A biscuit printing forming method, device and storage medium

Abstract

The embodiment of the application provides a biscuit printing forming method, equipment and a storage medium, the method comprises the following steps: conveying the biscuit to be printed to a printing area through a conveying module; acquiring the conveying speed of the conveying module and the pose information of the biscuit to be printed; determining the first position and the second position of the printing area according to the conveying speed and the pose information; controlling a driving mechanism to drive a printing mechanism to move from the first position to the second position, and then to print and form the biscuit to be printed into a target biscuit, and the translation speed of the printing mechanism when contacting the biscuit to be printed is equal to the conveying speed. The biscuit to be printed is printed and formed by automatically driving the printing mechanism, the printing efficiency is high, and the printing mechanism moves along with the biscuit to be printed when printing, so that the printing quality is good.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of food processing technology, and particularly to a method, equipment, and storage medium for printing and molding biscuits. Background Technology

[0002] Currently, biscuit production involves manually operating a printing device for printing, resulting in poor printing quality and low printing efficiency. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] The main objective of this invention is to provide a biscuit printing method, equipment, and storage medium that can improve the quality and efficiency of biscuit printing.

[0005] In a first aspect, embodiments of the present invention provide a biscuit printing and forming method, applied to a biscuit printing equipment, the biscuit printing equipment including a printing module and a transmission module, the printing module including a printing mechanism and a driving mechanism, and the biscuit printing and forming method including: The cookie to be printed is conveyed to the printing area via the transmission module; Acquire transmission information, which represents the transmission speed of the transmission module and the pose information of the cookie to be printed; The first and second positions of the printing area are determined based on the transmission speed and the pose information. After the driving mechanism is controlled to drive the printing mechanism to move from the first position to the second position, the biscuit to be printed is printed and formed to obtain the target biscuit. The translation speed of the printing mechanism when it contacts the biscuit to be printed is equal to the transmission speed.

[0006] In some optional embodiments, determining the first and second positions of the printing area based on the transmission speed and the pose information includes: The initial coordinates of the printing position on the cookie to be printed are determined based on the pose information; The second position is determined based on the initial coordinates, the transmission speed, and the first preset time, where the first preset time represents the time interval between two adjacent printing operations of the printing mechanism. The third position is determined based on the transmission speed, the second position, and the second preset time, where the second preset time represents the preset printing time of the printing mechanism. At the third position, the first position is obtained by offsetting a preset safety distance in the opposite direction of the movement of the transmission module and then offsetting upwards by a preset safety height.

[0007] In some optional embodiments, determining the third position based on the transmission speed, the second position, and the second preset time includes: The first distance is obtained by multiplying the transmission speed by the second preset time; The third position is obtained by offsetting the second position by the first distance along the direction of movement of the transmission module.

[0008] In some optional embodiments, controlling the driving mechanism to drive the printing mechanism to move from the first position to the second position to print and shape the biscuit to be printed, thereby obtaining the target biscuit, includes: When the cookie to be printed moves to the printing start position, the drive mechanism is controlled to start driving the printing mechanism. The printing start position is between the initial position corresponding to the initial coordinate and the second position. During the process of the cookie to be printed moving from the printing start position to the second position, the driving mechanism is controlled to drive the printing mechanism to move from the first position to the second position, so that the printing mechanism and the cookie to be printed come into contact with each other at the second position, and the speed of the printing mechanism in the direction of movement of the transmission module is the same as the transmission speed; During the process of the cookie to be printed moving from the second position to the third position, the driving mechanism is controlled to drive the printing mechanism to print the cookie to be printed, and the target cookie is obtained.

[0009] In some optional embodiments, determining the printing start position includes: A preset motion curve is obtained for the printing mechanism to move from the first position to the second position. The preset motion curve is a motion curve simulated based on the initial speed, contact speed, first position, and second position of the printing mechanism. The contact speed represents the speed of the printing mechanism at the second position. The first time when the printing mechanism moves from the first position to the second position is determined according to the preset motion curve; The second time is obtained by subtracting the first preset time from the first time. The second distance is obtained by multiplying the transmission speed by the second time. The printing start position is obtained by offsetting the initial position corresponding to the initial coordinates by the second distance along the movement direction of the transmission module.

[0010] In some optional embodiments, the printing mechanism includes multiple printing units arranged sequentially in a first direction, and each printing unit has N rows of printing heads arranged in a second direction, where the second direction represents the direction of movement of the transmission speed, and N represents a positive integer greater than or equal to 1; the determination of the biscuit to be printed includes: The cookie printed on the Kth row of the printing head of the printing unit in the previous printing is set as the initial cookie, where K is a positive integer and 1≤K≤N; Configure the Mth row of cookies after the initial cookies as the cookies to be printed, where M=2N.

[0011] In some optional embodiments, after configuring the Mth row of cookies following the initial cookies as cookies to be printed, the method further includes: Obtain image information of each row of cookies to be printed; The center alignment information of each row of cookies to be printed is determined based on the image information; When the center alignment information indicates that the offset range of the center position of any row of cookies to be printed is within a first preset range in the first direction, the center position is configured as the printing center, and the printing center indicates the center point on the cookies to be printed. When the center alignment information indicates that the center position of at least one row of cookies to be printed is offset within a second preset range in the first direction, the printing center is adjusted relative to the center position in the second direction so that the offset range of the printing center in the first direction is within the first preset range. If the center alignment information indicates that the center position of at least one row of cookies to be printed is offset within a third preset range in the first direction, the cookies to be printed that have experienced positional offset are configured as unqualified cookies, and the printing center of the same row of unqualified cookies is configured as the center position.

[0012] In some optional embodiments, the method further includes: The spacing information between the cookies to be printed in each row is determined based on the image information; When the cookie spacing information indicates that at least one row of cookies to be printed has a cookie spacing greater than a first preset distance and less than a second preset distance in the first direction, the printing unit corresponding to the cookie to be printed that has a spacing offset is configured as an adjustment unit, and the movement vector of the adjustment unit in the first direction is adjusted according to the spacing offset of the cookie to be printed, so that the printing head of the adjustment unit is aligned with the printing center of the offset cookie to be printed. If the cookie spacing information indicates that at least one row of cookies to be printed has a cookie spacing greater than a second preset distance in the first direction, the cookies to be printed that have a spacing offset are configured as unqualified cookies, and the working mode of the printing unit corresponding to the unqualified cookies is configured as standby mode.

[0013] In a second aspect, embodiments of the present invention provide a biscuit printing and forming device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the biscuit printing and forming method described in the first aspect.

[0014] Thirdly, a computer storage medium stores computer-executable instructions for performing the biscuit printing method described in the first aspect.

[0015] The beneficial effects of this invention include: conveying the cookie to be printed to the printing area via the transmission module; acquiring transmission information, which characterizes the transmission speed of the transmission module and the pose information of the cookie to be printed; determining a first position and a second position of the printing area based on the transmission speed and the pose information; controlling the driving mechanism to drive the printing mechanism to move from the first position to the second position and then print the cookie to be printed to obtain the target cookie, wherein the translational speed of the printing mechanism when it contacts the cookie to be printed is equal to the transmission speed. In the technical solution of this embodiment, by automatically acquiring the transmission information and determining the movement path of the printing mechanism, and driving the printing mechanism to print the cookie to be printed according to the movement path, the printing efficiency is high, and the translational speed of the printing mechanism when it contacts the cookie to be printed is equal to the transmission speed, so that the printing mechanism moves with the cookie to be printed during printing, resulting in good printing quality.

[0016] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a system platform architecture for performing border waxing according to an embodiment of the present invention; Figure 2 This is a flowchart of a biscuit printing and molding method according to an embodiment of the present invention; Figure 3 This is a schematic diagram of alternating printing provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the printing center adjustment provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the adjustment unit provided in one embodiment of the present invention.

[0018] Figure label: System platform architecture 1000, processor 1100, memory 1200; 100 front biscuits, 200 back biscuits, 400 printing center, 500 units to be adjusted, 600 biscuits with abnormal spacing. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0021] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0022] like Figure 1 As shown, Figure 1 This is a schematic diagram of a system platform architecture for performing a biscuit printing and molding method according to an embodiment of the present invention.

[0023] exist Figure 1 In the example, the system platform architecture 1000 includes a processor 1100 and a memory 1200, which can be connected via a bus or other means. Figure 1 Taking the example of a connection between China and Israel via a bus.

[0024] Memory 1200, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory 1200 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 1200 may optionally include memory remotely located relative to processor 1100, and these remote memories can be connected to the bezel waxing device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0025] Those skilled in the art will understand that the system platform architecture 1000 can be applied to 5G communication network systems and subsequent evolved mobile communication network systems, etc., and this embodiment does not specifically limit it.

[0026] It will be understood by those skilled in the art that Figure 1 The system platform architecture 1000 shown does not constitute a limitation on the embodiments of the present invention. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0027] Reference Figure 2 , Figure 2 This is a flowchart illustrating the steps of a biscuit printing and molding method provided by the present invention; the biscuit printing and molding method of the present invention may include, but is not limited to, steps S100, S200, S300, and S400: Step S100: The cookie to be printed is transferred to the printing area via the transmission module.

[0028] It should be noted that the transmission module of this application includes a conveyor belt, a transmission drive component, and a transmission detection component; the conveyor belt is used to carry and transport the cookies to be printed; the transmission drive component is used to provide continuous power to the conveyor belt, enabling the conveyor belt to operate smoothly at a set speed; the transmission detection component is used to collect the transmission speed of the conveyor belt in real time and simultaneously identify the arrival time and position information of the cookies to be printed. The structure of the transmission module is set according to specific requirements and is not limited here.

[0029] Specifically, the transmission module smoothly and continuously transports the cookies to be printed after the previous process (cookie forming, cooling, etc.) to the preset printing area. The printing area is the space area used to complete the printing operation. The size and position of the printing area are matched with the movement range of the printing mechanism and the size of the cookies to ensure that the cookies can be accurately covered by the printing mechanism after arriving at the printing area, thus ensuring the stability of the printing operation.

[0030] Step S200: Obtain transmission information, which represents the transmission speed of the transmission module and the pose information of the cookie to be printed.

[0031] Specifically, during the process of conveying the cookie to be printed to the printing area, the equipment's detection unit (including the conveying detection component of the transmission module and the vision detection mechanism, which detects the cookie's pose information in real time; the transmission information is transmitted to the equipment's control unit for subsequent processing) collects relevant transmission information in real time. The transmission information includes the transmission speed of the transmission module and the pose information of the cookie to be printed. The transmission speed is the real-time speed at which the transmission module moves the cookie forward; the pose information reflects the specific position and posture of the cookie on the transmission module, including the cookie's center coordinates, the angle of placement relative to the transmission direction, and the position of the cookie's edges. This information is used to accurately locate the specific points on the cookie that need to be printed, ensuring that the printed pattern is accurately printed in the preset position on the cookie and avoiding problems such as pattern offset or skewing.

[0032] Step S300: Determine the first position and the second position of the printing area based on the transmission speed and the pose information.

[0033] Specifically, after receiving the collected transmission speed and biscuit pose information, the control unit of the biscuit printing equipment calculates and determines the first and second positions within the printing area using preset control logic and algorithms. The second position is the specific location where the printing mechanism first contacts the biscuit to be printed and begins the printing action. Determining the second position requires locking onto the target point on the biscuit based on its pose information, ensuring a precise correspondence between the second position and the target point. Simultaneously, it considers the transmission speed of the transmission module to predict when the biscuit will continue moving to the optimal position for printing after reaching the printing area, ensuring that the relative positions of the two are optimal when the printing mechanism contacts the biscuit. The first position is the initial standby position where the printing mechanism begins its movement. Its determination is based on the second position, combined with the transmission speed, allowing sufficient travel and acceleration space for the printing mechanism to move from the initial position to the second position, while ensuring that the first position is within a safe area and will not interfere with the transmission module or the biscuit to be printed.

[0034] In some optional embodiments, determining the first and second positions of the printing area based on the transmission speed and the pose information includes: S310, determine the initial coordinates of the printing position on the biscuit to be printed based on the pose information; S320, the second position is determined based on the initial coordinates, the transmission speed, and the first preset time, wherein the first preset time represents the time interval between two adjacent printing operations of the printing mechanism; S330, determine the third position based on the transmission speed, the second position, and the second preset time, wherein the second preset time represents the preset printing time of the printing mechanism; S340, at the third position, the first position is obtained by offsetting a preset safety distance in the opposite direction of the movement of the transmission module and offsetting upward by a preset safety height.

[0035] Specifically, the initial coordinates of the printing position on the cookie to be printed are determined based on the pose information. The pose information can accurately reflect the specific position and posture of the cookie to be printed on the transmission module. Combined with the target landing point of the preset printing pattern on the cookie, the initial coordinates of the cookie to be printed are determined.

[0036] The second position is determined based on the initial coordinates, transmission speed, and a first preset time. The first preset time represents the time interval between two adjacent printing operations by the printing mechanism. This time interval is adapted to the production line cycle time to ensure that the printing operations on the preceding and following cookies do not interfere with each other and are continuous and orderly. Combining the initial coordinates and transmission speed, the position where the printing position on the cookie to be printed will reach after one printing interval, as the transmission module moves, can be accurately calculated. This position is the second position, and also the specific position where the printing mechanism first contacts the cookie to be printed and begins the printing action. Then, the third position is determined based on the transmission speed, the second position, and the second preset time. The second preset time represents the preset printing time of the printing mechanism, that is, the duration of a single complete printing operation from start to finish. During this time, the cookie to be printed will continue to move at a constant speed with the transmission module. Therefore, combining the transmission speed and the second position, the position where the printing position on the cookie to be printed will reach when the printing operation is completed can be calculated. This position is the third position.

[0037] At the third position, the first position is obtained by offsetting a preset safety distance in the opposite direction of the movement of the transmission module and offsetting a preset safety height upward. The preset safety distance is used to reserve sufficient acceleration stroke for the printing mechanism to ensure that the printing mechanism can smoothly accelerate to the same speed as the transmission speed when it moves from the first position to the second position. The preset safety height is used to prevent the printing mechanism from scratching or colliding with the transmission module and the biscuit to be printed in the standby state, so as to ensure the safe operation of the equipment and the integrity of the biscuit. The first position obtained is the initial standby position for the printing mechanism to start moving.

[0038] In some optional embodiments, determining the third position based on the transmission speed, the second position, and the second preset time includes: S331, the first distance is obtained by multiplying the transmission speed by the second preset time; S332, the second position is offset by the first distance along the movement direction of the transmission module to obtain the third position.

[0039] Specifically, the second preset time represents the preset printing time of the printing mechanism, which is the total time of a single complete printing operation from contact and pressing to demolding. During the entire printing operation, the biscuit to be printed always moves forward at a constant speed with the transmission module. The first distance the biscuit moves is calculated by the transmission speed and the preset printing time. Then, the third position of the biscuit when the printing operation is completely finished is obtained by offsetting this distance along the direction of travel of the transmission module with the second position as the reference.

[0040] In step S400, the driving mechanism is controlled to drive the printing mechanism to move from the first position to the second position and then print the biscuit to be printed to obtain the target biscuit. The translation speed of the printing mechanism when it contacts the biscuit to be printed is equal to the transmission speed.

[0041] Specifically, after determining the first and second positions, the control unit sends control commands to the drive mechanism of the printing module. Based on these commands, the drive mechanism moves the printing mechanism from the preset first position to the second position. During this movement, the control unit adjusts the drive mechanism's speed in real time to ensure synchronization between the printing mechanism's translational speed and the transmission speed of the transmission module. At the moment the printing mechanism is about to contact the cookie to be printed, its translational speed and transmission speed are exactly equal. If the translational speed and transmission speed are not equal when the printing mechanism contacts the cookie, relative sliding will occur between the cookie and the printing mechanism, resulting in blurred, ghosting, distorted, or even misaligned printed patterns. When both speeds are perfectly synchronized, the printing mechanism and the cookie are relatively stationary. Performing the printing action at this point ensures that the printed pattern is clearly and completely printed on the cookie surface, guaranteeing printing accuracy. When the printing mechanism reaches the second position and comes into contact with the cookie, it will complete the printing action according to the preset printing parameters (such as printing pressure and printing time). After the printing is formed, the printing mechanism leaves the cookie surface under the drive mechanism, completing one printing operation. The cookie that has been printed is the target cookie. Then, the transmission module will transfer the target cookie to the next process (such as baking or packaging) for processing.

[0042] In some optional embodiments, controlling the driving mechanism to drive the printing mechanism to move from the first position to the second position to print and shape the biscuit to be printed, thereby obtaining the target biscuit, includes: S410, when the biscuit to be printed moves to the printing start position, control the drive mechanism to start driving the printing mechanism, the printing start position is between the initial position corresponding to the initial coordinate and the second position; S420, during the process of the biscuit to be printed moving from the printing start position to the second position, the drive mechanism is controlled to drive the printing mechanism to move from the first position to the second position, so that the printing mechanism and the biscuit to be printed come into contact with each other at the second position, and the speed of the printing mechanism in the direction of movement of the transmission module is the same as the transmission speed; S430, during the process of the cookie to be printed moving from the second position to the third position, the driving mechanism is controlled to drive the printing mechanism to print the cookie to be printed and obtain the target cookie.

[0043] Specifically, when the cookie to be printed moves to the printing start position with the transport module, the control unit issues a drive command to start the drive mechanism and drive the printing mechanism to move. The printing start position is located between the initial position and the second position corresponding to the initial coordinates of the cookie to be printed, serving as the motion trigger node for the printing mechanism. As the cookie moves from the printing start position to the second position, the drive mechanism is simultaneously controlled to smoothly move the printing mechanism from the first position to the second position, ensuring that the printing mechanism is precisely in contact with the surface of the cookie at the second position. Furthermore, the translational speed of the printing mechanism along the transport module's conveying direction is consistent with the real-time transport speed of the transport module, achieving alignment without relative slippage. As the cookie continues to move from the second position to the third position, the printing mechanism maintains a synchronized speed, continuously printing on the cookie. Upon reaching the third position, the printing process is completed, resulting in a cookie with a complete and clear pattern.

[0044] Throughout the entire process of the cookie to be printed moving from the second position to the third position, the printing mechanism maintains a synchronized speed and continuously presses and prints the cookie. When it reaches the third position, the entire printing process is completed, resulting in a cookie with a complete and clear pattern.

[0045] In some optional embodiments, determining the printing start position includes: S411, Obtain a preset motion curve of the printing mechanism moving from the first position to the second position. The preset motion curve is a motion curve simulated based on the initial speed, contact speed, first position, and second position of the printing mechanism. The contact speed represents the speed of the printing mechanism at the second position. S412, determine the first time when the printing mechanism moves from the first position to the second position according to the preset motion curve; S413, Subtract the first time from the first preset time to obtain the second time; S414, the second distance is obtained by multiplying the transmission speed by the second time; S415, the initial position corresponding to the initial coordinates is offset by the second distance along the movement direction of the transmission module to obtain the printing start position.

[0046] Specifically, the preset motion curve is generated by simulation fitting based on the initial motion speed of the printing mechanism, the contact speed of the printing mechanism at the second position, the coordinates of the first position, and the coordinates of the second position. This curve is used to fully characterize the acceleration and deceleration motion law of the printing mechanism throughout its entire process. The contact speed is the instantaneous speed of the printing mechanism when it moves to the second position. Based on the preset motion curve, the first time required for the printing mechanism to move from the first position to the second position is calculated. The difference between the first preset time and the first time is calculated to obtain the second time. The transmission speed of the transmission module is then multiplied by the second time to calculate the second distance. Using the initial position corresponding to the initial coordinates of the biscuit to be printed as a reference, the second distance is offset along the conveying motion direction of the transmission module to finally determine the printing start position. By calculating the motion duration using a preset motion curve, the acceleration and deceleration characteristics of the printing mechanism can be accurately matched. Combined with the cycle time difference, the trigger distance is calculated in reverse, ensuring that the printing action is triggered precisely when the biscuit reaches the printing start position. This guarantees that the printing mechanism accelerates smoothly throughout the entire motion and contacts the biscuit to be printed at the second position with their speeds completely synchronized. This effectively avoids problems such as printing pattern offset, blurring, and ghosting deformation caused by mechanism start-up lag and speed mismatch. It achieves high-precision alignment printing in continuous conveying mode, while adapting to the continuous operation cycle of the production line, improving the overall printing stability and finished product qualification rate.

[0047] In some optional embodiments, the printing mechanism includes multiple printing units arranged sequentially in a first direction, and each printing unit has N rows of printing heads arranged in a second direction, where the second direction represents the direction of movement of the transmission speed, and N represents a positive integer greater than or equal to 1; the determination of the biscuit to be printed includes: S416, set the cookie printed on the Kth row of the printing head of the printing unit in the previous printing as the initial cookie, where K is a positive integer and 1≤K≤N; S417, configure the Mth row of cookies after the initial cookies as cookies to be printed, M=2N.

[0048] Specifically, the printing mechanism comprises several independent printing units, all arranged sequentially along a first direction. Each printing unit has N rows of printing heads arranged in a second direction. The printing heads of all printing units correspond to each other in the first direction, enabling multiple printing units in the same row to print on the same row of cookies on the transport module. Here, the second direction is the direction of movement of the transport module conveying the cookies, and the parameter N is a positive integer, satisfying N≥1. (Refer to...) Figure 3In this application, two adjacent rows of printing heads print on cookies that are spaced one row apart, which means that the cookies on the transmission module are printed at intervals. This results in the front cookie 100 being printed when the cookies are assembled, while the back cookie 200 is not printed. The cookies on the two adjacent rows on the transmission module are used to assemble the complete cookie product. The row of printed cookies is the front cookie 100 placed on top, and the row of unprinted cookies is the back cookie 200 placed below.

[0049] Select the biscuit that completed the printing operation in the last time in the Kth row of the printing head within the corresponding printing unit, and set this biscuit as the initial biscuit; where parameter K is a positive integer, and the value range is constrained to 1≤K≤N, that is, K is the historical printing biscuit corresponding to any row of printing heads in the printing unit as the position reference benchmark; that is, each row of printing heads takes the biscuit printed in the last time as a reference, and thus moves the corresponding distance synchronously (moves to the Mth row of biscuits).

[0050] Using a defined initial biscuit as a position reference, along the second direction of biscuit transport, select the Mth row of biscuits arranged sequentially behind the initial biscuit, and configure this row of biscuits as the biscuits to be printed in this printing process; wherein the interval parameter M satisfies a fixed correspondence: M=2N, that is, the number of rows between the biscuit to be printed and the reference initial biscuit is twice the total number of rows N of the printing head.

[0051] By setting multiple rows of printing heads along the conveying direction within a single printing unit and screening the cookies to be printed at a fixed interval of M=2N, the problems of adjacent cookies being printed out of order, repeated printing, missing printing, and interference between multiple rows of printing heads can be effectively avoided. It can also ensure that the cookies on the transmission module are printed at intervals, resulting in good printing effect.

[0052] In some optional embodiments, after configuring the Mth row of cookies following the initial cookies as cookies to be printed, the method further includes: S4171, Obtain image information of each row of cookies to be printed; S4172, determine the center alignment information of each row of cookies to be printed based on the image information; S4173, when the center alignment information indicates that the offset range of the center position of any row of cookies to be printed is within a first preset range in the first direction, the center position is configured as the printing center, and the printing center indicates the center point on the cookies to be printed. S4174, when the center alignment information indicates that the center position of at least one row of cookies to be printed is offset within a second preset range in the first direction, the printing center is adjusted relative to the center position in the second direction so that the offset range of the printing center in the first direction is within the first preset range. S4175, when the center alignment information indicates that the center position of at least one row of cookies to be printed is offset within a third preset range in the first direction, the cookies to be printed that have experienced positional offset are configured as unqualified cookies, and the printing center of the same row of unqualified cookies is configured as the center position.

[0053] Specifically, the vision inspection module (including vision acquisition devices such as industrial cameras) is invoked to collect complete image information of each row of cookies to be printed; secondly, the control unit performs data analysis and calculation based on the collected image information of each row of cookies to determine the center alignment information corresponding to each row of cookies to be printed, which is used to characterize the actual position offset state of the physical center of each cookie to be printed.

[0054] If the center alignment information indicates that the offset of the center position of any row of cookies to be printed is within the first preset range in the first direction, it means that the position deviation of the cookie is within the standard printing tolerance. The physical center position of the cookie itself is directly set as the printing center. The printing center is the reference center point for the subsequent printing mechanism to perform printing and pressing operations on the surface of the cookie.

[0055] Reference Figure 4 If the center alignment information indicates that the center position of at least one row of cookies to be printed has an offset in the first direction within the second preset range, it means that the cookies have a slight positional offset. The offset amount does not reach the scrap standard but cannot be directly printed accurately. At this time, the control unit adjusts the current printing center 400 along the second direction (cookie conveying direction). Through position fine-tuning, the offset of the adjusted printing center 400 in the first direction falls into the first preset range, meeting the position requirements for accurate printing.

[0056] If the center alignment information indicates that the center position of at least one row of cookies to be printed is offset in the first direction within the third preset range, it means that the cookie position offset is too large and has exceeded the limit of the correctable compensation range. At this time, the cookie to be printed that has a large offset is directly classified as a defective cookie. At the same time, for the other cookies to be printed in the same row as the defective cookie, the original physical center position of the cookie is still used as the corresponding printing center 400, and no additional position adjustment or compensation correction is made.

[0057] In one embodiment, the device vision system pre-calibrates the space, establishing a fixed global device coordinate system: the X-axis (first direction), the lateral direction of the printing unit arrangement, which is also the direction of the biscuit's left-right offset; the Y-axis (second direction), the direction in which the conveyor belt transports the biscuits. The system has a built-in optimal printing center 400 coordinate system. , ).

[0058] After the visual inspection module acquires the original images of each row of cookies to be printed, the control unit first performs preprocessing on the images: noise reduction and smoothing to filter out conveyor belt noise, workshop light noise, and dust pixel interference to ensure clear cookie outlines; binarization segmentation to set a grayscale threshold and split the image into foreground (cookie blank) and background (conveyor belt) to remove irrelevant environmental pixels; and region of interest cropping to retain the image range of all cookies to be printed within the printing area and remove invalid edge areas to reduce the amount of subsequent computation.

[0059] Perform connected component traversal operation on the preprocessed binary image: scan the image pixel by pixel, identify the independent pixel blocks that are connected to each other in the image, and determine them as single cookie entities; at the same time, call the cookie size threshold to filter and remove invalid pixel areas such as crumbs, stains, and edge waste, and finally separate the independent outline areas of all cookies to be printed row by row to complete the target differentiation of multiple cookies.

[0060] For each segmented cookie outline, the pixel rectangle centering algorithm is used to calculate the cookie's true physical center: a weighted calculation is performed on all valid pixels of a single cookie to obtain the actual spatial center coordinates of the cookie in the device coordinate system. , ); Let be the coordinates of the cookie's center in the first direction; Given the coordinates of the cookie's center in the second direction; iterate through all rows of cookies to be printed, calculating the center coordinates of each cookie in batches. Calculation offset: = - ,in: = The positional offset of the i-th cookie to be printed in the first direction; Let the coordinates be the actual center coordinates of the i-th cookie to be printed; The preset ideal reference coordinates are for the i-th cookie to be printed; It represents the distance the cookie deviates from the standard center.

[0061] The control unit summarizes all the calculation data of all the cookies and integrates the packaging to form center alignment information, including: The serial number of each row of cookies to be printed; the physical coordinates of the actual geometric center of each cookie ( , The offset of each cookie in the first direction. with absolute offset The offset range label is pre-matched with three preset range attributes.

[0062] like Within the first preset range: the cookie offset is within the acceptable tolerance, and the center of the cookie itself is directly used as the printing center 400; like Within the second preset range: slight deviation can be corrected by finely adjusting the printing center by 400 degrees along the second direction, so that the deviation in the first direction falls back to the first preset range; like If the cookie is within the third preset range: the offset exceeds the limit and cannot be corrected, it is judged as an unqualified cookie, and the cookies in the same row will continue to use the original center without adjustment.

[0063] In some optional embodiments, the method further includes: S4176, Determine the spacing information of each row of cookies to be printed based on the image information; S4177, when the biscuit spacing information indicates that at least one row of biscuits to be printed has a biscuit spacing in the first direction that is greater than a first preset distance and less than a second preset distance, the printing unit corresponding to the biscuit to be printed that has a spacing offset is configured as an adjustment unit 500, and the movement vector of the adjustment unit 500 in the first direction is adjusted according to the spacing offset of the biscuit to be printed, so that the printing head of the adjustment unit 500 is aligned with the printing center 400 of the offset biscuit to be printed; S4178, when the biscuit spacing information indicates that at least one row of biscuits to be printed has a biscuit spacing greater than a second preset distance in the first direction, the biscuits to be printed that have experienced spacing offset are configured as unqualified biscuits, and the working mode of the printing unit corresponding to the unqualified biscuits is configured as standby mode.

[0064] Specifically, after completing all the aforementioned steps of selecting biscuits to be printed, acquiring biscuit image information, biscuit center positioning, and 400° offset correction of the printing center, the process also includes detection based on the spacing of the biscuit arrangement in the first direction, adaptive adjustment of the mechanism, and rejection of defective products. The specific steps are as follows: The control unit performs calculations and analysis based on the image information of each row of biscuits to be printed, generating biscuit spacing information corresponding to each row of biscuits to be printed. This information is used to characterize the mutual spacing distance between adjacent biscuits to be printed in the first direction within the same row. Subsequently, based on the biscuit spacing information, a graded judgment is made according to two preset distance thresholds, and corresponding control strategies are executed: Reference Figure 5If the cookie spacing information indicates that at least one row of cookies to be printed has an adjacent spacing in the first direction that is greater than a first preset distance and less than a second preset distance, it is determined that the spacing is within the adjustable range of offset. At this time, the printing unit matched with the part of the cookies with abnormal spacing 600 is marked as the unit to be adjusted 500; the control unit calculates and modifies the motion vector of the unit to be adjusted 500 in the first direction according to the actual spacing offset of the cookies to be printed, drives the unit to be adjusted 500 to perform displacement compensation and retraction along the first direction, and finally makes the printing head of the unit to be adjusted 500 accurately aligned with the pre-determined printing center 400 on the offset cookies to be printed, thus completing the precise alignment.

[0065] If the spacing information indicates that at least one row of cookies to be printed has an adjacent spacing in the first direction that is greater than a second preset distance, it is determined that the spacing offset has exceeded the limit range that the equipment mechanism can compensate for and adjust, and precise alignment between the printing head and the printing center 400 cannot be achieved. Cookies with excessive spacing are classified as unqualified cookies, and the printing unit corresponding to the unqualified cookies is switched to standby mode, thereby pausing the printing operation.

[0066] In one embodiment, The first preset distance; This is the second preset distance; The coordinates of the first direction of the printing center of the cookie to be printed; The initial first direction coordinates of the printing head on the printing unit; The actual spacing between adjacent cookies to be printed in the first direction.

[0067] Calculate the actual distance between adjacent cookies based on the center coordinates of the cookie print extracted from image segmentation:

[0068] in, and The coordinates of the first direction of the printing center of two adjacent cookies to be printed are given. The resulting dataset of all spacing data represents the cookie spacing information.

[0069] Set the standard spacing of the process as Calculate the offset of the spacing relative to the standard value:

[0070] Among them, offset This means that the spacing between the cookies in the first direction is too large, resulting in a spacing offset.

[0071] like The spacing between the biscuits meets the process requirements, the printing units remain in their original positions, and the printing operation is carried out normally without any adjustment.

[0072] like If the spacing is within the adjustment range, perform vector alignment compensation for the printing unit. At this time, lock the corresponding printing unit and mark it as unit 500 to be adjusted; the movement vector only has a first direction component and no second direction movement component; the vector adjustment target: the coordinates of the printing head in the first direction are completely coincident with the center 400 of the biscuit printing; the required adjustment of the displacement vector amplitude is: , The target movement vector of the unit 500 to be adjusted is defined in the first direction. The printing unit is driven to translate along the first direction. Then, the printing head is precisely aligned with the printing center 400 of the cookie to be printed, offsetting the alignment deviation caused by the large spacing.

[0073] like If the spacing exceeds the mechanical adjustment limit, a non-compliance judgment is executed, and the corresponding printing unit switches to standby mode and does not perform printing action.

[0074] By real-time detection of the spacing between the biscuits to be printed in the first direction, the movement vector of the corresponding printing unit is adjusted according to the spacing, ensuring that the printing head is always aligned with the predetermined printing center 40° of the biscuit. This effectively compensates for the alignment error caused by the lateral offset during biscuit transport, avoids defects such as offset, skew, and misalignment of the printed pattern, ensures that the printed pattern on the biscuit surface is uniform, complete, and clear, and significantly improves the quality of the finished printed product.

[0075] By setting two-level spacing thresholds to divide the adjustable range and the over-limit range, the mechanism compensates and adjusts only when the spacing is within a reasonable adjustable range. This eliminates the need for manual equipment position adjustments during machine shutdown, adapting to fluctuations in material distribution caused by conveyor belt transport. It enhances the equipment's adaptive tolerance to biscuit feeding spacing deviations and is suitable for continuous high-speed production. When the biscuit spacing exceeds the maximum adjustable limit, those biscuits are directly judged as defective, and the corresponding printing unit is simultaneously shut down, putting it into standby mode. This prevents the printing head from ineffectively printing on severely misaligned or abnormally spaced biscuits, reducing defective biscuit production, minimizing dough material loss, and improving overall material utilization.

[0076] Each printing unit can independently determine, adjust, and standby. When a single printing unit is switched to standby due to material abnormalities, the other printing units continue to operate normally, preventing the entire production line from stopping. This effectively ensures the stability of the production line's cycle time and improves overall processing efficiency.

[0077] In addition, one embodiment of the present invention provides a biscuit printing and forming device, the device including: a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0078] The processor and memory can be connected via a bus or other means.

[0079] It should be noted that the computer in this embodiment may correspond to, for example, including, Figure 1 The memory and processor in the illustrated embodiment can constitute Figure 1 The system architecture platform shown in the embodiment is part of the same inventive concept, and therefore has the same implementation principle and beneficial effects, which will not be described in detail here.

[0080] The non-transient software program and instructions required to implement the uplink co-channel interference cancellation method of the above embodiments are stored in memory. When executed by the processor, the biscuit printing and molding method of the above embodiments is executed, for example, the method described above is executed. Figure 2 Method steps S100 to S400.

[0081] Furthermore, one embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when used to execute the biscuit printing method of the biscuit printing and forming apparatus described above, for example, execute the above-described... Figure 2 Method steps S100 to S400.

[0082] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as processors, such as central processing units, digital signal processors, or microprocessors executing software, or as hardware, or as integrated circuits, such as application-specific integrated circuits. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0083] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A method for printing and molding biscuits, characterized in that, An application is made in biscuit printing equipment, the biscuit printing equipment including a printing module and a transport module, the printing module including a printing mechanism and a driving mechanism, and the biscuit printing forming method including: The cookie to be printed is conveyed to the printing area via the transmission module; Acquire transmission information, which represents the transmission speed of the transmission module and the pose information of the cookie to be printed; The first and second positions of the printing area are determined based on the transmission speed and the pose information. After the driving mechanism is controlled to drive the printing mechanism to move from the first position to the second position, the biscuit to be printed is printed and formed to obtain the target biscuit. The translation speed of the printing mechanism when it contacts the biscuit to be printed is equal to the transmission speed.

2. The biscuit printing and molding method according to claim 1, characterized in that, Determining the first and second positions of the printing area based on the transmission speed and the pose information includes: The initial coordinates of the printing position on the cookie to be printed are determined based on the pose information; The second position is determined based on the initial coordinates, the transmission speed, and the first preset time, where the first preset time represents the time interval between two adjacent printing operations of the printing mechanism. The third position is determined based on the transmission speed, the second position, and the second preset time, where the second preset time represents the preset printing time of the printing mechanism. At the third position, the first position is obtained by offsetting a preset safety distance in the opposite direction of the movement of the transmission module and then offsetting upwards by a preset safety height.

3. The biscuit printing and molding method according to claim 2, characterized in that, Determining the third position based on the transmission speed, the second position, and the second preset time includes: The first distance is obtained by multiplying the transmission speed by the second preset time; The third position is obtained by offsetting the second position by the first distance along the direction of movement of the transmission module.

4. The biscuit printing and molding method according to claim 2, characterized in that, The process of controlling the driving mechanism to drive the printing mechanism to move from the first position to the second position, and then printing and shaping the cookie to be printed to obtain the target cookie includes: When the cookie to be printed moves to the printing start position, the drive mechanism is controlled to start driving the printing mechanism. The printing start position is between the initial position corresponding to the initial coordinate and the second position. During the process of the cookie to be printed moving from the printing start position to the second position, the driving mechanism is controlled to drive the printing mechanism to move from the first position to the second position, so that the printing mechanism and the cookie to be printed come into contact with each other at the second position, and the speed of the printing mechanism in the direction of movement of the transmission module is the same as the transmission speed; During the process of the cookie to be printed moving from the second position to the third position, the driving mechanism is controlled to drive the printing mechanism to print the cookie to be printed, and the target cookie is obtained.

5. The biscuit printing and molding method according to claim 4, characterized in that, Determining the printing start position includes: A preset motion curve is obtained for the printing mechanism to move from the first position to the second position. The preset motion curve is a motion curve simulated based on the initial speed, contact speed, first position, and second position of the printing mechanism. The contact speed represents the speed of the printing mechanism at the second position. The first time when the printing mechanism moves from the first position to the second position is determined according to the preset motion curve; The second time is obtained by subtracting the first preset time from the first time. The second distance is obtained by multiplying the transmission speed by the second time. The printing start position is obtained by offsetting the initial position corresponding to the initial coordinates by the second distance along the movement direction of the transmission module.

6. The biscuit printing and molding method according to claim 1, characterized in that, The printing mechanism includes multiple printing units, which are arranged sequentially in a first direction. The printing units are provided with N rows of printing heads in a second direction, where the second direction represents the direction of movement of the transmission speed, and N represents a positive integer greater than or equal to 1. The determination of the cookies to be printed includes: The cookie printed on the Kth row of the printing head of the printing unit in the previous printing is set as the initial cookie, where K is a positive integer and 1≤K≤N; Configure the Mth row of cookies after the initial cookies as the cookies to be printed, where M=2N.

7. The biscuit printing and molding method according to claim 6, characterized in that, After configuring the Mth row of cookies following the initial cookies as the cookies to be printed, the process also includes: Obtain image information of each row of cookies to be printed; The center alignment information of each row of cookies to be printed is determined based on the image information; When the center alignment information indicates that the offset range of the center position of any row of cookies to be printed is within a first preset range in the first direction, the center position is configured as the printing center, and the printing center indicates the center point on the cookies to be printed. When the center alignment information indicates that the center position of at least one row of cookies to be printed is offset within a second preset range in the first direction, the printing center is adjusted relative to the center position in the second direction so that the offset range of the printing center in the first direction is within the first preset range. If the center alignment information indicates that the center position of at least one row of cookies to be printed is offset within a third preset range in the first direction, the cookies to be printed that have experienced positional offset are configured as unqualified cookies, and the printing center of the same row of unqualified cookies is configured as the center position.

8. The biscuit printing and molding method according to claim 7, characterized in that, The method further includes: The spacing information between the cookies to be printed in each row is determined based on the image information; When the cookie spacing information indicates that at least one row of cookies to be printed has a cookie spacing greater than a first preset distance and less than a second preset distance in the first direction, the printing unit corresponding to the cookie to be printed that has a spacing offset is configured as an adjustment unit, and the movement vector of the adjustment unit in the first direction is adjusted according to the spacing offset of the cookie to be printed, so that the printing head of the adjustment unit is aligned with the printing center of the offset cookie to be printed. If the cookie spacing information indicates that at least one row of cookies to be printed has a cookie spacing greater than a second preset distance in the first direction, the cookies to be printed that have a spacing offset are configured as unqualified cookies, and the working mode of the printing unit corresponding to the unqualified cookies is configured as standby mode.

9. A biscuit printing and forming equipment, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the biscuit printing method according to any one of claims 1-8.

10. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions for performing the biscuit printing method according to any one of claims 1-8.

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