (404) is installed on a side of the movable frame (4) close to the support rod (401), and the movable clamping wheel (404) is placed inside the movable frame (4) and movably connected to the movable frame (4); a connecting piece (203) is fixedly installed on a side of the support rod (401) away from the movable frame (4), and a side of the connecting piece (203) close to the support column (2) is fixedly connected to the support column (2).

6. The high-precision food packaging label printing device based on machine vision dynamic compensation according to claim 1, characterized in that: A rotating rod 3 (901) is installed on the side of the rotating shaft 1 (902) away from the shell (3), and one end of the rotating rod 3 (901) close to the rotating shaft 1 (902) is fixedly connected to the rotating shaft 1 (902), and the other end of the rotating rod 3 (901) is inserted and connected to the support column (2). A motor (9) is installed on the side of the rotating shaft 1 (902) away from the shell (3), and the side of the motor (9) close to the base (1) is fixedly connected to the base (1).

7. The high-precision food packaging label printing device based on machine vision dynamic compensation according to claim 1, characterized in that: A mounting rod (903) is installed on the side of the second rotating shaft (904) away from the shell (3); one end of the mounting rod (903) close to the second rotating shaft (904) is fixedly connected to the mounting rod (903), and the other end of the second rotating shaft (904) is fixedly connected to the support column (2); the side of the support column (2) close to the shell (3) is fixedly connected to the auxiliary groove (201); the side of the shell (3) close to the auxiliary groove (201) is fixedly connected to the sliding block (308), and the side of the sliding block (308) close to the support column (2) is movably connected in the auxiliary groove (201).

8. The high-precision food packaging label printing device based on machine vision dynamic compensation according to claim 1, characterized in that: A rotating rod 1 (302) is installed on a side of the movable shell (301) close to the shell member (3), and the rotating rod 1 (302) is inserted and connected to the movable shell (301) and placed at the center of the movable shell (301). A supporting plate (306) is fixedly connected to a side of the shell member (3) close to the movable shell (301), and the rotating rod 1 (302) is inserted and connected to the supporting plate (306) and placed at the center of the supporting plate (306).

9. The high-precision food packaging label printing system and method based on machine vision dynamic compensation according to claim 6, characterized in that: The side of the rotating rod 1 (302) away from the movable shell (301) is fixedly connected to the gear 2 (305), and the gear 2 (305) is placed inside the shell (3). The side of the gear 2 (305) away from the movable shell (301) is movably connected to the gear 1 (304), and the gear 1 (304) is perpendicular to the side of the gear 2 (305) and is connected to the rotating rod 2 (303) through it.

10. The high-precision food packaging label printing device based on machine vision dynamic compensation according to claim 7, characterized in that: The end of the second rotating rod (303) away from the first gear (304) is movably connected to the shell (3), and the other end of the second rotating rod (303) is inserted and connected to the shell (3). A rotating handle (307) is installed on the side of the second rotating rod (303) close to the first gear (304), and the side of the rotating handle (307) close to the shell (3) is fixedly connected to the second rotating rod (303); a laser marking part (601) is installed on the side of the visual projector (6) close to the base (1). , and the side of the laser marking part (601) close to the visual projector (6) is fixedly connected to the visual projector (6), the side of the visual projector (6) away from the cylinder (5) is provided with a packaging mechanism (8), a side of the base (1) vertical support column (2) is installed with a computing mechanism (7), and the side of the computing mechanism (7) close to the base (1) is fixedly connected to the base (1), and the side of the computing mechanism (7) close to the shell (3) is fixedly connected to a controller (701).

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