CN-122009624-A - Intelligent classifying and packaging system and packaging machine for colored pencils

CN122009624ACN 122009624 ACN122009624 ACN 122009624ACN-122009624-A

Abstract

The invention belongs to the technical field of intelligent classified packaging of colored pencils, and relates to an intelligent classified packaging system and a packaging machine of colored pencils. The automatic sorting and scheduling system comprises a color number identification module, a sorting and scheduling module, a diversion control module, a synchronous boxing module and a die cavity layout synchronous grabbing module, wherein the color number identification module is used for acquiring end images, extracting refill feature vectors, calculating distance distinction degree judgment matching with a standard color library, the sorting and scheduling module is used for calculating deviation degree of real-time stock and dynamic filling demand, generating sorting and scheduling weight sequencing by combining distance distinction degree weighting, executing blanking or overflow, and disabling a material channel until falling back to a safe feeding threshold when the stock exceeds a stacking early warning threshold value when the stock is monitored, and the synchronous boxing module is used for judging nesting or overtime and synchronously grabbing according to the die cavity layout. The invention solves the problems of easy misjudgment of adjacent color numbers, blockage or waiting caused by uneven cache load, and frequent start-stop and material shortage shutdown caused by accumulation. The effects of improving color number identification robustness, guaranteeing continuous stability and fault-tolerant boxing of material shortage are achieved, and packaging efficiency and resource utilization rate are improved.

Inventors

ZHAO ZHIWEN
WU HAITAO
JIANG WEI
ZHANG XINGGANG
ZHAO LI

Assignees

吉林森普铅笔有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. An intelligent classifying and packaging system for colored pencils, which is characterized by comprising: the color number identification module is used for acquiring an image of the end part of the pencil and extracting a pencil lead characteristic vector, and if the pencil lead characteristic vector is successfully matched with a pencil lead standard color library, taking a corresponding standard color number as a material color number and outputting distance distinction; The sorting and scheduling module is used for determining target buffer material channels based on material color numbers, calculating the deviation degree of real-time storage quantity and dynamic filling demand quantity of the target buffer material channels, calculating sorting and scheduling weight of each target buffer material channel by combining the distance distinction degree, carrying out priority sorting, and executing blanking or overflow treatment according to the priority sorting and the buffer material channel state; The diversion control module diverts the pencil to the corresponding buffer material channel or overflow reflux channel according to the locking result, and when the real-time stock of the buffer material channel of a certain color number is monitored to exceed the accumulation early warning threshold value, the state control is executed on the color number until the stock falls back to the safe material supplementing threshold value; And the synchronous boxing module synchronously grabs the pencils according to the layout sequence of the packaging box die cavities to be placed into the packaging box when the real-time stock of the buffer material channels of each color meets the starting condition of boxing.
2. The intelligent classifying and packaging system for colored pencils according to claim 1, wherein the extraction method of the pencil lead feature vector is as follows: Acquiring pencil end images at a conveyor line detection station through an industrial camera, and extracting a pencil core section area through an image segmentation algorithm; and converting the extracted pen core cross-section area into a CIELAB color space, and calculating a color average value of the pen core cross-section area as a pen core feature vector.
3. The intelligent classified packaging system of colored pencils according to claim 1, wherein the corresponding standard color number is used as a material color number and the output distance is distinguished, specifically: calculating Euclidean distance between the refill feature vector and each standard color number feature vector in the refill standard color library to obtain a distance set; determining a first distance value with the smallest value and a second distance value with the second smallest value from the distance set, and calculating the difference value between the second distance value and the first distance value to obtain distance distinction; if the distance distinguishing degree is larger than the distinguishing threshold value, judging that the matching is successful, and confirming the standard color number corresponding to the first distance value as the material color number of the pencil; if the distance distinguishing degree is smaller than or equal to the distinguishing threshold value, judging that the matching is failed, and generating a rejecting instruction to control the rejecting mechanism to move the corresponding pencil out of the conveying line.
4. The intelligent classified packaging system of colored pencils according to claim 1, wherein the method for obtaining the dynamic filling demand is as follows: Obtaining the total number of target packages of the current batch, and multiplying the total number of target packages of the current batch by the formula proportion value of each standard color number to obtain the target package number of each standard color number; subtracting the packaged count of the current batch from the target packaging number to obtain the residual demand number of each standard color number; calculating the ratio of the residual demand quantity of each standard color number to the sum of the residual demand quantities of all standard color numbers to obtain the demand weight of each standard color number; Multiplying the demand weight with the upper limit of the residual capacity of the cache material channel to obtain theoretical cache allocation values of all standard color numbers; And (3) carrying out numerical comparison on the theoretical cache distribution value and the residual demand quantity, and selecting the minimum value of the theoretical cache distribution value and the residual demand quantity as the dynamic filling demand quantity of each standard color number.
5. The intelligent sorting and packaging system for colored pencils according to claim 1, wherein the sorting and scheduling module comprises the following specific contents: Locking a target buffer channel based on a material color number; Calculating the difference value between the real-time stock quantity and the dynamic filling demand quantity of the target buffer material channel, normalizing, inverting to obtain the deviation degree, and normalizing the distance distinction degree; Weighting and fusing the deviation degree and the normalized distance distinction degree to obtain sorting scheduling weights of all target buffer material paths, and sorting all the buffer material paths according to the sorting scheduling weights from high to low to generate a priority sequence; traversing the priority sequence, and detecting the real-time stock of the first-order buffer material channel; if the real-time stock is smaller than the upper limit of the capacity of the buffer material channel, locking the buffer material channel to execute blanking action; if the size of the pencil is larger than or equal to the size upper limit, judging the pencil by extending to the buffer channel of the next weight in the sequence, and if all the target buffer channels corresponding to the color number of the pencil reach the size upper limit, generating an overflow reflux command to move the pencil out of the conveying line.
6. The intelligent classified packaging system of claim 5, wherein generating the overflow and reflux command further comprises generating a system scram command and outputting an alarm signal if the reflux line is not acceptable.
7. The intelligent classified packaging system of colored pencils according to claim 5, wherein the diversion control module comprises the following specific contents: Controlling a guide mechanism to guide the pencil into a corresponding buffer material channel or overflow reflux channel according to the locking result; monitoring real-time stock in each buffer channel by using a sensor array; when the real-time stock of a certain color number is monitored to exceed a stacking early warning threshold value, marking the color number as a forbidden state, and eliminating a buffer material channel corresponding to the color number when a priority sequence is generated; Continuously monitoring the real-time stock of each buffer material channel, and when the real-time stock is smaller than or equal to the safe material supplementing threshold value, releasing the forbidden state of the color number, and recovering the sorting weight calculation and blanking actions.
8. The intelligent classified packaging system of claim 7, wherein the diversion control module further comprises a system scram instruction and an alarm signal if all color numbers are in a disabled state.
9. The intelligent classified packaging system of colored pencils according to claim 1, wherein the synchronous boxing module comprises the following specific contents: Judging whether the real-time stock of all the buffer material channels reaches the single boxing demand, if so, generating a boxing instruction; if not, further judging whether the current waiting time is larger than a timeout threshold value and the real-time stock of at least one color number is larger than or equal to the single boxing demand, if so, generating a shortage alarm and executing a boxing instruction for skipping the shortage mold cavity; Generating a grabbing path plan of the multi-axis manipulator according to the layout sequence of the packaging box die cavities, controlling the manipulator to synchronously grab pencils with corresponding color numbers from each buffer material channel, and sequentially placing the pencils in the corresponding die cavities of the packaging boxes according to the layout sequence of the packaging box die cavities.
10. A packaging machine comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and executed by an operating system according to any of claims 1-9 for application to the packaging machine.

Description

Intelligent classifying and packaging system and packaging machine for colored pencils Technical Field The invention belongs to the technical field of intelligent classified packaging of colored pencils, and relates to an intelligent classified packaging system and a packaging machine of colored pencils. Background The colored pencils are generally classified according to the colors of penholders or pencil lead colors at the tail end of production and processing, and are packaged in a packaging box according to specific color matching combinations. The existing color pencil packaging equipment mostly adopts a mode of combining mechanical sorting and visual detection, the color category of the color pencil packaging equipment is identified by collecting pencil end images, the color pencil packaging equipment is then classified into corresponding buffer areas by a sorting mechanism, and boxing operation is performed after the color pencil packaging equipment is accumulated to a specified number. However, the prior art color pencil classifying and packaging technology has the following specific problems in the implementation process that firstly, the color number of the color pencil is numerous, and the color difference between different color numbers of the same color system is weak, and the prior art usually only judges by comparing the color numerical value difference between the acquired image and the standard sample. When the method encounters an adjacent color number with extremely close color values, misjudgment is extremely easy to occur due to illumination fluctuation or difference of pencil end face cutting angles, and the adjacent color number is wrongly classified, so that the color matching accuracy of subsequent packages is affected. Secondly, the existing sorting control logic mostly adopts a static allocation strategy or a simple first-full first-loading rule, and decides whether to receive materials or not only according to the physical residual space of the buffer area. This scheduling approach breaks the supply and demand links between the sorting process and the boxing targets. In actual production, the buffer area of the color number which is not needed in an emergency is filled too early to cause the blockage of a sorting channel, and the color number which is needed in an emergency causes the unbalance of production beats due to the condition that the boxing process waits for a long time due to insufficient feeding, so that the overall packaging efficiency is reduced. Finally, existing devices lack the ability to dynamically adapt to cache stack status. When a pencil with a certain color number has a stacking trend due to an identification error or too fast feeding, the system can only usually take a stop alarm or simple overflow removing measure, so that a production line is frequently started and stopped, and the continuity and stability of production and packaging are affected. Disclosure of Invention In view of this, in order to solve the problems set forth in the background art, an intelligent classifying and packaging system and a packaging machine for colored pencils are provided. The first aspect of the invention provides an intelligent classifying and packaging system for colored pencils, which comprises a color number recognition module, a color number recognition module and a distance distinguishing module, wherein the color number recognition module is used for collecting an image of a pencil end and extracting a refill characteristic vector, and if the refill characteristic vector is successfully matched with a refill standard color library, the corresponding standard color number is used as a material color number and the distance distinguishing module is used for outputting distance distinction. And the sorting and scheduling module is used for determining a target buffer channel based on the material color number, calculating the deviation degree of the real-time storage quantity and the dynamic filling demand quantity of the target buffer channel, calculating the sorting and scheduling weight of each target buffer channel by combining the distance degree, carrying out priority sorting, and executing blanking or overflow treatment according to the priority sorting and the buffer channel state. And the diversion control module diverts the pencil to the corresponding buffer material channel or overflow reflux channel according to the locking result, and when the real-time stock quantity of the buffer material channel of a certain color number is monitored to exceed the accumulation early warning threshold value, performs state control on the color number until the stock quantity falls back to the safety material supplementing threshold value. And the synchronous boxing module synchronously grabs the pencils according to the layout sequence of the packaging box die cavities to be placed into the packaging box when the real-time stock of the buffer material channels of each c