A method, device and storage medium for automatically sorting and laying out workpieces

Abstract

The present invention relates to the technical field of material sorting, and discloses a method and device for automatically sorting and paving workpieces and a storage medium. The method comprises: determining an overall placement area according to a placement platform, dividing the overall placement area into Q minimum placement intervals, and generating first data for each minimum placement interval, determining second data corresponding to each overall placement area, obtaining area information of the workpiece to be sorted, calculating target area information that the workpiece to be sorted needs to occupy according to the area information, determining the target overall placement area based on the second data, searching for the target area that meets the target area information in the target overall placement area based on a binary tree search method, calculating the placement point coordinates of the target area, and placing the workpiece to be sorted based on the placement point coordinates. The method can solve the problems of stacking of workpieces and low utilization of placement space when the existing sorting and placement device is used for sorting and placement.

Description

Technical Field

[0001] The present invention relates to the technical field of blanking and sorting, and particularly relates to a placement method, device and storage medium for automatically sorting and laying flat workpieces. Background Art

[0002] In the process of industrial production, before the workpieces are put into production and assembly, preparatory operations such as inkjet coding, sanding and grinding, and leveling are also required to preliminarily process the workpieces to improve the quality of the workpieces and initially avoid the appearance of defective products. Before processing operations such as inkjet coding, sanding and grinding, and leveling of the workpieces, blanking and sorting operations need to be carried out on the workpieces to separate the workpieces from waste materials and frames. At present, most of the sorting processes are still mainly manual operations. However, with the rapid development of automation technology in recent years, industrial production has gradually entered the intelligent era, and automated sorting and placement devices have also begun to be used on the blanking and sorting industrial lines to improve the sorting efficiency of the industrial line. However, when the existing sorting and placement devices sort and place special-shaped workpieces, the workpieces are prone to be in a nested state, resulting in the stacking of the positions of the special-shaped workpieces, which easily damages the equipment during processing operations such as inkjet coding, sanding and grinding. Moreover, during the process of placing workpieces by the existing sorting and placement devices, there will be a large blank area between workpieces, greatly reducing the utilization rate of the placement space. Summary of the Invention

[0003] The present invention provides a placement method, placement device and storage medium for automatically sorting and laying flat workpieces to solve the problems that the existing sorting and placement devices will cause stacking of workpieces during sorting and placement and the low utilization rate of the placement space.

[0004] To achieve the above object, the present invention is realized by the following technical solutions:

[0005] In a first aspect, the present invention provides a placement method for automatically sorting and laying flat workpieces, which is applied to a device for automatically sorting and laying flat workpieces. The device includes a plurality of sorting devices and a plurality of placement platforms. The method includes:

[0006] Determine the overall placement area according to the placement platform, divide the overall placement area into Q minimum placement intervals, and generate first data for each minimum placement interval. The first data includes the interval number and interval coordinates of the minimum placement interval. Q is a positive integer. Both the overall placement area and the minimum placement interval are rectangles, and each placement platform corresponds to an overall placement area;

[0007] Determine the second data corresponding to each overall placement area. The second data includes the sorting device information corresponding to each overall placement area and the overall placement area attributes. The overall placement area attributes include the workpiece thickness and workpiece material corresponding to the overall placement area;

[0008] Obtain the area information of the workpiece to be sorted, and calculate the target area information that the workpiece to be sorted needs to occupy according to the area information;

[0009] Determine the target overall placement area based on the second data, search for the target area that meets the target area information in the target overall placement area based on the binary tree search method, and calculate the placement point coordinates of the target area;

[0010] Place the workpiece to be sorted based on the placement point coordinates.

[0011] Optionally, the obtaining the area information of the workpiece to be sorted includes:

[0012] Obtain the picture information of the workpiece to be sorted, and extract the outer contour information of the workpiece to be sorted according to the picture information;

[0013] Calculate the area information of the workpiece to be sorted according to the area of the minimum circumscribed rectangle of the outer contour and the sum of the set spacing corresponding to the workpiece to be sorted.

[0014] Optionally, before calculating the area information of the workpiece to be sorted according to the minimum circumscribed rectangle of the outer contour and the sum of the set spacing corresponding to the workpiece to be sorted, the method further includes:

[0015] Determine the target thickness of the workpiece to be sorted;

[0016] Determine the set spacing corresponding to the workpiece to be sorted according to the target thickness.

[0017] Optionally, the Q minimum placement intervals are in M rows and N columns; the target area information is in m rows and n columns;

[0018] The searching for the target area that meets the target area information in the target overall placement area based on the binary tree search method includes:

[0019] Taking the first row and the first column of the Q minimum placement intervals of the target overall placement area as the search starting point, and screening out the target areas that meet the target area information in the Q minimum placement areas in the first side length direction of the overall placement area; the overall placement area includes a first side length and a second side length, and the first side length is less than the second side length;

[0020] Mark the target area according to the interval number, and adjust the next round of search area to the remaining intervals of the Q minimum placement intervals except the target area.

[0021] Optionally, the calculating the placement point coordinates of the target area includes:

[0022] Determine the interval coordinates of each minimum placement interval in the target area;

[0023] Take the center coordinates of the interval coordinates of each minimum placement interval as the placement point coordinates of the target area.

[0024] Optionally, the calculation formula for the interval coordinates (x, y) of the minimum placement interval is as follows:

[0025] x = (N - 1) * Dx + Sl / 2;

[0026] y = (M - 1) * Dy + Sw / 2;

[0027] In the formula, N represents the number of minimum placement intervals in one row of the overall placement area, M represents the number of minimum placement intervals in one column of the overall placement area, Dx represents the x-axis position of the actual placement coordinates of the workpiece to be sorted, Dy represents the y-axis position of the actual placement coordinates of the workpiece to be sorted, Sw represents the first side length of the minimum placement interval, S1 represents the second side length of the minimum placement interval, and the first side length of the minimum placement interval is less than the second side length of the minimum placement interval.

[0028] Optionally, after placing the workpiece to be sorted based on the placement point coordinates, the method further includes:

[0029] In the case where the placement platform includes workpieces with different thicknesses, modify the attributes of the overall placement area corresponding to the placement platform according to the thickness of each workpiece.

[0030] In a second aspect, an embodiment of the present application provides a workpiece automatic sorting and flattening device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of any one of the methods in the first aspect are implemented.

[0031] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method steps in any one of the first aspect are implemented.

[0032] Beneficial effects:

[0033] The placement method for automatic sorting and flattening of workpieces provided by the present invention divides the overall placement area by dividing the minimum placement intervals, calculates the area of the workpiece to be sorted by calculating the number of minimum placement intervals occupied by the workpiece to be sorted, and then searches for the target area that meets the requirements of the area of the workpiece to be sorted in the overall placement area by means of a binary tree, so as to place the workpiece to be sorted in the target area; improving the space utilization rate in the overall placement area, and at the same time being able to avoid the situation of stacking of workpieces to be sorted when placing the workpieces to be sorted. Description of the drawings

[0034] Figure 1 Flow chart of the placing method for automatic sorting and laying flat of workpieces in a preferred embodiment of the present invention;

[0035] Figure 2 Practical effect diagram of the placing method for automatic sorting and laying flat of workpieces in a preferred embodiment of the present invention. Detailed implementation manners

[0036] The technical solutions of the present invention will be described clearly and completely below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationships will also change accordingly.

[0038] Please refer to Figure 1 - Figure 2 , an embodiment of the present application provides a placing method for automatic sorting and laying flat of workpieces, which is applied to an automatic sorting and laying flat device for workpieces. The device includes a plurality of sorting devices and a plurality of placing platforms. The method includes:

[0039] Determine the overall placing area according to the placing platform, divide the overall placing area into Q minimum placing intervals, and generate first data for each minimum placing interval. The first data includes the interval number and interval coordinates of the minimum placing interval. Q is a positive integer. Both the overall placing area and the minimum placing interval are rectangles, and each placing platform corresponds to an overall placing area;

[0040] Determine the second data corresponding to each overall placing area. The second data includes the sorting device information corresponding to each overall placing area and the overall placing area attribute. The overall placing area attribute includes the workpiece thickness and workpiece material corresponding to the overall placing area;

[0041] Obtain the area information of the workpiece to be sorted, and calculate the target area information that the workpiece to be sorted needs to occupy according to the area information;

[0042] Determine the target overall placement area based on the second data, search for the target area that meets the target area information in the target overall placement area by means of a binary tree search method, and calculate the placement point coordinates of the target area;

[0043] Place the workpiece to be sorted based on the placement point coordinates.

[0044] It should be noted that in practice, since many workpieces to be sorted are irregular workpieces, in this application, the workpieces are normalized into the smallest circumscribed rectangles, so that it is convenient to calculate the target area information that the workpieces to be sorted need to occupy.

[0045] In the method of the above embodiment, the overall placement area is segmented by dividing the smallest placement interval. The size of the overall placement area depends on the size of the placement platform in the automatic workpiece sorting and tiling device. Therefore, the setting of the smallest placement interval is determined according to the size of the overall placement area, so as to ensure that the smallest placement interval can perfectly segment the overall placement area and avoid waste of space in the overall placement area. Then, the area of the workpiece to be sorted is obtained by calculating the number of the smallest placement intervals occupied by the workpiece to be sorted. Finally, according to the area of the workpiece to be sorted and the target area information, the workpiece to be sorted is placed in the target area; the space utilization rate in the overall placement area is improved, and at the same time, the situation of stacking of the workpieces to be sorted can be avoided when placing the workpieces to be sorted.

[0046] Optionally, the obtaining the area information of the workpiece to be sorted includes:

[0047] Obtain the picture information of the workpiece to be sorted, and extract the outer contour information of the workpiece to be sorted according to the picture information;

[0048] Calculate the area information of the workpiece to be sorted according to the area of the smallest circumscribed rectangle of the outer contour and the sum of the set spacings corresponding to the workpiece to be sorted.

[0049] In the method of the above embodiment, the picture information of the workpiece to be sorted is obtained by the camera set on the sorting device, and the outer contour information of the workpiece to be sorted in the picture information is extracted by the processor, and the smallest circumscribed rectangle of the outer contour of the workpiece to be sorted is used to replace the outer contour information of the workpiece to be sorted, and then the sum of the set spacings corresponding to the workpiece to be sorted is added to obtain the area information of the workpiece to be sorted. In this way, a part of the offset area of the workpiece to be sorted can be reserved when sorting and placing the workpiece to be sorted, so as to avoid the situation of stacking when sorting and placing the workpiece to be sorted.

[0050] Optionally, before calculating the area information of the workpiece to be sorted according to the smallest circumscribed rectangle of the outer contour and the sum of the set spacings corresponding to the workpiece to be sorted, the method further includes:

[0051] Determine the target thickness of the workpiece to be sorted;

[0052] Determine the set spacing corresponding to the workpiece to be sorted according to the target thickness.

[0053] In the method of the above embodiment, the setting of the set spacing corresponding to the workpiece to be sorted is based on the thickness of the workpiece to be sorted. The probabilities and distances of different thickness workpieces deviating during the sorting and placement process are different. Therefore, when the thickness of the workpiece to be sorted is greater, the set spacing corresponding to the workpiece to be sorted is also greater. For example: in one embodiment, the thickness of the workpiece to be sorted is 5 cm, and the set spacing corresponding to the workpiece to be sorted is set to 2 cm; in another embodiment, the thickness of the workpiece to be sorted is 10 cm, and the set spacing corresponding to the workpiece to be sorted is set to 5 cm. This is only an example here and is not limited. In this way, by generating different set spacings for different workpieces, it is possible to prevent damage caused by contact between the workpieces and facilitate the execution of subsequent processes.

[0054] Optionally, the Q minimum placement intervals are in M rows and N columns; the target area information is in m rows and n columns;

[0055] Searching for the target area that meets the target area information in the target overall placement area by the binary tree-based search method includes:

[0056] Taking the first row and first column of the Q minimum placement intervals of the target overall placement area as the search starting point, and screening out the target areas that meet the target area information in the Q minimum placement areas in the first side length direction of the overall placement area; the overall placement area includes a first side length and a second side length, and the first side length is less than the second side length;

[0057] Mark the target area according to the interval number, and adjust the next round of search area to the remaining intervals of the Q minimum placement intervals except the target area.

[0058] In the method of the above embodiment, the search and screening of the target area are mainly based on the size and dimensions of the target area information. The target area information is obtained by the number of minimum placement intervals occupied by the area of the workpiece to be sorted, and then the target area is searched and screened according to the number of minimum placement intervals included in the target area information.

[0059] Optionally, calculating the placement point coordinates of the target area includes:

[0060] Determine the interval coordinates of each minimum placement interval in the target area;

[0061] Taking the center coordinates of the interval coordinates of each minimum placement interval as the placement point coordinates of the target area.

[0062] In the method of the above embodiment, the interval coordinates of each minimum placement interval are the geometric center points of each minimum placement interval, and the placement point coordinates of the target area are the geometric center points of the minimum circumscribed rectangle of the outer contour of the workpiece to be sorted. By placing the workpiece to be sorted in this way, the placement deviation can be minimized to the greatest extent, and the placement accuracy of the workpiece to be sorted can be improved.

[0063] Optionally, the calculation formula for the interval coordinates (x, y) of the minimum placement interval is as follows:

[0064] x = (N - 1) * Dx + Sl / 2;

[0065] y = (M - 1) * Dy + Sw / 2;

[0066] In the formula, N represents the number of minimum placement intervals in one row of the overall placement area, M represents the number of minimum placement intervals in one column of the overall placement area, Dx represents the x-axis position of the actual placement coordinates of the workpiece to be sorted, Dy represents the y-axis position of the actual placement coordinates of the workpiece to be sorted, Sw represents the first side length of the minimum placement interval, S1 represents the second side length of the minimum placement interval, and the first side length of the minimum placement interval is less than the second side length of the minimum placement interval.

[0067] Optionally, after placing the workpiece to be sorted based on the placement point coordinates, the method further includes:

[0068] In the case where the placement platform includes workpieces of different thicknesses, modify the attributes of the overall placement area corresponding to the placement platform according to the thickness of each workpiece.

[0069] In the method of the above embodiment, after a part of the workpieces to be sorted are placed on the placement platform, the type of the workpieces to be sorted placed and sorted in the placement platform can be changed by modifying the attributes of the overall placement area of the placement platform during the sorting process, so that multiple different types of workpieces to be sorted can be placed in the placement platform according to actual needs.

[0070] In a complete example, the above method for automatically sorting and laying flat workpieces may further include the following steps:

[0071] The first step, placement area generation, specifically includes:

[0072] Set the overall placement area as a rectangle, and record the length and width as Tl and Tw respectively;

[0073] Set the minimum placement interval. The minimum placement area is also a rectangle, and record the length and width as Sl and Sw respectively;

[0074] Set the starting point of the placement area. This point is the actual placement coordinate, recorded as (Dx, Dy);

[0075] The generated placement area data, the placement area is Tw / Sw rows and Tl / S1 columns of the smallest rectangles, which are divided into M rows and N columns, and the number is recorded as Rm,n; the placement coordinates of the center point of each rectangle are as follows:

[0076] (x,y)=((N - 1)*Dx + Sl / 2, (M - 1)*Dy + Sw / 2)).

[0077] The second step is to set the area attributes, and the specific process is as follows:

[0078] 2.1 Set the device attributes and the device accessibility. For the M*N smallest placement rectangles generated in the first step, set them according to the placement center point coordinates and the device accessibility coordinates. The constraint setting conditions are the common area and the specified number. The common area means that all devices can reach;

[0079] 2.2 Set the attributes of the placed workpieces, including the workpiece thickness, material, workpiece number, steel plate number, and nesting drawing number. The data is default set to 0;

[0080] The third step is to calculate and allocate the flat-laying positions of the workpieces, and the specific steps are as follows:

[0081] 3.1 Calculate the number of the smallest placement rectangles required according to the workpiece area, that is, how many rows and columns, which is recorded as m rows and n columns here. Calculate based on the smallest circumscribed rectangle of the outer contour of the workpiece, and require the distance between two workpieces to be added to the workpiece area for calculation;

[0082] 3.2 Extract the unused placement intervals according to the device number of the workpiece to be grabbed. The device attributes include the placement intervals of its number or the common area;

[0083] 3.3 Search for the space that can satisfy m rows and n columns continuously in the placement interval. The search idea is based on a binary tree starting from the first row and the first column with the number, and searching in the width direction first, with the highest space utilization rate. The starting point position of this workpiece is recorded as {a,b} for a rows and b columns;

[0084] 3.4 Calculate the workpiece placement point coordinates. The calculation method is to divide the sum of the x coordinates of the selected points {a,b}, {a + 1,b},..., {a + m,b + n} by m, and divide the sum of the y coordinates by n;

[0085] 3.5 Modify the workpiece attributes of the placement points, and modify the workpiece thickness, material, workpiece number, steel plate number, and nesting drawing number;

[0086] In this way, the flat-laying placement calculation of a workpiece is completed.

[0087] In this embodiment, the flat placement rule plans the workpieces by using the minimum bounding rectangle, which solves the problem of workpiece nesting and the offset stacking after entering the sanding and leveling equipment, resulting in equipment damage. The flat placement rule abstracts the placement of workpieces into the problem of placing rectangles in rectangles and performs dynamic calculations with the idea of a binary tree, effectively improving the utilization rate of the placement area while enabling multiple steel plates to be placed in the same area. Moreover, fully considering the environmental factors in actual use, functions such as equipment attribute setting and workpiece attribute setting are added, significantly enhancing the usability.

[0088] The embodiment of the present application further provides an automatic sorting and flat placement device for workpieces, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0089] The above automatic sorting and flat placement device for workpieces can implement each embodiment of the above placement method for automatic sorting and flat placement of workpieces and can achieve the same beneficial effects. Here, it will not be elaborated.

[0090] Optionally, the embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the method steps as described above are implemented.

[0091] The readable storage medium can implement each embodiment of the above placement method for automatic sorting and flat placement of workpieces and can achieve the same beneficial effects. Here, it will not be elaborated.

[0092] In the process of sorting and placing the workpieces to be sorted: First, determine the overall placement area according to the placement platform and divide the overall placement area into Q minimum placement intervals, where Q is a positive integer. Generate the first data for each minimum placement interval. The first data includes the interval number and interval coordinates of the minimum placement interval. Then, determine the second data corresponding to each overall placement area. The second data includes the sorting equipment information corresponding to each overall placement area and the overall placement area attributes. The overall placement area attributes include the workpiece thickness and workpiece material corresponding to the overall placement area. At the same time, obtain the area information of the workpieces to be sorted through the sorting equipment and calculate the target area information that the workpieces to be sorted need to occupy. At this time, the target overall placement area can be determined based on the second data, and then search for the target area that meets the target area information in the target overall placement area based on the binary tree search method, and calculate the placement point coordinates of the target area. Finally, place the workpieces to be sorted in the target area according to the placement point coordinates.

[0093] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in this technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. A method for automatically sorting and laying out workpieces, applied to an automatic workpiece sorting and laying out device, the device comprising a plurality of sorting devices and a plurality of placing platforms, characterized in that: The method comprises: Determine an overall placement area according to the placement platform, divide the overall placement area into Q minimum placement intervals, and generate first data for each minimum placement interval, the first data including the interval number and interval coordinates of the minimum placement interval, Q is a positive integer, the overall placement area and the minimum placement interval are both rectangular, and each placement platform corresponds to an overall placement area; Determine second data corresponding to each overall placement area, the second data including sorting equipment information corresponding to each overall placement area and overall placement area attributes, the overall placement area attributes including workpiece thickness and workpiece material corresponding to the overall placement area; Acquire area information of the workpieces to be sorted, and calculate target area information that the workpieces to be sorted need to occupy based on the area information; Determine the target overall placement area based on the second data, search for the target area that meets the target area information in the target overall placement area based on a binary tree search method, and calculate the placement point coordinates of the target area; The workpiece to be sorted is placed based on the placement point coordinates.

2. The method for automatically sorting and laying out workpieces according to claim 1 is characterized in that: The step of obtaining the area information of the workpieces to be sorted includes: Acquire image information of the workpiece to be sorted, and extract outer contour information of the workpiece to be sorted according to the image information; The area information of the workpiece to be sorted is calculated according to the sum of the minimum circumscribed rectangular area of ​​the outer contour and the set spacing corresponding to the workpiece to be sorted.

3. The method for automatically sorting and laying out workpieces according to claim 2 is characterized in that: Before calculating the area information of the workpieces to be sorted according to the minimum circumscribed rectangular area of ​​the outer contour and the sum of the set spacings corresponding to the workpieces to be sorted, the method further includes: Determine the target thickness of the workpiece to be sorted; The set spacing corresponding to the workpieces to be sorted is determined according to the target thickness.

4. The method for automatically sorting and laying out workpieces according to claim 1 is characterized in that: The Q minimum placement intervals are in M ​​rows and N columns; the target area information is in m rows and n columns; The binary tree-based search method searches for a target area in the target overall placement area that matches the target area information, including: Taking the first row and first column of the Q minimum placement intervals of the target overall placement area as the search starting point, and taking the first side length direction of the overall placement area as the search direction, a target area in the Q minimum placement intervals that meets the target area information is screened out; the overall placement area includes a first side length and a second side length, and the first side length is smaller than the second side length; The target area is marked according to the interval number, and the next round of search area is adjusted to the remaining intervals of the Q minimum placement intervals except the target area.

5. The method for automatically sorting and laying out workpieces according to claim 1, characterized in that: The calculating the placement point coordinates of the target area includes: Determine the interval coordinates of each minimum placement interval in the target area; The center coordinates of the interval coordinates of each minimum placement interval are used as the placement point coordinates of the target area.

6. The method for automatically sorting and laying out workpieces according to claim 1, characterized in that: The interval coordinates (x, y) of the minimum placement interval are calculated as follows: x=(N-1)*Dx+Sl / 2; y=(M-1)*Dy+Sw / 2; In the formula, N represents the number of the minimum placement intervals in a row of the overall placement area, M represents the number of the minimum placement intervals in a column of the overall placement area, Dx represents the x-axis position of the actual placement coordinates of the workpiece to be sorted, Dy represents the y-axis position of the actual placement coordinates of the workpiece to be sorted, Sw represents the first side length of the minimum placement interval, S1 represents the second side length of the minimum placement interval, and the first side length of the minimum placement interval is smaller than the second side length of the minimum placement interval.

7. The method for automatically sorting and laying out workpieces according to claim 1, characterized in that: After placing the workpiece to be sorted based on the placement point coordinates, the method further includes: In the case where the placement platform includes workpieces of different thicknesses, the overall placement area attribute corresponding to the placement platform is modified according to the thickness of each workpiece.

8. A workpiece automatic sorting and paving device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method steps described in any one of claims 1 to 7 are implemented.

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