Labeling method, system, electronic device, and storage medium

Abstract

This application proposes a labeling method, system, electronic device, and storage medium. The method includes acquiring the dimensional parameters of a target container and the operating parameters of a labeling device; determining the target rotational linear velocity of the target container at the labeling station based on the operating parameters, wherein the target rotational linear velocity is used to compensate for the linear velocity generated by the target container's revolution with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity; determining the real-time contact radius of the target container at different rotation angles during rotation based on the dimensional parameters; calculating the target rotational linear velocity and the real-time contact radius to obtain the real-time rotational angular velocity of the target container at different rotation angles; generating an electronic cam trajectory for the target container based on different rotation angles and the corresponding real-time rotational angular velocities, and using the electronic cam trajectory to control the servo motor of the labeling device to drive the target container's rotation.

Description

Technical Field

[0001] This application relates to the technical field of labeling methods, and more particularly to a labeling method, system, electronic device, and storage medium. Background Technology

[0002] Labeling machines face a unique technical challenge when labeling irregularly shaped containers (such as common square and oval bottles). This is because the cross-section of these containers is not a standard circle; the radius from the outer contour surface to the container's axis of rotation changes with the angle. To ensure that the final label adheres smoothly and wrinkle-free to the bottle's curved surface, the core control requirement is that the instantaneous linear velocity of each point on the outer circumference of the irregularly shaped container (i.e., the point on the bottle surface in contact with the label) must match the constant speed at which the label is separated from the label tape. Only in this way can the label's delivery length be synchronized in real time with the change in the corresponding circumference of the bottle at the moment of label contact, thus achieving a high-quality, non-destructive labeling effect.

[0003] Traditional methods require engineers to manually input angle and speed parameters in stages on a touchscreen based on their experience for blind calibration testing, resulting in poor labeling efficiency. Summary of the Invention

[0004] This application provides a labeling method, system, electronic device, and storage medium to solve the problems existing in related technologies. The technical solution is as follows: In a first aspect, embodiments of this application provide a labeling method, including: Obtain the size parameters of the target container and the operating parameters of the labeling equipment; Based on the operating parameters, the target rotational linear velocity of the target container at the labeling station is determined. The target rotational linear velocity is used to compensate for the linear velocity generated by the target container as it revolves with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity. Based on the size parameters, determine the real-time contact radius of the target container at different rotation angles during its rotation. The target's rotational linear velocity and real-time contact radius are calculated to obtain the real-time rotational angular velocity of the target container at different rotation angles; Based on different rotation angles and corresponding real-time rotation angular velocities, an electronic cam trajectory for the target container is generated. The electronic cam trajectory is used to control the servo motor of the labeling equipment to drive the target container to rotate.

[0005] Secondly, embodiments of this application provide a labeling system, including: The first acquisition module is used to acquire the size parameters of the target container and the operating parameters of the labeling equipment; The first determining module is used to determine the target rotational linear velocity of the target container at the labeling station based on the operating parameters. The target rotational linear velocity is used to compensate for the linear velocity generated by the target container as it revolves with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity. The second determining module is used to determine the real-time contact radius of the target container at different rotation angles during its rotation, based on the size parameters. The first module is used to calculate the target's rotational linear velocity and real-time contact radius, and to obtain the real-time rotational angular velocity of the target container at different rotation angles; The first generation module is used to generate an electronic cam trajectory for the target container based on different rotation angles and corresponding real-time rotation angular velocities, and to control the servo motor of the labeling device to drive the target container to rotate using the electronic cam trajectory.

[0006] Thirdly, embodiments of this application provide an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the labeling method described above.

[0007] Fourthly, embodiments of this application provide a computer-readable storage medium that stores computer instructions, wherein when the computer instructions are executed on a computer, the methods in any of the above-described embodiments are performed.

[0008] The advantages or beneficial effects of the above technical solutions include at least the following: The labeling method proposed in this embodiment establishes the target rotation linear velocity and real-time contact radius by using the target container size parameters and equipment operating parameters. Based on the target rotation linear velocity and real-time contact radius, the real-time rotation angular velocity of the target container at different rotation angles is determined. Based on different rotation angles and corresponding real-time rotation angular velocities, an electronic cam trajectory for controlling the servo motor drive is generated. This transforms the complex motion control during the labeling process of irregularly shaped containers into electronic cam trajectory data under equipment control. The electronic cam trajectory drives the target container to adaptively rotate at varying speeds while the contact radius continuously changes, ensuring dynamic matching between the composite linear velocity of the labeling contact point and the label dispensing linear velocity. This solves the problem of traditional methods requiring engineers to manually input angle and speed parameters in stages on a touchscreen for blind testing, leading to poor labeling efficiency. It effectively shortens the parameter configuration cycle during production changes of irregularly shaped containers and improves the execution stability of the labeling process.

[0009] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0010] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0011] Figure 1 This is a flowchart of a labeling method according to an embodiment of this application.

[0012] Figure 2 This is a block diagram of an electronic device according to an embodiment of the present application.

[0013] Figure 3 This is a schematic diagram of the structure of a labeling device according to an embodiment of this application.

[0014] Figure 4 This is a schematic diagram of the labeling device according to an embodiment of the present application from another perspective.

[0015] Figure 5 This is a top-view structural diagram of a labeling device according to an embodiment of this application.

[0016] Figure 6 This is a schematic diagram of the planar angle of a labeling device according to an embodiment of this application.

[0017] Figure 7 This is a schematic diagram of the labeling device according to an embodiment of the present application from another perspective.

[0018] Among them, 10 is the target container; 11 is the positioning mold; 12 is the servo motor; 13 is the turntable; and 14 is the mark drum. Detailed Implementation

[0019] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0020] Figure 1 A flowchart illustrating a labeling method according to an embodiment of this application is shown. Figure 1 and Figures 3-7As shown, a labeling method may include: S110: Obtain the size parameters of the target container and the operating parameters of the labeling equipment; S120: Based on the operating parameters, determine the target rotational linear velocity of the target container at the labeling station. The target rotational linear velocity is used to compensate for the linear velocity generated by the target container as it revolves with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity. S130: Based on the size parameters, determine the real-time contact radius of the target container at different rotation angles during its rotation; S140: Calculate the target's rotational linear velocity and real-time contact radius to obtain the target container's real-time rotational angular velocity at different rotation angles; S150: Based on different rotation angles and corresponding real-time rotation angular velocities, an electronic cam trajectory for the target container is generated, and the servo motor of the labeling equipment is controlled by the electronic cam trajectory to drive the target container to rotate.

[0021] The labeling method proposed in this embodiment establishes the target rotation linear velocity and real-time contact radius by using the target container size parameters and equipment operating parameters. Based on the target rotation linear velocity and real-time contact radius, the real-time rotation angular velocity of the target container at different rotation angles is determined. Based on different rotation angles and corresponding real-time rotation angular velocities, an electronic cam trajectory for controlling the servo motor drive is generated. This transforms the complex motion control during the labeling process of irregularly shaped containers into electronic cam trajectory data under equipment control. The electronic cam trajectory drives the target container to adaptively rotate at varying speeds while the contact radius continuously changes, ensuring dynamic matching between the composite linear velocity of the labeling contact point and the label dispensing linear velocity. This solves the problem of traditional methods requiring engineers to manually input angle and speed parameters in stages on a touchscreen for blind testing, leading to poor labeling efficiency. It effectively shortens the parameter configuration cycle during production changes of irregularly shaped containers and improves the execution stability of the labeling process.

[0022] like Figures 3-5 As shown, in some embodiments of this application, a labeling device is configured to perform a labeling method. The labeling device is mainly used for labeling the outer surface of irregularly shaped containers (such as square bottles, oval bottles, etc.). The labeling device mainly includes a turntable 13 and a label drum 14 arranged around the turntable 13. Multiple bottle holder stations are evenly distributed in a circular array on the outer edge of the turntable 13. During operation, the turntable 13 is driven by the main transmission mechanism, causing the target container 10 on each bottle holder station to move in a circular motion around the central axis of the turntable 13. This motion trajectory is defined as the revolution trajectory of the target container 10.

[0023] For a single bottle tray station, an independent rotation drive mechanism and clamping and positioning mechanism are configured. Specifically, the rotation drive mechanism includes a longitudinally mounted servo motor 12; the output shaft of the servo motor 12 is connected to the positioning mold 11, and the upper surface contour of the positioning mold 11 is adapted to the bottom shape of the target container 10 to support the target container 10. A pressure head, which can be raised and lowered vertically, is coaxially arranged above the positioning mold 11. When the target container 10 is fed onto the positioning mold 11, the pressure head moves down and presses against the top of the target container 10, forming an axial clamping and fixing of the target container 10 together with the positioning mold 11. In this clamping state, the servo motor 12 can drive the positioning mold 11 and the target container 10 to rotate around their own central axis; this motion state is defined as the rotation of the target container 10.

[0024] When the turntable 13 drives the target container 10 to revolve and enter the labeling station, the outer surface of the target container 10 makes physical contact with the edge of the label drum 14 to receive the label. During this process, the labeling equipment has three core linear velocity variables: First, the linear velocity of the label drum 14: the linear velocity at which the label is peeled off and output from the label drum 14. Second, the revolving linear velocity of the turntable 13: the linear velocity of the target container 10's rotation center point along the tangent direction of the revolution as it revolves with the turntable 13. Third, the rotational linear velocity of the target container 10: the linear velocity of the labeling contact point on the surface of the target container 10 relative to its own rotation center when it rotates under the drive of the servo motor 12.

[0025] To ensure the label is applied smoothly and without wrinkles to the outer surface of the target container 10, the composite absolute linear velocity of the target container 10 at the labeling contact point is consistent with the linear velocity of the label drum 14 outputting the label. Based on the principle of motion synthesis, the composite absolute linear velocity at the labeling contact point is the vector superposition of the revolution linear velocity of the turntable 13 and the rotation linear velocity of the target container 10. Under a given unidirectional operating condition, the algebraic relationship of the above linear velocities is expressed as: revolution linear velocity of the turntable 13 + rotation linear velocity of the target container 10. Therefore, it can be deduced that the target rotation linear velocity that the servo motor 12 needs to provide to the target container 10 is equal to the linear velocity of the label drum 14 minus the revolution linear velocity of the turntable 13.

[0026] Because the target container 10 (such as a square bottle) has a non-circular cross-sectional profile, when the target container 10 rotates at the labeling station, the straight-line distance (i.e., the real-time contact radius) from the labeling contact point on its outer surface to the center of rotation of the container exhibits a non-linear change. According to the physical laws of circular motion, linear velocity is equal to the product of angular velocity and the radius of rotation. Assuming the target rotation linear velocity has been set to a constant compensation value, the real-time rotation angular velocity of the servo motor 12 driving the target container 10 is adaptively adjusted because the real-time contact radius continuously changes during rotation.

[0027] In step S110, the size parameters of the target container and the operating parameters of the labeling equipment are obtained.

[0028] In this embodiment, the target container typically refers to an irregularly shaped container for which an external surface labeling operation is to be performed, such as a rectangular, elliptical, or irregularly shaped polygonal bottle with rounded corners. Since the straight-line distance from the labeling contact point to the center of rotation is not constant when the target container rotates at the labeling station, dimensional parameters are needed to characterize the physical contour features of the target container's outer perimeter.

[0029] In some specific embodiments, when the target container is a square bottle, the dimensional parameters may include physical dimensions such as the cross-sectional length and width of the container. By obtaining these dimensional parameters, the controller of the labeling equipment can establish a geometric space model based on the dimensional parameters corresponding to the target container.

[0030] Furthermore, operating parameters are primarily used to characterize the inherent mechanical properties of the labeling equipment itself and its current production cycle status. It's understandable that the labeling process in labeling equipment involves the revolution of the turntable to feed bottles and the label dispensing motion of the label drum. Therefore, operating parameters typically encompass two dimensions of information: firstly, static mechanical structural parameters, such as the geometric diameter of the turntable and label drum in the labeling equipment, and the number of stations in the circumferential direction; secondly, dynamic operating cycle parameters, such as the set cycle time for a single revolution. Operating parameters are data used to calculate the linear velocity of the target container as it revolves with the turntable, and the baseline linear velocity of the label at the label contact point.

[0031] In practical industrial applications, this embodiment does not strictly limit the specific methods for obtaining the aforementioned dimensional and operational parameters. For example, these parameters can be obtained by receiving input commands set by field engineers through a Human Machine Interface (HMI); alternatively, the controller can directly retrieve the bottle type formula file matching the current production batch from the data server of the enterprise's upper-level Manufacturing Execution System (MES) via a network communication interface to parse and read the aforementioned parameters; in other optional embodiments, some parameters can also be identified by physical features and status feedback by a vision sensor arranged at the feeding end of the labeling equipment in conjunction with an encoder, and automatically transmitted to the computing module.

[0032] In step S120, the target rotational linear velocity of the target container at the labeling station is determined according to the operating parameters. The target rotational linear velocity is used to compensate for the linear velocity generated by the target container as it revolves with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity.

[0033] In this embodiment, to ensure that the label can be applied to the outer surface of the target container flat, without wrinkles, and without being torn, the core motion condition to be met is that the linear velocity of the label being peeled off from the label drum and output (i.e., label output linear velocity) at the instant the label comes into contact with the container surface and during the subsequent application process, is dynamically consistent with the absolute linear velocity (i.e., composite linear velocity) of the specific position on the target container surface where the label is received (i.e., the labeling contact point).

[0034] When the target container enters the labeling station, its physical motion is actually a superposition of two basic motions: the first is the revolution motion generated by the turntable driving the target container to rotate around the central axis of the turntable; the second is the rotation motion generated by the servo motor at the bottom of the target container driving it to rotate around its own central axis. Therefore, based on the principle of motion synthesis, the composite linear velocity of the labeling contact point on the outer surface of the target container relative to the ground is equal to the vector sum of the linear velocity components generated by the two basic motions at that contact point.

[0035] In the actual operation of labeling equipment, the revolution state set by the turntable rotation and the label dispensing state set by the label drum feeding are usually dependent on a stable production cycle, generating relatively constant linear velocity boundary conditions. Since the linear velocity component of the target container generated solely by the turntable's revolution often cannot be directly equal to the label dispensing linear velocity, a servo motor must actively intervene to drive the target container to rotate, thereby providing an additional rotational linear velocity component. This rotational linear velocity component, provided by the servo motor to compensate for the difference between the revolution linear velocity and the target linear velocity, is the target rotational linear velocity.

[0036] By calculating and quantifying the required compensation linear velocity, the complex external motion environment constructed by revolution and label delivery is transformed into a defined baseline linear velocity index for controlling the rotation of the target container itself. Subsequent control of the servo motor to match this target rotation linear velocity objectively compensates for the linear velocity deviation caused by the revolution, thereby achieving process conditions where the synthesized linear velocity matches the label delivery linear velocity.

[0037] In step S130, based on the size parameters, the real-time contact radius of the target container at different rotation angles during its rotation is determined.

[0038] When a traditional cylindrical container rotates around its central axis, the straight-line distance from any point on its outer surface to the center of rotation is a constant value (i.e., a fixed radius). However, the target container in this embodiment is an irregularly shaped container (such as a square bottle), whose cross-sectional profile exhibits an irregular shape composed of alternating straight sections and rounded corners. When this target container is driven by a servo motor to rotate at the labeling station, as the rotation progresses, the position on its outer surface that is tangent to the label drum to receive the label (i.e., the labeling contact point) will continuously undergo relative displacement along the container's profile; during this process, the spatial straight-line distance from the labeling contact point to the container's center of rotation is in a continuous and non-linear state of change.

[0039] If this dynamically changing distance variable is ignored and the target container is driven by a constant rotation speed, the actual linear velocity at the labeling contact point will fluctuate, thus violating the linear velocity consistency condition established in the previous steps. Using dimensional parameters (such as cross-sectional length and width representing the physical boundaries of the container's outer contour), the controller can construct a two-dimensional or three-dimensional cross-sectional geometric model of the target container in the background logic. Subsequently, the rotation angle of the target container during its rotation is introduced as a phase variable in the time series. By substituting any specific rotation angle into the established geometric model, and based on the spatial projection and intersection constraints in geometry, the exact position of the labeling contact point in the spatial coordinate system at that specific rotation angle can be deduced, and the absolute straight-line distance from the contact point to the rotation center can be obtained.

[0040] The real-time contact radius is determined by analyzing the following distance values ​​for different rotation angles. The complex and irregular physical contour features of the target container are transformed into a series of dynamic geometric radius data that are synchronously mapped with the rotation angle.

[0041] In step S140, the target rotation linear velocity and real-time contact radius are calculated to obtain the real-time rotation angular velocity of the target container at different rotation angles.

[0042] According to the laws of circular motion in classical physics, when a rigid body rotates about a fixed axis, there is a direct and fixed mathematical constraint relationship between the linear velocity at a specific point on its surface, the angular velocity of the entire system's rotation, and the radius of rotation from that specific point to the center of rotation. In the actual physical scenario of a labeling station, the target container is equivalent to this rigid body. The linear velocity of the target's rotation corresponds to the linear velocity required at the labeling contact point on the rigid body's surface, the real-time contact radius corresponds to the radius of rotation at that contact point, and the rotational speed of the servo motor driving the target container's rotation corresponds to the angular velocity of the rigid body system.

[0043] Since the target's rotational linear velocity is a constant compensation requirement, and due to the influence of the non-circular container's outline, the real-time contact radius changes continuously and non-linearly during the target container's rotation. Based on the inherent physical constraints of the aforementioned circular motion, it is determined that in order to maintain a constant outer edge linear velocity under dynamically changing radius conditions, the servo motor's rotational angular velocity must be adaptively and dynamically adjusted in the opposite direction. Specifically, when the real-time contact radius increases, the required angular velocity should decrease accordingly; conversely, when the real-time contact radius decreases, the required angular velocity should increase accordingly.

[0044] Based on the above logic, the controller uses each specific rotation angle as a retrieval index to extract the corresponding real-time contact radius. Then, the target rotation linear velocity and the extracted real-time contact radius are input into the built-in kinematics calculation module for correlation calculation. Through this calculation, the required rotational angular velocity of the servo motor to maintain a constant linear velocity at the labeling contact point at each specific rotation angle can be objectively calculated. This series of angular velocity values ​​calculated synchronously with the rotation angle is determined as the real-time rotation angular velocity.

[0045] In step S150, an electronic cam trajectory of the target container is generated based on different rotation angles and corresponding real-time rotation angular velocities, and the electronic cam trajectory is used to control the servo motor of the labeling device to drive the target container to rotate.

[0046] In this embodiment, the electronic cam technology aims to establish a virtual nonlinear motion mapping relationship between the master and slave axes through the software algorithm inside the controller, so as to simulate the follow-up characteristics of a mechanical cam. In the actual control architecture of the labeling process, the controller establishes different rotation angles as phase references (i.e., master axis position variables) and establishes the real-time rotation angular velocity corresponding to each rotation angle as the controlled execution target (i.e., slave axis motion variables).

[0047] Based on the aforementioned logical mapping relationship, the controller utilizes its internal trajectory planning module to perform correlation and data fitting processing on a series of discrete input data nodes (rotation angle, real-time rotation angular velocity). This process constructs a running curve or mapping data table reflecting the continuous correspondence between angle and angular velocity within the domain of the rotation angle. This generated continuous motion planning data stream is the electronic cam trajectory. The electronic cam trajectory solidifies the variable speed action rules required for a non-circular container at each rotation phase.

[0048] During the labeling process, the controller sends the generated electronic cam trajectory data to the servo drive of the labeling equipment. When the target container is moved by the turntable at the labeling station and begins to receive the label, the servo motor, as the underlying actuator, drives the target container to rotate according to the phase and speed relationship set by the electronic cam trajectory. Since the electronic cam trajectory is derived from a constant target linear velocity and a dynamic physical radius in a rigorous reverse process, the servo motor performs nonlinear speed-changing drive according to this trajectory, which can adaptively offset the influence of changes in the container's shape on the labeling linear velocity. Through this control closed loop, the combined linear velocity of the labeling contact point on the target container surface is kept dynamically consistent with the label dispensing linear velocity throughout the entire labeling cycle, thus meeting the process requirements of wrinkle-free and tear-free labeling of irregularly shaped containers.

[0049] This embodiment decouples the complex revolution and label delivery motions by establishing a target rotational linear velocity. Simultaneously, it derives the real-time contact radius that dynamically changes with the rotation angle based on the target container's dimensional parameters. By performing mathematical operations on the aforementioned constant linear velocity compensation benchmark and the dynamic geometric radius variable, the real-time rotational angular velocity is calculated in reverse, and the electronic cam trajectory is constructed. This allows the servo motor to execute non-linear speed-changing drive strictly according to the physical changes in the container's outer contour, offsetting the interference of non-circular container radius fluctuations on the labeling linear velocity. Therefore, it ensures that the composite linear velocity of the labeling contact point on the target container surface remains dynamically consistent with the label delivery linear velocity throughout the entire labeling cycle, effectively avoiding defects such as label wrinkling, skewing, or breakage caused by speed mismatch, and improving the flatness and process stability of labeling on irregularly shaped containers.

[0050] Furthermore, the servo drive trajectory planning process is transformed from traditional manual intervention into automated mathematical deduction based on fundamental parameters. Since the electronic cam trajectory is directly calculated and generated by the underlying controller based on equipment operating parameters and container size parameters, this mechanism eliminates the need for on-site commissioning engineers to manually trial and error and blindly adjust multiple segments of rotational angular velocity based on experience, as is present in existing technologies. This reduces the reliance of labeling equipment on manual commissioning experience. In actual industrial production, when changing production for containers of different specifications or cross-sectional shapes, operators or the upper-level system only need to update the corresponding size and operating parameters, and the controller can automatically recalculate and generate a matching electronic cam control trajectory. This mechanism significantly shortens the parameter configuration time and initial trial-and-error costs when changing production for irregularly shaped containers, improving the production line changeover agility and overall production efficiency of the labeling equipment.

[0051] like Figures 3-7As shown, in some embodiments of this application, the operating parameters also include the single-rotation cycle of the turntable, the diameter of the labeling drum, the number of labeling drum stations, the pitch circle diameter of the turntable, and the number of turntable stations. Based on these operating parameters, determining the target rotational linear velocity of the target container at the labeling station includes: The linear velocity of the target drum is obtained based on the single-rotation cycle of the turntable, the ratio of the number of turntable stations to the number of target drum stations, and the diameter of the target drum. The orbital velocity of the turntable is obtained based on the single-revolution period of the turntable and the pitch circle diameter of the turntable; The linear velocity of the marker drum is defined as the velocity at which the label exits the marker. The difference between the linear velocity of the target drum and the linear velocity of the turntable's revolution is determined as the target rotational linear velocity of the target container.

[0052] In this embodiment, during the stable operation of the labeling equipment, a strict one-to-one correspondence must be established between the bottle stations on the turntable and the label dispensing stations on the label drum. That is, the number of target containers passing through the labeling stations per unit time must equal the number of labels output by the label drum. Based on this physical synchronization constraint, the rotational angular velocity of the label drum is not set in isolation, but is constrained by the turntable's operating cycle and the ratio of the number of stations on both. In the control logic, the linear velocity of the label drum is defined as V1. Its mathematical calculation formula is:

[0053] Where T is the turntable's single-circle cycle, which is the time required for the turntable to complete one full 360-degree rotation; N1 is the number of turntable stations, which is the total number of bottle holder stations physically configured on the edge of the turntable; from this, N1 / T represents the number of target containers passing through the labeling station per unit time; N2 is the number of label drum stations, which is the total number of label feeding stations configured on the circumference of the label drum; due to station matching requirements, the number of rotations the label drum needs to make per second is equal to (N1 / T) / N2; D1 is the diameter of the label drum; π×D1 represents the physical circumference of the label drum; multiplying the circumference of the label drum by the number of rotations per second yields the linear velocity of the label drum edge, i.e., the label drum linear velocity V1.

[0054] The diameter of the circular trajectory traced by the center point of the target container's rotation in space as it revolves with the turntable is the pitch circle diameter of the turntable. Based on this, the linear velocity component imparted to the target container solely by its revolution motion can be calculated.

[0055] The linear velocity of the turntable's revolution is defined as V2. Its mathematical formula is:

[0056] Where D2 is the pitch circle diameter of the turntable; π×D2 is the actual physical path length of the target container as it revolves around the turntable; by dividing this path length by the single-revolution period T of the turntable, the rotational linear velocity V2 of the target container can be obtained.

[0057] The calculated label drum linear velocity V1 is directly determined as the label ejection linear velocity. To meet the process requirement of smooth, wrinkle-free labeling, the combined linear velocity of the labeling contact point on the target container surface must be equal to this ejection linear velocity V1. According to the vector composition principle of co-directional composite motion, the combined linear velocity is composed of the superposition of the rotary table's revolution linear velocity V2 and the target's rotation linear velocity (defined as V3), which satisfies the physical relationship: V1 = V2 + V3.

[0058] After algebraic rearrangement, the difference between the linear velocity of the target drum (V1) and the linear velocity of the turntable's revolution (V2) is determined as the target rotational linear velocity (V3) of the target container, i.e., using the formula: V3 = V1 - V2 Through the rigorous formula derivation and algebraic calculations described above, the controller successfully transforms the mechanical static parameters (D1, D2, N1, N2) and production cycle parameters (T) input from the HMI (Human Machine Interface) into the absolute linear velocity reference value (V3) used for servo motor compensation calculations.

[0059] This embodiment establishes the mechanical synchronization ratio between the label drum dispensing and the rotary bottle feeding, accurately deriving the label drum linear velocity V1 and the rotary table linear velocity V2 using algebraic formulas. Then, the target rotational linear velocity V3 is objectively calculated using vector differences. This eliminates the data dispersion and deviation caused by subjective estimation and blind adjustment by on-site debugging personnel in existing technologies. It ensures strict consistency between the labeling contact point speed and the label dispensing speed, effectively avoiding label wrinkling, skewing, or stretching damage caused by speed mismatch. In actual industrial production environments, when facing production cycle adjustments (i.e., changing the rotary table rotation time t), or replacing mechanical rotary table components with different pitch circle diameters D2 or workstation configurations for different bottle sizes, on-site operators only need to update the corresponding basic operating parameters on the human-machine interface. The controller can automatically and synchronously recalculate the target rotational linear velocity V3 to match the latest operating conditions based on a predetermined formula. It avoids the tedious steps of repeatedly adjusting multiple servo speed parameters manually during the traditional production change process, reduces the reliance of labeling equipment on manual debugging experience, and significantly shortens the parameter adaptation cycle caused by equipment change or speed increase.

[0060] In some embodiments of this application, the dimensional parameters include the cross-sectional length and cross-sectional width of the target container. Based on the dimensional parameters, determining the real-time contact radius of the target container at different rotation angles during rotation includes: Using the cross-sectional length and width, a cross-sectional geometric profile model of the target container is established; The cross-sectional geometric contour model is divided into straight edge regions and rounded corner regions; Determine the type of contour region where the label contact point is located at the current rotation angle; Based on the contour region type and the geometric constraints of the cross-sectional geometric contour model, the distance from the rotation center to the label contact point is obtained. The real-time contact radius is determined based on the distance from the center of rotation to the labeling contact point.

[0061] In this embodiment, the non-circular bottle outline of the physical entity cannot be directly used in numerical calculations; it must first be mapped into a computer-recognizable mathematical model. After receiving the cross-sectional length (b) and width (a) representing the physical outer boundary of the target container, the controller uses these as the geometric major and minor axes for modeling. Using the physical rotation center of the target container as the origin of the mathematical coordinate system, and combining the aforementioned dimensional parameters, a two-dimensional cross-sectional geometric outline model reflecting the true external shape of the target container is constructed in the background. This model achieves the equivalent transformation of the physical outer boundary into a closed curve in the mathematical coordinate system.

[0062] Based on the inherent structural properties of irregularly shaped bottles, the cross-sectional profile of their outer surface is not a perfect circle with a single curvature, but rather a composite boundary formed by alternating and smoothly connected straight line segments and transitional circular arc segments. Since straight line segments and circular arc segments follow drastically different mathematical function expressions in analytical geometry, they cannot be solved continuously using the same formula. Therefore, the controller analyzes the boundary characteristics of the aforementioned cross-sectional geometric profile model and divides it into sub-intervals with different attributes: a region consisting of straight edges formed by flat surfaces, and a region with rounded corners connecting adjacent straight surfaces. Through this division logic, the system establishes independent computational boundary conditions for different profile segments.

[0063] During the actual rotation at the labeling station, as the target container's rotation angle dynamically changes, the specific location where its outer surface is tangent to the label receiving surface (i.e., the labeling contact point) will continuously slide relative to the aforementioned cross-sectional geometric contour model. The controller uses the current rotation angle (i.e., phase angle) as the input variable for retrieval and compares it with the angle boundary thresholds determined when dividing the aforementioned regions. Through this comparison logic, it determines whether the labeling contact point falls into a straight edge region or a rounded corner region at the current instantaneous rotation angle.

[0064] One type consists of rounded corner regions formed by the transition arcs at the four corners of the model (labeled as regions β1, β2, β3, and β4); the other type consists of straight-edge regions formed by line segments connecting the aforementioned rounded corner regions. This division establishes clear boundary conditions for subsequent piecewise algebraic solutions.

[0065] During the self-rotation labeling process, the controller uses the current rotation angle as the input index and performs a logical comparison with the angle boundaries of each area as defined above. It objectively determines whether the current labeling contact point falls into the rounded corner area where β1, β2, β3, and β4 are located, or into the straight edge area outside the specified angle range.

[0066] Based on the pre-determined region type, the corresponding built-in geometric formulas are invoked for precise algebraic solutions: Scenario 1: When the label contact point is determined to be within the rounded corner region containing β1, β2, β3, and β4. Within this region, to solve for the radius of the circumscribed circle of the cross-section (denoted as L), L1 represents the target side length precisely calculated using the sine theorem; L2 represents the equivalent length of the rounded corner. According to the geometric tangency constraint, this parameter is numerically equal to the rounded corner radius, i.e., L2 = R1; parameter L represents the final solution result, i.e., the real-time straight-line distance from the rotation center to the label contact point.

[0067] Based on geometric relationships, the calculation formula is: L = L1 + L2 The following is derived by substituting constraints such as the cross-sectional width *a* and the fillet radius *R1* into the formula: L1 = sinα * c = sinα * (a / 2 - R1) L2=R1 Based on this, to calculate the radius (L3) corresponding to any angle (α3) within this region, i.e., to calculate the real-time distance from the rotation center to the label contact point, the controller incorporates and calls the classic triangle general solution algorithm logic (exemplified by general algebraic notation: given two sides a and b of a triangle and the angle A opposite to one of them, find the length c of the other side). The system executes the following computational instructions according to this rule: 1) Find angle B: sinB = b * sinA / a 2) Find angle C: C = 180° - A - BC = 180° - AB 3) Find the side c: c = asinC / sinA or c = bsinC / sinB By substituting the specific size variables of the current model into the above trigonometric function derivation logic, the side length L3 at the corresponding angle α3 in the rounded corner area is finally solved, and the calculated L3 length is directly determined as the current real-time contact radius.

[0068] Scenario 2: When the labeling contact point is determined to be in the straight edge area.

[0069] Within this region, the radius value is calculated for any angle within the straight edge region. The system obtains the known angle α (i.e., the angle between the current rotation angle and the perpendicular line from the rotation center to the straight edge) and the known side c (i.e., the perpendicular distance from the rotation center to the straight edge) in the current state, and then calculates the contact point distance L. The system directly calls the corresponding trigonometric function constraint formula: L=c / cosα The current distance L is accurately calculated based on this formula, and this distance L is directly determined as the real-time contact radius within the straight edge region.

[0070] The controller successfully utilizes the underlying dimensional parameters (a, b, R1, etc.) to objectively and uniquely calculate the precise real-time contact radius at any given rotation angle.

[0071] After accurately determining the specific contour region type of the current labeling contact point, the controller immediately retrieves the specific geometric analytical equation that matches that region type (straight edge or rounded corner). Combining this with the tangent geometric constraints established by dimensional parameters such as cross-section length and width in the cross-sectional geometric contour model, mathematical algebraic operations are used to solve for the absolute spatial straight-line distance between the model origin (i.e., the center of rotation) and the tangent point (i.e., the labeling contact point) under this specific rotation angle. This calculated dynamic distance value is directly determined as the real-time contact radius under the current state.

[0072] A geometric contour model is constructed using the cross-sectional length and width, and divided into straight-edge and rounded-corner regions, effectively mitigating the computational complexity caused by abrupt changes in the curvature of the irregularly shaped bottle's outer surface. Since non-circular cross-sections are composed of different geometric primitives (straight lines and arcs), this regional processing logic allows the controller to assign targeted analytical equations for solving contour segments with different attributes. This avoids the algorithmic bottleneck of accurately fitting the physical boundaries of irregular shapes using a single continuous function, thereby improving the controller's compatibility with mathematical modeling and data processing feasibility for various non-circular cross-sectional shapes (such as square bottles and flat bottles).

[0073] Furthermore, by introducing the real-time rotation angle as a retrieval variable, the type of contour region where the labeling contact point is located is dynamically determined. This accurately transforms the physical phenomenon of continuous displacement of the tangent point in the labeling process into a piecewise algebraic solution process in the background system. This ensures that the controller can calculate the high-precision real-time contact radius based on geometric constraints throughout the entire rotation cycle of the target container, simplifying the mechanical transmission structure and improving the overall operational stability of the system.

[0074] In some embodiments of this application, when the contour region type is a straight-edge region, the distance from the rotation center to the label contact point is obtained according to the contour region type and the geometric constraints of the cross-sectional geometric contour model, including: Obtain the vertical distance from the straight line containing the flat edge region to the center of rotation; Based on the vertical distance and the current rotation angle, the distance from the rotation center to the label contact point is obtained using the cosine relationship in trigonometric functions.

[0075] In this embodiment, the flat outer surface of the target container is represented as a defined straight line segment in the two-dimensional cross-sectional geometric contour model. The controller uses a preset rotation center as a spatial reference and draws a perpendicular line to the straight line containing the flat edge region, thereby extracting the absolute physical length of the perpendicular line. This line segment length is the vertical distance from the straight line containing the flat edge region to the rotation center, and is assigned the value of a known edge parameter c in subsequent calculations. From a mechanical physics perspective, for the same defined flat edge segment, given fixed basic dimensions such as cross-sectional width, this known edge c is an objectively existing geometric constant, representing the theoretical shortest straight-line distance from the rotation center to the flat outer surface.

[0076] Secondly, based on the vertical distance (known side c) and the included angle corresponding to the current rotation angle (labeled as known angle α), the distance from the rotation center to the labeling contact point (labeled as contact point distance L) is obtained by calling the cosine relationship formula in trigonometric functions. During the continuous rotation of the target container driven by the labeling device, its actual labeling contact point will continuously slide relative to the straight line containing the straight edge. To accurately quantify this dynamically changing contact radius, the controller transforms the dynamic displacement of the entity into a static planar right-angled triangle algebraic solution model. Specifically, the controller directly calls the matching cosine algebraic constraint formula: Wherein, parameter c: represents the perpendicular distance from the straight line containing the previously obtained straight edge region to the rotation center. In the constructed right-angled triangle geometric mapping, this parameter is always treated as a fixed right-angled side (i.e., a constant adjacent side associated with the current rotation angle). α: represents the known angle in the current state. In the objective space model, this angle α is derived from the current rotation angle, specifically representing the angle between the current instantaneous rotation angle and the aforementioned perpendicular line from the rotation center to the straight edge. As the target container rotates, this parameter α is updated in real time as a dynamic variable, objectively determining the relative angle between the adjacent side and the hypotenuse in the model. Parameter L: represents the contact point distance that the system needs to solve, i.e., the real-time straight-line distance from the rotation center to the labeling contact point. In the right-angled triangle model, it constitutes the hypotenuse that dynamically changes with rotation.

[0077] Based on the aforementioned rigorous spatial mapping relationship, the controller uses the vertical distance (c) obtained as the numerator constant and the cosine value (cosα) associated with the current rotation angle as the denominator variable. Through ratio division logic, the system directly and uniquely derives the hypotenuse length L of the right triangle. The calculated distance L is then directly determined as the dynamic real-time contact radius from the rotation center to the labeling contact point under the current operating conditions.

[0078] After determining that the labeling contact point falls within the straight edge region, the relative sliding of the entity is transformed into a standard right-angled triangle geometric model, and the basic algebraic formula L=c / cosα is introduced for solution. This fully utilizes the physical property that there is a fixed vertical constraint (c) from the straight edge to the center of rotation, transforming the process of solving the continuous dynamic contact radius of the irregularly shaped container on a straight surface into a basic cosine trigonometric function division operation at the underlying level. This processing mechanism not only effectively avoids the system computing power consumption and data latency caused by high-order polynomial fitting or calculus operations for complex contours, ensuring the high timeliness of the controller's underlying logic operations for servo drives; but also, because the algebraic formula L=c / cosα precisely matches the objective geometric shape of the straight edge, it eliminates the theoretical errors caused by approximate fitting curves.

[0079] In some embodiments of this application, when the contour region type is a rounded corner region, the distance from the rotation center to the label contact point is obtained according to the contour region type and the geometric constraints of the cross-sectional geometric contour model, including: Obtain the radius of the rounded corner area and the offset distance from the rotation center to the center of the corresponding circle in the rounded corner area; Construct a spatial triangle based on the current rotation angle, corner radius, and offset distance; The target side length in the spatial triangle is obtained by using the sine theorem in trigonometric functions based on the fillet radius and offset distance. The distance from the rotation center to the label contact point is obtained by summing the target side length and the fillet radius.

[0080] In this embodiment, when the controller determines in the pre-step process that the labeling contact point at the current rotation angle is within the phase interval of the rounded corner regions β1, β2, β3, and β4, since the curvature characteristics of the arc segment are completely different from those of the straight edge, a specialized geometric algebra model needs to be called to quantify the dynamic spatial distance within this region. In the controller's cross-sectional geometric profile model, the rounded corner region is uniquely determined by specific geometric parameters. First, the rounded corner radius of this region (uniformly identified as parameter R1) is extracted. Simultaneously, based on the overall size constraints of the target container, the spatial distance between the rotation center and the physical center of the corresponding rounded corner region is calculated and obtained. This distance is defined as the offset distance (identified as parameter c in the system). Combining the cross-sectional width of the target container (identified as parameter a) and the rounded corner radius R1, the underlying geometric constraint derivation relationship of this offset distance c is: c = (a / 2 - R1). This offset distance c constitutes an objectively existing static geometric constant.

[0081] During the continuous rotation and labeling process, a virtual spatial geometric triangle model was constructed to accurately quantify the real-time spatial position. The three key vertices of this spatial triangle are: the preset rotation center, the center of the rounded corner region, and the projection node determined based on tangent geometry. In this spatial triangle, the previously obtained offset distance *c* constitutes a known side, and the current rotation angle, after coordinate system transformation, forms a known angle within the triangle (labeled as parameter α), thus establishing complete boundary conditions for subsequent trigonometric function algebraic analysis.

[0082] After constructing the aforementioned spatial triangle, the sine theorem (the general rule that the ratio of the sine of each side of a triangle to the sine of its opposite angle is equal, i.e., side length / sin(opposite angle) = constant) in the underlying logic is directly invoked for solution. In the currently constructed spatial triangle mapping relationship containing right angles, the calculation formula for the target side length (identified as parameter L1) is derived and established based on the sine theorem:

[0083] Among them, parameters : Represents the included angle corresponding to the current rotation angle, serving as the input variable for the sine function (sin) and determining the dynamic ratio coefficient; Parameters c and a: c represents the offset distance, obtained by subtracting the fillet radius R1 from half the cross-sectional width a (i.e., a / 2-R1). In the application of the sine theorem, c serves as the hypotenuse constant of the spatial triangle; Parameter L1: Represents the target side length to be solved, its physical meaning characterizing the sinusoidal projection component of the offset distance at the current angle.

[0084] After solving for the target side length L1, based on the principle of distance superposition in the external geometric relationship of the rounded corner region, the summation calculation formula is as follows: L = L1 + L2 Wherein, parameter L1 is the target side length precisely calculated using the sine theorem; parameter L2 represents the equivalent length of the fillet. According to the geometric tangency constraint, this parameter is numerically equal to the fillet radius obtained above, i.e., L2 = R1; parameter L represents the final solution result, i.e., the real-time straight-line distance from the rotation center to the labeling contact point.

[0085] The target side length L1, which is dynamically calculated, is algebraically summed with the constant fillet radius R1 (i.e., L2). The resulting total length L is directly determined as the real-time contact radius from the rotation center to the labeling contact point under the current working conditions.

[0086] After determining that the labeling contact point falls within the rounded corner region β1-β4, the complex dynamic displacement of the curved surface contact is abstracted into a spatial triangle model. Basic algebraic formulas (L1=sinα∗c and L=L1+L2) are introduced for solution. Utilizing the physical property that the geometric center of the rounded corner region is fixed, the calculation of the dynamic contact radius is reduced to a composite operation of sine multiplication and basic addition using the sine theorem. This avoids the computational bottleneck and data latency caused by complex calculus solutions for irregular curves in existing technologies.

[0087] In some embodiments of this application, the target rotation linear velocity and real-time contact radius are calculated to obtain the real-time rotation angular velocity of the target container at different rotation angles, including: Divide the target's linear rotation velocity by the real-time contact radius corresponding to different rotation angles, and the result is taken as the real-time angular velocity of the corresponding rotation angle.

[0088] In this embodiment, the labeling process requires that the linear velocity at the labeling contact point of the target container must meet the pre-calculated target value (target rotational linear velocity V3) regardless of the target container's rotation angle. To ensure a smooth and wrinkle-free labeling process, the real-time labeling linear velocity V needs to be forcibly controlled to be always equal to this target value V3.

[0089] However, the real-time contact radius on the circumference of a non-circular cross-section (such as a square bottle or other irregularly shaped bottle) is a variable that changes dynamically with the rotation angle. Therefore, it is necessary to control the real-time rotational angular velocity W of the target container at any angle. By dynamically adjusting the angular velocity, the influence of the change in the contact radius R can be offset, thereby keeping the absolute linear velocity V constant.

[0090] Based on the above physical logic, the controller directly calls the known basic formulas for rigid body circular motion: V=W∗R To determine the required angular velocity, the controller performs an identical transformation on the above formula, resulting in a division derivation formula that can be directly used for calculation: W=V / R Wherein, parameter V represents the constant linear velocity of the label contact point. This parameter V is a fixed value (i.e., V is always equal to the previously calculated target rotational linear velocity V3), and is used as the numerator in the division operation. Parameter R represents the real-time contact radius corresponding to different rotation angles. This parameter is a dynamic variable, directly read from the real-time distance value calculated in the previous geometric steps, and is used as the denominator in the division operation. Parameter W represents the real-time rotational angular velocity that the system needs to solve for.

[0091] The controller strictly executes the above formula, dividing the target rotation linear velocity (V) as a quantitative value by the real-time contact radius (R) as a variable, and the result is the real-time rotation angular velocity (w) corresponding to the current rotation angle.

[0092] Since labeling is a continuous rotational process, the controller repeatedly executes the aforementioned division derivation W=V / R in the background with extremely short computation cycles. Subsequently, it executes the set data aggregation command, which integrates and maps the calculated set of w values ​​for the target container at any angle, thereby forming the underlying cam curve dataset. In terms of data structure, this cam curve dataset constitutes the electronic cam trajectory upon which the servo motor subsequently executes follow-up control.

[0093] By using the algebraic derivation of W=V / R, the problem of surface linear velocity fluctuation during labeling of irregularly shaped containers was solved. The discrete angular velocity calculation results were directly aggregated to form a cam curve dataset, replacing the traditional mechanical cam, eliminating machining errors, and ensuring that the generated electronic cam trajectory is based on kinematic analysis.

[0094] In some embodiments of this application, generating the electronic cam trajectory of the target container based on different rotation angles and corresponding real-time rotation angular velocities includes: Real-time acquisition of rotor angle data of servo motors; The target rotational angular velocity is obtained by querying and matching the rotor angle data in the electronic cam trajectory. The target rotational angular velocity is input as a given value to the speed loop controller to perform closed-loop control of the servo motor.

[0095] During the labeling process, the controller uses a displacement sensor (such as an absolute encoder or incremental encoder) at the end of the servo motor to perform high-frequency sampling at a preset communication cycle (such as milliseconds or microseconds) to collect the rotor angle data of the servo motor in real time. This rotor angle data physically reflects the actual rotation phase of the target container at the current instant.

[0096] The controller uses the real-time acquired rotor angle data as the query input (i.e., the mapped spindle variable) and performs real-time data matching within the pre-generated electronic cam trajectory. Based on the fixed mapping relationship in the trajectory, it directly reads or derives the rotational angular velocity value corresponding to that specific rotor angle using a linear interpolation algorithm. At this point, the specific value obtained from the matching is extracted as the target rotational angular velocity that the servo drive needs to achieve in the current control cycle.

[0097] In the basic architecture of industrial servo drives, the driver internally contains a multi-loop closed-loop control topology consisting of a position loop, a speed loop, and a current loop. The target rotational angular velocity obtained from the query matching is directly sent as the setpoint for the control command and input to the speed loop controller of the servo drive. The speed loop controller compares the target rotational angular velocity setpoint with the real-time speed feedback from the servo motor. Based on a preset control algorithm (such as proportional-integral control or PI control), it objectively calculates the corresponding speed deviation and outputs an adjustment command to the inner loop (current loop) accordingly. This dynamically adjusts the electromagnetic torque of the servo motor, forcing the actual output speed of the servo motor to precisely follow the target rotational angular velocity in the electronic cam trajectory.

[0098] The precise rotational angular velocity (ω) derived from geometric dimensions and rigid body formulas is directly encapsulated as an electronic cam trajectory, serving as the reference for the servo motor's underlying closed-loop calculations. This not only eliminates the complex mechanical contouring cam mechanism in traditional labeling machines, reducing mechanical wear and resonance interference, but also ensures that the servo motor's angular velocity output perfectly matches the dynamic changes in straight edges and rounded corners throughout the labeling process on irregularly shaped containers, improving the dynamic tracking stability and process quality of the labeling operation.

[0099] Secondly, embodiments of this application provide a labeling system, including: The first acquisition module is used to acquire the size parameters of the target container and the operating parameters of the labeling equipment; The first determining module is used to determine the target rotational linear velocity of the target container at the labeling station based on the operating parameters. The target rotational linear velocity is used to compensate for the linear velocity generated by the target container as it revolves with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity. The second determining module is used to determine the real-time contact radius of the target container at different rotation angles during its rotation, based on the size parameters. The first module is used to calculate the target's rotational linear velocity and real-time contact radius, and to obtain the real-time rotational angular velocity of the target container at different rotation angles; The first generation module is used to generate an electronic cam trajectory for the target container based on different rotation angles and corresponding real-time rotation angular velocities, and to control the servo motor of the labeling device to drive the target container to rotate using the electronic cam trajectory.

[0100] The functions of each module in each device in the embodiments of this application can be found in the corresponding descriptions in the above methods, and will not be repeated here.

[0101] Figure 2 A structural block diagram of an electronic device according to an embodiment of this application is shown. Figure 2 As shown, the electronic device includes a memory 410 and a processor 420, wherein the memory 410 stores instructions executable on the processor 420. When the processor 420 executes the instructions, it implements the labeling method described in the above embodiments. The number of memories 410 and processors 420 can be one or more. This electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present application described and / or claimed herein.

[0102] The electronic device may also include a communication interface 430 for communicating with external devices and exchanging data. The devices are interconnected using different buses and can be mounted on a common motherboard or otherwise as needed. The processor 420 can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). The bus can be divided into address buses, data buses, control buses, etc. For ease of illustration, Figure 2 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0103] Optionally, in a specific implementation, if the memory 410, processor 420 and communication interface 430 are integrated on a single chip, the memory 410, processor 420 and communication interface 430 can communicate with each other through an internal interface.

[0104] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.

[0105] This application provides a computer-readable storage medium (such as the memory 410 described above) that stores computer instructions, which, when executed by a processor, implement the method provided in this application.

[0106] Optionally, memory 410 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device, etc. Furthermore, memory 410 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 410 may optionally include memory remotely located relative to processor 420, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0108] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0109] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more (two or more) executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0110] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0111] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0112] Furthermore, the functional devices in the various embodiments of this application can be integrated into a processing module, or each device can exist physically separately, or two or more devices can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0113] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A labeling method, characterized in that, include: Obtain the size parameters of the target container and the operating parameters of the labeling equipment; Based on the operating parameters, the target rotational linear velocity of the target container at the labeling station is determined. The target rotational linear velocity is used to compensate for the linear velocity generated by the target container as it revolves with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity. Based on the aforementioned size parameters, the real-time contact radius of the target container at different rotation angles during its rotation is determined. The target's rotational linear velocity and the real-time contact radius are calculated to obtain the real-time rotational angular velocity of the target container at different rotation angles; Based on the different rotation angles and corresponding real-time rotation angular velocities, an electronic cam trajectory for the target container is generated, and the servo motor of the labeling device is controlled by the electronic cam trajectory to drive the target container to rotate.

2. The method according to claim 1, characterized in that, The operating parameters also include the single-rotation cycle of the turntable, the diameter of the labeling drum, the number of labeling drum stations, the pitch circle diameter of the turntable, and the number of turntable stations. Determining the target rotational linear velocity of the target container at the labeling station based on the operating parameters includes: The linear velocity of the target drum is obtained based on the single-rotation cycle of the turntable, the ratio of the number of turntable stations to the number of target drum stations, and the diameter of the target drum. The revolution linear velocity of the turntable is obtained based on the single-rotation period of the turntable and the pitch circle diameter of the turntable; The linear velocity of the marker drum is determined as the exit velocity of the label. The difference between the linear velocity of the target drum and the linear velocity of the turntable's revolution is determined as the target rotational linear velocity of the target container.

3. The method according to claim 2, characterized in that, The dimensional parameters include the cross-sectional length and cross-sectional width of the target container. Determining the real-time contact radius of the target container at different rotation angles during its rotation, based on these dimensional parameters, includes: Using the cross-sectional length and the cross-sectional width, a cross-sectional geometric profile model of the target container is established; The cross-sectional geometric contour model is divided into straight edge regions and rounded corner regions; Determine the type of contour region where the label contact point is located at the current rotation angle; Based on the contour region type and the geometric constraints of the cross-sectional geometric contour model, the distance from the rotation center to the labeling contact point is obtained; The real-time contact radius is determined based on the distance from the rotation center to the labeling contact point.

4. The method according to claim 3, characterized in that, When the contour region type is the straight edge region, obtaining the distance from the rotation center to the label contact point based on the contour region type and the geometric constraints of the cross-sectional geometric contour model includes: Obtain the vertical distance from the straight line containing the flat edge region to the center of rotation; Based on the vertical distance and the current rotation angle, the distance from the rotation center to the label contact point is obtained using the cosine relationship in trigonometric functions.

5. The method according to claim 4, characterized in that, When the contour region type is the rounded corner region, obtaining the distance from the rotation center to the label contact point based on the contour region type and the geometric constraints of the cross-sectional geometric contour model includes: Obtain the radius of the rounded corner region and the offset distance from the rotation center to the center of the circle corresponding to the rounded corner region; Based on the current rotation angle, the radius of the fillet, and the offset distance, a spatial triangle is constructed; The target side length of the spatial triangle is obtained by using the sine theorem in trigonometric functions based on the radius of the fillet and the offset distance. The distance from the rotation center to the labeling contact point is obtained by summing the target side length and the fillet radius.

6. The method according to claim 5, characterized in that, The calculation of the target's rotational linear velocity and the real-time contact radius to obtain the target container's real-time rotational angular velocity at different rotation angles includes: Divide the target rotation linear velocity by the real-time contact radius corresponding to the different rotation angles, and the result is taken as the real-time rotation angular velocity at the corresponding rotation angle.

7. The method according to claim 6, characterized in that, The process of generating the electronic cam trajectory of the target container based on the different rotation angles and corresponding real-time rotation angular velocities includes: Real-time acquisition of rotor angle data of the servo motor; The target rotational angular velocity is obtained by querying and matching the rotor angle data in the electronic cam trajectory. The target rotational angular velocity is input as a given value to the speed loop controller to perform closed-loop control of the servo motor.

8. A labeling system, characterized in that, include: The first acquisition module is used to acquire the size parameters of the target container and the operating parameters of the labeling equipment; The first determining module is used to determine the target rotational linear velocity of the target container at the labeling station based on the operating parameters. The target rotational linear velocity is used to compensate for the linear velocity generated by the target container as it revolves with the turntable, so that the combined linear velocity of the labeling contact point on the surface of the target container is consistent with the label dispensing linear velocity. The second determining module is used to determine the real-time contact radius of the target container at different rotation angles during its rotation, based on the size parameters. The first module is used to calculate the target's rotational linear velocity and the real-time contact radius to obtain the target container's real-time rotational angular velocity at different rotation angles; The first generation module is used to generate an electronic cam trajectory for the target container based on the different rotation angles and the corresponding real-time rotation angular velocity, and to control the servo motor of the labeling device to drive the target container to rotate using the electronic cam trajectory.

9. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method as described in any one of claims 1-7.

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