Flexible sheet stacking method, device, equipment and storage medium

Abstract

The present application discloses a stacking method, device, equipment and storage medium for flexible cut pieces, wherein the method includes: performing initial flexible cut piece identification on the acquired target image and calculating the actual position of each initial flexible cut piece; obtaining each complete initial flexible cut piece from each initial flexible cut piece as a target flexible cut piece according to each actual position; calculating the grab control data of the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set and the target shooting time and target conveyor belt speed corresponding to the target image; judging whether there is a sub-packaging mark on the target flexible cut piece according to the target image; if not, sending the grab control data to the controller of the stacking equipment, otherwise, generating sub-packaging control data according to the target flexible cut piece, and sending the grab control data and sub-packaging control data to the controller. The neatness of the flexible cut piece package is improved, the efficiency is improved, and the production cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of generating and manufacturing flexible cut pieces, and in particular to a stacking method, device, equipment and storage medium for flexible cut pieces. Background Art

[0002] The identification and stacking of flexible pieces is one of the important processes in manufacturing. The existing technology mainly uses manual picking up of pieces, smoothing of pieces, neat stacking, bundling and sub-packaging. Due to the difference in manual operation, the uniformity of the flexible piece packages obtained by bundling and sub-packaging is not high, which seriously affects the operation of the next process, and the efficiency is relatively low, which seriously increases the production cost. Summary of the invention

[0003] The main purpose of the present application is to provide a stacking method, device, equipment and storage medium for flexible cut pieces, aiming to solve the technical problem that the flexible cut piece packages are not neat and the efficiency is relatively low when manually picking up the cut pieces, smoothing the cut pieces, stacking them neatly, bundling them for packaging.

[0004] In order to achieve the above-mentioned invention object, the present application proposes a stacking method of flexible panels, the method comprising:

[0005] Performing initial flexible cut pieces recognition on the acquired target image, and calculating the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area;

[0006] According to each of the actual positions, obtaining each of the complete initial flexible cut pieces from each of the initial flexible cut pieces as a target flexible cut piece;

[0007] Calculate grabbing control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set, the target shooting time corresponding to the target image, and the target conveyor belt speed;

[0008] According to the target image, determining whether the target flexible cut piece has a subpackaging mark;

[0009] If not, the grabbing control data is sent to the controller of the stacking device; otherwise, the sub-packaging control data is generated according to the target flexible panel, and the grabbing control data and the sub-packaging control data are sent to the controller.

[0010] Furthermore, the step of performing initial flexible cut piece recognition on the acquired target image and calculating the actual position of each initial flexible cut piece in the detection area includes:

[0011] Performing edge detection and image segmentation on the target image to obtain the initial flexible cut piece;

[0012] Calculating the pixel position of each initial flexible cut piece according to the target image;

[0013] The actual position of each of the initial flexible cut pieces in the detection area is calculated according to the target image, the pixel positions of each of the cut pieces and the preset detection area size data.

[0014] Furthermore, the step of calculating the grabbing control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set, the target shooting time corresponding to the target image, and the target conveyor belt speed includes:

[0015] According to the actual position corresponding to the target flexible cut piece, respectively calculating the actual length and the actual width of the cut piece for the target flexible cut piece;

[0016] According to the actual position corresponding to the target flexible cut piece and the stacking device parameter set, the minimum distance between the target flexible cut piece and the lower jaw surface of the clamp is calculated as the distance between the cut piece and the lower jaw;

[0017] According to the distance between the cut piece and the lower claw and the target conveyor belt speed, the time length for the target flexible cut piece to reach the upper surface of the clamping claw is calculated as the cut piece arrival time length;

[0018] The target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw and the stacking equipment parameter set are used as the grabbing control data corresponding to the target flexible cut piece.

[0019] Further, the step of using the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking device parameter set as the grabbing control data corresponding to the target flexible cut piece includes:

[0020] Determining whether the target flexible cut piece is covered according to the target image;

[0021] If not, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking device parameter set are used as the grabbing control data corresponding to the target flexible cut piece;

[0022] If yes, calculating the farthest boundary distance of the target flexible cutout according to the actual position corresponding to the target flexible cutout;

[0023] Adding the farthest boundary distance to a preset limit offset to obtain a limit position;

[0024] The limit position, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw and the stacking equipment parameter set are used as the grabbing control data corresponding to the target flexible cut piece.

[0025] Furthermore, before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes:

[0026] Acquire an initial image, wherein the initial image is an image obtained by photographing the detection area using a camera device with a first exposure duration;

[0027] Determining whether the image brightness of the initial image is equal to a preset image brightness threshold;

[0028] If yes, taking the initial image as the target image;

[0029] If not, obtaining an adjusted image, wherein the adjusted image is an image obtained by the camera device photographing the detection area using a second exposure duration, and the second exposure duration is greater than or less than the first exposure duration;

[0030] Calculating an image brightness increment within a unit exposure duration according to the image brightness of the adjusted image, the image brightness of the initial image, the first exposure duration, and the second exposure duration to obtain a brightness increment per unit duration;

[0031] Calculating a target exposure duration according to the image brightness of the adjusted image, the second exposure duration, the brightness increment per unit duration, and the image brightness threshold;

[0032] An image obtained by photographing the detection area by the camera device using the target exposure time is acquired as the target image.

[0033] Furthermore, before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes:

[0034] Acquire a first comparison image and a second comparison image, wherein the first comparison image and the second comparison image are images obtained by photographing the detection area twice in succession, and the photographing time of the first comparison image is earlier than the photographing time of the second comparison image;

[0035] Performing flexible cut piece identification on the first comparison image to obtain a first flexible cut piece;

[0036] Performing flexible cut piece identification on the second comparison image to obtain a second flexible cut piece;

[0037] Subtract the shooting time of the first comparison image from the shooting time of the second comparison image to obtain the interval between two frames;

[0038] According to the interval between the two frames and the conveyor belt speed corresponding to the interval between the two frames, a moving distance between the two frames is obtained;

[0039] Move each of the first flexible pieces in the first comparison image along the moving direction of the conveyor belt by the moving distance of two frames to obtain a set of moved flexible pieces;

[0040] Find each of the first flexible cut pieces located in the detection area from the set of moved flexible cut pieces to obtain the flexible cut pieces to be compared;

[0041] Determine whether the second flexible cut piece is the same as the flexible cut piece to be compared;

[0042] If not, determining that the teleportation judgment result is present, and updating the abnormal image record table according to the first comparison image and the second comparison image;

[0043] If it exists, it is determined that the teleportation judgment result does not exist, and the second comparison image is used as the target image.

[0044] Furthermore, before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes:

[0045] Get the conveyor belt speed at the current time as the conveyor belt speed to be processed;

[0046] Calculating the target shooting interval duration according to the conveyor belt speed to be processed, the preset detection zone length and the preset minimum analysis frame number;

[0047] The camera device is controlled to shoot the detection area according to the target shooting interval to obtain the target image.

[0048] The present application also proposes a stacking device for flexible cut sheets, the device comprising:

[0049] A flexible cut piece identification and position calculation module, used to perform initial flexible cut piece identification on the acquired target image and calculate the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area;

[0050] A target flexible cut piece determination module is used to obtain each complete initial flexible cut piece from each initial flexible cut piece as a target flexible cut piece according to each actual position;

[0051] A grasping control data calculation module, used for calculating grasping control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, a preset stacking equipment parameter set, and a target shooting time and a target conveyor belt speed corresponding to the target image;

[0052] A sub-packaging mark judging module, used for judging whether there is a sub-packaging mark on the target flexible cut piece according to the target image;

[0053] The data synchronization module is used to send the grabbing control data to the controller of the stacking device if it does not exist; otherwise, generate subpackaging control data according to the target flexible cut piece and send the grabbing control data and the subpackaging control data to the controller.

[0054] The present application also proposes a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0055] The present application also proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0056] The stacking method, device, equipment and storage medium of flexible cut pieces of the present application, wherein the method performs initial flexible cut piece identification on the acquired target image, and calculates the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area; according to each of the actual positions, each complete initial flexible cut piece is obtained from each of the initial flexible cut pieces as a target flexible cut piece; according to the actual position corresponding to the target flexible cut piece, a preset stacking equipment parameter set and the target shooting time and target conveyor belt speed corresponding to the target image, the grabbing control data of the target flexible cut piece is calculated; according to the target image, it is judged whether there is a sub-packaging mark for the target flexible cut piece; if not, the grabbing control data is sent to the controller of the stacking equipment, otherwise, the sub-packaging control data is generated according to the target flexible cut piece, and the grabbing control data and the sub-packaging control data are sent to the controller. By automatically calculating the grabbing control data from the target image obtained from the shooting detection area, it is beneficial to control the stacking equipment for automatic stacking through the controller according to the grabbing control data, thereby improving efficiency and reducing production costs; and the automatic stacking adopts a unified standard for stacking, thereby improving the neatness of the flexible cut piece package; by generating subpackaging control data when the subpackaging mark is identified, it is beneficial to control the stacking equipment for bundling and subpackaging through the controller according to the subpackaging control data, thereby further improving efficiency and further reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A schematic diagram of a process of stacking flexible panels according to an embodiment of the present application;

[0058] Figure 2 A schematic diagram of the stacking equipment for the present application;

[0059] Figure 3 A schematic diagram of the stacking equipment for the present application;

[0060] Figure 4 This is a schematic structural diagram of a stacking device for flexible panels according to an embodiment of the present application;

[0061] Figure 5 A schematic block diagram of the structure of a computer device according to an embodiment of the present application.

[0062] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] Reference Figure 1 In an embodiment of the present application, a method for stacking flexible panels is provided, the method comprising:

[0065] S1: performing initial flexible cut pieces recognition on the acquired target image, and calculating the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area;

[0066] S2: according to each of the actual positions, obtaining each of the complete initial flexible cut pieces from each of the initial flexible cut pieces as a target flexible cut piece;

[0067] S3: Calculating grabbing control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, a preset stacking equipment parameter set, and a target shooting time and a target conveyor belt speed corresponding to the target image;

[0068] S4: judging whether there is a subpackaging mark on the target flexible cut piece according to the target image;

[0069] S5: If not, sending the grabbing control data to the controller of the stacking device; otherwise, generating subpackaging control data according to the target flexible panel, and sending the grabbing control data and the subpackaging control data to the controller.

[0070] This embodiment automatically calculates the grabbing control data by shooting the target image obtained in the detection area, which is beneficial for the controller to control the stacking equipment for automatic stacking according to the grabbing control data, thereby improving efficiency and reducing production costs; and the automatic stacking adopts a unified standard for stacking, thereby improving the neatness of the flexible cut piece package; by generating subpackaging control data when the subpackaging mark is identified, it is beneficial for the controller to control the stacking equipment for bundling and subpackaging according to the subpackaging control data, thereby further improving efficiency and further reducing production costs.

[0071] Optionally, a detection area and a stacking area are sequentially provided in the stacking device.

[0072] Optional, such as Figure 2 As shown, the stacking device is provided with a detection area, a baking area (the area to be transmitted by the oven) and a stacking area (the area corresponding to the stacking conveyor belt) in sequence. The detection area and the baking area use the same conveyor belt, and the stacking area is provided with a stacking conveyor belt, which is used to sequentially convey the flexible cut pieces through the detection area and the baking area. It is understandable that the detection area and the baking area can also use different conveyor belts. When the detection area and the baking area use different conveyor belts, the data needs to be converted, which increases the difficulty of calculating the grab control data and also increases the calculation amount of the controller.

[0073] The detection area is used to take images. The baking area is used to bake the flexible cut pieces. The stacking area is used to stack, bundle and package the flexible cut pieces.

[0074] Optionally, the stacking device is provided with a detection area, a defective product picking area, a baking area and a stacking area in sequence, and the detection area, the defective product picking area and the baking area use the same conveyor belt. The defective product picking area is used to remove the detected defective products from the conveyor belt to prevent defective flexible sheets from being stacked. In other words, it is also possible to detect whether the flexible sheets are defective based on the target image. If they are defective, defective product extraction control data is generated based on the defective flexible sheets, and the defective product extraction control data is sent to the controller of the stacking device. The controller of the stacking device controls the extraction component to remove the defective flexible sheets from the defective product picking area based on the defective product extraction control data.

[0075] It is understandable that the inspection area, defective product picking area, and baking area may also use different conveyor belts. When different conveyor belts are used in the inspection area, defective product picking area, and baking area, the data needs to be converted, which increases the difficulty of calculating the capture control data and also increases the calculation amount of the controller.

[0076] It can be understood that the conveyor belt speed in the present application refers to the conveying speed of the conveyor belt corresponding to the detection area.

[0077] For S1, the camera device continuously shoots the detection area and determines the target image from each captured image.

[0078] The video equipment may be an industrial camera.

[0079] Firstly, edge detection is performed on the target image, and then image region segmentation is performed on the edge detection result, and the flexible cut piece corresponding to each image region obtained by segmentation is used as the initial flexible cut piece.

[0080] It can be understood that the initial flexible sheet can be completely or partially in the detection area.

[0081] Flexible panels include but are not limited to clothing panels.

[0082] According to each identified initial flexible piece, the pixel position of the piece in the target image is calculated, and then the calculated pixel position of the piece is converted to the actual position in the detection area. In other words, the actual position is the position data in the detection area.

[0083] The actual positions include: upper left corner position, lower left corner position, upper right corner position and lower right corner position.

[0084] For S2, if there is an overlapping area between the actual position and the first boundary or the second boundary of the detection area, the initial flexible cut piece corresponding to the actual position is determined to be an incomplete cut piece; if there is no overlapping area between the actual position and both the first boundary and the second boundary of the detection area, the initial flexible cut piece corresponding to the actual position is used as the target flexible cut piece.

[0085] The first boundary and the second boundary are parallel, and the first boundary and the second boundary are respectively perpendicular to the conveying direction of the conveyor belt. The flexible sheet enters the detection area from the second boundary, and then is conveyed out of the detection area from the first boundary.

[0086] For S3, based on the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set, the target shooting time and the target conveyor belt speed corresponding to the target image, the data required to control the stacking equipment's clamping jaws to clamp the target flexible cut piece for stacking is generated.

[0087] Grab control data includes: target shooting time, target conveyor belt speed, cut piece arrival time, cut piece actual length ( Figure 3 SL in), actual width of the cut piece ( Figure 3SW in), the distance between the cut piece and the lower claw, and the stacking device parameter set. Because the time of the controller of the stacking device and the time of the host computer loaded with the program implementing the present application may not be synchronized, the controller needs the target shooting time for data conversion. The target conveyor belt speed is the speed of the conveyor belt when the target image is shot, and is data obtained from the controller of the stacking device. The cut piece arrival time is the time required to count down from the target shooting time. At the end of the countdown, the clamp of the stacking device clamps the target flexible cut piece for stacking. The actual length of the cut piece is the longest dimension of the flexible cut piece in the conveying direction parallel to the transmission belt. The actual width of the cut piece is the dimension of the flexible cut piece in the conveying direction perpendicular to the transmission belt. The distance between the cut piece and the lower claw refers to the minimum distance between the target flexible cut piece and the surface of the lower claw of the clamp of the stacking device.

[0088] The stacking device parameter set includes: the minimum distance between the detection zone boundary and the lower jaw surface of the stacking device's gripper ( Figure 3 BJ in), the offset of the gripper relative to the edge of the flexible sheet when grasping ( Figure 3 JP in ).

[0089] Optionally, the stacking equipment parameter set also includes: the minimum distance between the hovering point after the limit rod is reset and the lower jaw surface of the clamp ( Figure 3 XBJ in the limit rod), the displacement of the limit rod relative to XBJ when the limit rod is pressed down to limit the position ( Figure 3 in XYP).

[0090] Figure 2 and Figure 3 The stop rod is illustrated.

[0091] For S4, based on an artificial intelligence algorithm, it is determined whether there is a subpackaging mark in the image area corresponding to the target flexible cut piece in the target image.

[0092] Subcontract identification includes but is not limited to: QR code, barcode, and identification paper.

[0093] The controller of the stacking equipment may be a PLC (programmable logic controller).

[0094] For S5, if it does not exist, that is, there is no subpackaging mark in the image area corresponding to the target flexible cut piece in the target image, it means that bundling and subpackaging are not required yet. Therefore, the grabbing control data is sent to the controller of the stacking device, so that the controller of the stacking device controls the clamp to clamp the target flexible cut piece for stacking according to the grabbing control data.

[0095] If it exists, that is, there is a subpackaging mark in the image area corresponding to the target flexible cut piece in the target image, it means that bundling and subpackaging are still needed. Therefore, subpackaging control data is generated according to the target flexible cut piece, and the grabbing control data and the subpackaging control data are sent to the controller, so that the controller of the stacking device first controls the clamping claws to clamp the target flexible cut piece for stacking according to the grabbing control data, and then controls the bundling and subpackaging components to bundle and pack the flexible cut pieces in the stacking area according to the subpackaging control data, and transfers the bundled and subpacked flexible cut piece packages out of the stacking area to prepare for the stacking of the next flexible cut piece package.

[0096] The subpackaging control data includes: a bundling and subpackaging mark. Therefore, after the controller of the stacking device stacks the target flexible cut pieces, it detects whether the bundling and subpackaging mark exists, and if so, the bundled and subpacked flexible cut piece package is transferred out of the stacking area.

[0097] Among them, through the grabbing control data of the present application, the controller of the stacking device only needs to perform simple calculations to control the clamps to clamp the target flexible cut pieces for stacking. Through the subpackaging control data of the present application, the controller of the stacking device only needs to directly control the bundling and subpackaging components to bundle and subpack the flexible cut pieces in the stacking area and transfer the bundled and subpacked flexible cut piece packages out of the stacking area after the stacking of the target flexible cut pieces is completed.

[0098] Optionally, the baking area of ​​the stacking device is provided with a piece detection sensor. If the piece detection sensor detects that a flexible piece has arrived, but the controller of the stacking device does not have grabbing control data of the flexible piece, the controller of the stacking device adopts the grabbing control data used for the last stacking to stack the flexible pieces detected by the piece detection sensor but without grabbing control data.

[0099] like Figure 2 and Figure 3 As shown, a flattening roller is provided at the connection between the stacking area and the baking area of ​​the stacking device, and the flexible cut pieces will pass under the flattening roller. When the clamping claws clamp the flexible cut pieces for stacking, the flattening roller flattens the flexible cut pieces.

[0100] In one embodiment, the step of performing initial flexible cut piece recognition on the acquired target image and calculating the actual position of each initial flexible cut piece in the detection area includes:

[0101] S11: performing edge detection and image segmentation on the target image to obtain the initial flexible cut piece;

[0102] S12: Calculating the pixel position of each of the initial flexible panels according to the target image;

[0103] S13: Calculating the actual position of each of the initial flexible cut pieces in the detection area according to the target image, the pixel positions of each of the cut pieces and the preset detection area size data.

[0104] This embodiment uses edge detection and piece segmentation to obtain the initial flexible piece, thereby accurately identifying each flexible piece corresponding to the target image, and then converts the piece pixel position of the initial flexible piece in the target image into the actual position, providing a basis for automatically calculating the grasping control data.

[0105] For S11, the Canny edge detection algorithm (multi-level edge detection algorithm) is used to perform edge detection on the target image to find the edge of each cut piece. Based on the edge of each cut piece found, an adaptive threshold segmentation method is used to segment the cut piece image area from the target image, and the flexible cut piece corresponding to each segmented cut piece image area is used as an initial flexible cut piece.

[0106] For S12, for each of the initial flexible panels, the pixel position of the panel in the target image is calculated.

[0107] It can be understood that the cut piece pixel position may be a set of pixel positions of pixels at the boundary of the image area corresponding to the initial flexible cut piece.

[0108] Optionally, a rectangular frame that can frame the image area corresponding to the initial flexible cut piece is used as a cut piece detection frame, and the pixel positions of four vertices of the cut piece detection frame in the target image are used as the cut piece pixel positions of the initial flexible cut piece.

[0109] For S13, the pixel position of each cut piece is converted into the actual position in the detection area according to the target image and the detection area size data, thereby obtaining the actual position of each initial flexible cut piece in the detection area, which provides a basis for automatically calculating the grab control data.

[0110] The detection zone size data includes: detection zone length and detection zone width. The detection zone length is the size of the detection zone parallel to the conveyor belt movement direction. The detection zone width is the size of the detection zone perpendicular to the conveyor belt movement direction.

[0111] In one embodiment, the step of calculating the grabbing control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set, the target shooting time corresponding to the target image, and the target conveyor belt speed includes:

[0112] S31: calculating the actual length and the actual width of the target flexible cut piece according to the actual position corresponding to the target flexible cut piece;

[0113] S32: Calculate the minimum distance between the target flexible cut piece and the lower jaw surface of the clamp according to the actual position corresponding to the target flexible cut piece and the stacking device parameter set, as the distance between the cut piece and the lower jaw;

[0114] S33: Calculating the time it takes for the target flexible cut piece to reach the upper surface of the clamping jaw according to the distance between the cut piece and the lower claw and the target conveyor belt speed, as the cut piece arrival time;

[0115] S34: The target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking equipment parameter set are used as the grabbing control data corresponding to the target flexible cut piece.

[0116] This embodiment calculates the grasping control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set, the target shooting time corresponding to the target image, and the target conveyor belt speed, thereby providing a basis for automatically controlling the gripper to clamp the target flexible cut piece to achieve stacking.

[0117] For S31, based on the actual position corresponding to the target flexible cut piece, the longest dimension of the target flexible cut piece in the conveying direction parallel to the conveyor belt is calculated, and the calculated data is used as the actual length of the cut piece; based on the actual position corresponding to the target flexible cut piece, the longest dimension of the target flexible cut piece in the conveying direction perpendicular to the conveyor belt is calculated, and the calculated data is used as the actual width of the cut piece.

[0118] For S32, the minimum distance between the actual position corresponding to the target flexible cut piece and the first boundary of the detection frame is calculated as the boundary spacing; the boundary spacing and the distance between the first boundary of the detection frame in the stacking equipment parameter set and the origin position of the surface of the lower jaw of the gripper are added, and the added data is used as the distance between the cut piece and the lower jaw.

[0119] For S33, the distance between the cutting piece and the lower claw is divided by the target conveyor belt speed, and the calculated data is used as the cutting piece arrival time.

[0120] For S34, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking equipment parameter set are packaged into a data packet, and the packaged data packet is used as the grabbing control data corresponding to the target flexible cut piece.

[0121] In one embodiment, the step of using the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking device parameter set as the grabbing control data corresponding to the target flexible cut piece includes:

[0122] S341: judging whether the target flexible cut piece is covered according to the target image;

[0123] S342: If not, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking device parameter set are used as the grabbing control data corresponding to the target flexible cut piece;

[0124] S343: If yes, calculating the farthest boundary distance of the target flexible piece according to the actual position corresponding to the target flexible piece;

[0125] S344: Add the farthest boundary distance to a preset limit offset to obtain a limit position;

[0126] S345: The limit position, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw and the stacking equipment parameter set are used as the grabbing control data corresponding to the target flexible cut piece.

[0127] This embodiment adds the limit position to the grasping control data when the target flexible sheet is covered, which is beneficial to controlling the limit rod of the stacking equipment to limit the position, and realizes that when the covered flexible sheet is clamped and stacked, the position of the covering flexible sheet will not be changed, which is beneficial to the accurate stacking of the covered flexible sheets, making this application suitable for stacking of covered flexible sheets.

[0128] Because the flexible sheets are placed on the conveyor belt one by one, when the flexible sheets placed first have not been completely conveyed away, the flexible sheets placed second will partially cover the flexible sheets placed first. Figure 3 As shown, flexible panel A is covered by flexible panel B.

[0129] For S341, the target flexible cut piece and the target image are input into a preset coverage analysis model for classification detection of whether they are covered, and a classification detection result is obtained; if the classification detection result is yes, it is determined that the target flexible cut piece is covered; if the classification detection result is no, it is determined that the target flexible cut piece is not covered.

[0130] The coverage analysis model is a model obtained through training of neural networks.

[0131] For S342, if no, that is, the target flexible cut piece is not covered, it means that the limit rod of the stacking device does not need to work when stacking the target flexible cut piece, and therefore there is no need to calculate the limit position. The target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw and the stacking device parameter set are used as the grabbing control data corresponding to the target flexible cut piece.

[0132] For S343, if yes, that is, the target flexible sheet is covered, which means that the limit rod of the stacking device needs to work when the target flexible sheet is stacked, then according to the actual position corresponding to the target flexible sheet, the farthest boundary distance of the target flexible sheet from the first boundary of the detection area is calculated, and the calculated boundary distance is used as the farthest boundary distance of the target flexible sheet ( Figure 3 The distance corresponding to the sum of SL and DP in ).

[0133] For S344, the farthest boundary distance is added to the preset limit offset, and the added data is used as the limit position ( Figure 3 The distance corresponding to the sum of XP and DP in ).

[0134] For S345, the limit position, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw and the stacking equipment parameter set are packaged into a data packet, and the packaged data packet is used as the grabbing control data corresponding to the target flexible cut piece.

[0135] It is understandable that the controller of the stacking device controls the limit rod to press down the flexible sheet according to the limit position. The limit rod works as follows: the limit rod moves to the flexible sheet corresponding to the limit position, and then presses down, and before the clamping claw clamps the target flexible sheet, the limit rod presses the flexible sheet covering the target flexible sheet, and the limit rod moves with the pressed flexible sheet at the same speed as the conveyor belt (such as Figure 2 When the target flexible cut pieces are stacked, the clamping jaws are first released, then the limit rods are reset, and finally the clamping jaws are reset.

[0136] Optionally, the stacking device is further provided with a pallet, which is located above the stacking area. The clamps clamp the flexible sheet, and the pallet is pushed out so that the flexible sheet clamped by the clamps is first placed on the pallet. When the flexible sheet is completely dragged off the conveyor belt, the controller controls the pallet to be withdrawn, the clamps release the flexible sheet, and then the flexible sheet falls above the stacking area to complete the stacking. Finally, the clamps are reset, and the pallet is reset to prepare for the stacking of the next flexible sheet.

[0137] In one embodiment, before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes:

[0138] S0111: Acquire an initial image, wherein the initial image is an image obtained by photographing the detection area using a camera device with a first exposure duration;

[0139] S0112: Determine whether the image brightness of the initial image is equal to a preset image brightness threshold;

[0140] S0113: If yes, use the initial image as the target image;

[0141] S0114: If not, obtain an adjusted image, wherein the adjusted image is an image obtained by the camera device photographing the detection area using a second exposure time, and the second exposure time is greater than or less than the first exposure time;

[0142] S0115: Calculating an image brightness increment within a unit exposure duration according to the image brightness of the adjusted image, the image brightness of the initial image, the first exposure duration, and the second exposure duration to obtain a brightness increment per unit duration;

[0143] S0116: Calculating a target exposure duration according to the image brightness of the adjusted image, the second exposure duration, the brightness increment per unit duration, and the image brightness threshold;

[0144] S0117: Acquire an image of the detection area captured by the camera device using the target exposure time as the target image.

[0145] This embodiment realizes automatic adjustment of exposure duration so that the image brightness of each determined target image is greater than the image brightness threshold, which is beneficial to improving the accuracy of automatically calculating the grabbing control data based on the target image; and makes the application adaptive to the stacking of flexible sheets of different colors, making the application suitable for application scenarios of stacking flexible sheets of different colors.

[0146] For S0111, the camera device is controlled to use the first exposure time to shoot the detection area to obtain an image as an initial image.

[0147] For S0112, the image brightness of the initial image is calculated, and it is determined whether the calculated image brightness is equal to a preset image brightness threshold.

[0148] Image brightness refers to the brightness of the picture.

[0149] For S0113, if yes, that is, the image brightness of the initial image is equal to the preset image brightness threshold, it means that the initial image has met the image brightness requirement and can be used to calculate the capture control data, so the initial image is used as the target image.

[0150] For S0114, if no, that is, the image brightness of the initial image is less than or greater than the preset image brightness threshold, it means that the initial image does not meet the image brightness requirement, and the exposure time of the camera device needs to be adjusted; therefore, the camera device is controlled to use the second exposure time to capture the image of the detection area, and the captured image is used as the adjusted image.

[0151] Optionally, the exposure level corresponding to the second exposure duration is one level higher or one level lower than the exposure level corresponding to the first exposure duration.

[0152] For S0115, the image brightness of the adjusted image is subtracted from the image brightness of the initial image to obtain an adjusted brightness increment; the first exposure duration is subtracted from the second exposure duration to obtain an exposure duration increment to be analyzed; the adjusted brightness increment is divided by the exposure duration increment to be analyzed to obtain a brightness increment per unit duration.

[0153] The first exposure duration and the second exposure duration have the same measurement unit.

[0154] The measurement unit of the unit duration corresponding to the unit duration brightness increment is the same as the measurement unit of the first exposure duration.

[0155] For S0116, the image brightness of the adjusted image is subtracted from the image brightness threshold to obtain a target brightness increment; the target brightness increment is divided by the unit duration brightness increment to obtain a target exposure duration increment; the second exposure duration is added to the target exposure duration increment, and the added data is used as the target exposure duration.

[0156] For S0117, the camera device is controlled to shoot the detection area with the target exposure time, and the shot image is used as the target image.

[0157] In one embodiment, before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes:

[0158] S0121: Acquire a first comparison image and a second comparison image, wherein the first comparison image and the second comparison image are images obtained by photographing the detection area twice in succession, and the photographing time of the first comparison image is earlier than the photographing time of the second comparison image;

[0159] S0122: performing flexible cut piece identification on the first comparison image to obtain a first flexible cut piece;

[0160] S0123: performing flexible cut piece identification on the second comparison image to obtain a second flexible cut piece;

[0161] S0124: Subtract the shooting time of the first comparison image from the shooting time of the second comparison image to obtain the interval between two frames;

[0162] S0125: Obtaining a two-frame movement distance according to the two-frame interval time length and the conveyor belt speed corresponding to the two-frame interval time length;

[0163] S0126: moving each of the first flexible pieces in the first comparison image along the moving direction of the conveyor belt by the moving distance of two frames to obtain a set of moved flexible pieces;

[0164] S0127: Find each of the first flexible pieces located in the detection area from the set of moved flexible pieces to obtain flexible pieces to be compared;

[0165] S0128: Determine whether the second flexible cut piece is the same as the flexible cut piece to be compared;

[0166] S0129: If not, determining that the teleportation judgment result is present, and updating the abnormal image record table according to the first comparison image and the second comparison image;

[0167] S01210: If it exists, determine that the teleportation judgment result is not present, and use the second comparison image as the target image.

[0168] In this embodiment, it is first determined whether there is teleportation in the image, and the image without teleportation is used as the target image, which is conducive to improving the accuracy of automatically calculating the grabbing control data based on the target image.

[0169] For S0121, the camera device photographs the detection area twice in succession to obtain two images, and the first image obtained by photographing is used as the first comparison image, and the second image obtained by photographing is used as the second comparison image.

[0170] For S0122, the Canny edge detection algorithm is used to perform edge detection on the first comparison image to find the edge of each cut piece. Based on the edge of each cut piece found, an adaptive threshold segmentation method is used to segment the cut piece image area from the first comparison image, and the flexible cut piece corresponding to each segmented cut piece image area is used as a first flexible cut piece.

[0171] For S0123, the Canny edge detection algorithm is used to perform edge detection on the second comparison image to find the edge of each cut piece. Based on the edge of each cut piece found, an adaptive threshold segmentation method is used to segment the cut piece image area from the second comparison image, and the flexible cut piece corresponding to each segmented cut piece image area is used as a second flexible cut piece.

[0172] For S0124, the shooting time of the first comparison image is subtracted from the shooting time of the second comparison image, and the time length obtained by the subtraction is used as the time length between two frames.

[0173] For S0125, the two-frame moving distance is obtained according to the two-frame interval time length and the conveyor belt speed corresponding to the two-frame interval time length, that is, the moving distance of the conveyor belt in the time period corresponding to the two-frame interval time length is calculated.

[0174] For example, if the conveyor belt speed corresponding to the two-frame interval is moving at a constant speed, the two-frame interval is multiplied by the conveyor belt speed corresponding to the two-frame interval, and the distance obtained by the multiplication is used as the two-frame movement distance.

[0175] For S0126, each of the first flexible pieces in the first comparison image is moved along the moving direction of the conveyor belt by the two-frame moving distance to obtain a set of moved flexible pieces, thereby realizing the conveying simulation of the first flexible pieces.

[0176] For S0127, each of the first flexible pieces located in the detection area is found from the set of moved flexible pieces to obtain the flexible pieces to be compared, thereby finding the flexible pieces that may exist in both the first comparison image and the second comparison image.

[0177] For S0128, it is determined whether the second flexible sheet and the flexible sheet to be compared have the same shape and the same position in the detection area.

[0178] For S0129, if it does not exist, it means that the flexible cut piece to be compared has teleported, then the teleportation judgment result is determined to exist, and the abnormal image record table is updated according to the first comparison image and the second comparison image. The abnormal image record table is used for subsequent abnormal analysis.

[0179] For S01210, if it exists, it means that the flexible cut piece to be compared does not have any teleportation, and then the teleportation judgment result is determined to be non-existent, and the second comparison image is used as the target image.

[0180] In one embodiment, before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes:

[0181] S0131: Get the conveyor belt speed at the current time as the conveyor belt speed to be processed;

[0182] S0132: Calculating the target shooting interval duration according to the conveyor belt speed to be processed, the preset detection zone length and the preset minimum analysis frame number;

[0183] S0133: Controlling a camera device to photograph the detection area according to the target shooting interval to obtain the target image.

[0184] This embodiment adjusts the target shooting interval according to the conveyor belt speed while meeting the minimum number of analysis frames, thereby extending the life of the camera equipment and reducing the consumption of computing resources by this application.

[0185] For S0131, the conveyor belt speed at the current time is obtained from the controller of the stacking device, and the obtained conveyor belt speed is used as the conveyor belt speed to be processed.

[0186] For S0132, the interval duration between each frame is calculated according to the conveyor belt speed to be processed, the preset detection area length and the preset minimum number of analysis frames, and the interval duration is used as the target shooting interval duration.

[0187] The length of the detection zone is divided by the speed of the conveyor belt to be processed to obtain the transmission time of the detection zone; the transmission time of the detection zone is divided by the minimum number of analysis frames, and the data obtained by the division is used as the target shooting interval time.

[0188] For S0133, the camera device is controlled to shoot the detection area according to the target shooting interval, and the shot image is used as the target image.

[0189] It is understandable that an image that satisfies steps S0111 to S0117, steps S0121 to S01210, and steps S0131 to S0133 can be used as a target image. In other words, the target image is an image that is shot with a target shooting interval, has no teleportation, and has an image brightness value greater than an image brightness threshold.

[0190] Reference Figure 4 The present application also proposes a stacking device for flexible cut pieces, the device comprising:

[0191] The flexible cut piece identification and position calculation module 100 is used to perform initial flexible cut piece identification on the acquired target image and calculate the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area;

[0192] A target flexible cut piece determination module 200 is used to obtain each complete initial flexible cut piece from each initial flexible cut piece as a target flexible cut piece according to each actual position;

[0193] A grab control data calculation module 300 is used to calculate grab control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, a preset stacking equipment parameter set, and a target shooting time and a target conveyor belt speed corresponding to the target image;

[0194] A sub-packaging mark judging module 400 is used to judge whether there is a sub-packaging mark on the target flexible cut piece according to the target image;

[0195] The data synchronization module 500 is used to send the grabbing control data to the controller of the stacking device if it does not exist; otherwise, generate subpackaging control data according to the target flexible cut piece and send the grabbing control data and the subpackaging control data to the controller.

[0196] This embodiment automatically calculates the grabbing control data by shooting the target image obtained in the detection area, which is beneficial for the controller to control the stacking equipment for automatic stacking according to the grabbing control data, thereby improving efficiency and reducing production costs; and the automatic stacking adopts a unified standard for stacking, thereby improving the neatness of the flexible cut piece package; by generating subpackaging control data when the subpackaging mark is identified, it is beneficial for the controller to control the stacking equipment for bundling and subpackaging according to the subpackaging control data, thereby further improving efficiency and further reducing production costs.

[0197] Reference Figure 5 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 5As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as a stacking method of flexible cut pieces. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a stacking method of flexible cut pieces is implemented. The stacking method of the flexible cut pieces includes: performing initial flexible cut piece identification on the acquired target image, and calculating the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area; according to each of the actual positions, obtaining each complete initial flexible cut piece from each of the initial flexible cut pieces as a target flexible cut piece; calculating the grabbing control data of the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, a preset stacking equipment parameter set, and a target shooting time and a target conveyor belt speed corresponding to the target image; judging whether a sub-packaging mark exists for the target flexible cut piece according to the target image; if not, sending the grabbing control data to the controller of the stacking equipment, otherwise, generating sub-packaging control data according to the target flexible cut piece, and sending the grabbing control data and the sub-packaging control data to the controller.

[0198] This embodiment automatically calculates the grabbing control data by shooting the target image obtained in the detection area, which is beneficial for the controller to control the stacking equipment for automatic stacking according to the grabbing control data, thereby improving efficiency and reducing production costs; and the automatic stacking adopts a unified standard for stacking, thereby improving the neatness of the flexible cut piece package; by generating subpackaging control data when the subpackaging mark is identified, it is beneficial for the controller to control the stacking equipment for bundling and subpackaging according to the subpackaging control data, thereby further improving efficiency and further reducing production costs.

[0199] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements a stacking method for flexible sheets when executed by a processor, comprising the steps of: performing initial flexible sheet recognition on an acquired target image, and calculating the actual position of each of the initial flexible sheets in a detection area, wherein the target image is an image obtained by photographing the detection area; acquiring each complete initial flexible sheet from each of the initial flexible sheets as a target flexible sheet according to each of the actual positions; calculating grabbing control data for the target flexible sheet according to the actual position corresponding to the target flexible sheet, a preset stacking equipment parameter set, and a target shooting time and a target conveyor belt speed corresponding to the target image; determining whether a sub-packaging mark exists for the target flexible sheet according to the target image; if not, sending the grabbing control data to a controller of the stacking equipment; otherwise, generating sub-packaging control data according to the target flexible sheet, and sending the grabbing control data and the sub-packaging control data to the controller.

[0200] The above-mentioned flexible cut piece stacking method automatically calculates the grabbing control data by shooting the target image obtained in the detection area, which is conducive to controlling the stacking equipment for automatic stacking according to the grabbing control data through the controller, thereby improving efficiency and reducing production costs; and the automatic stacking adopts a unified standard for stacking, thereby improving the neatness of the flexible cut piece package; by generating subpackaging control data when the subpackaging mark is identified, it is conducive to controlling the stacking equipment for bundling and subpackaging according to the subpackaging control data through the controller, further improving efficiency and further reducing production costs.

[0201] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0202] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, device, article or method including the element.

[0203] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for stacking flexible panels, characterized in that: The method comprises: Performing initial flexible cut pieces recognition on the acquired target image, and calculating the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area; According to each of the actual positions, obtaining each of the complete initial flexible cut pieces from each of the initial flexible cut pieces as a target flexible cut piece; Calculate grabbing control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set, the target shooting time corresponding to the target image, and the target conveyor belt speed; According to the target image, determining whether the target flexible cut piece has a subpackaging mark; If not, the grabbing control data is sent to the controller of the stacking device; otherwise, the sub-packaging control data is generated according to the target flexible panel, and the grabbing control data and the sub-packaging control data are sent to the controller.

2. The method for stacking flexible panels according to claim 1, characterized in that: The step of performing initial flexible cut piece recognition on the acquired target image and calculating the actual position of each initial flexible cut piece in the detection area includes: Performing edge detection and image segmentation on the target image to obtain the initial flexible cut piece; Calculating the pixel position of each initial flexible cut piece according to the target image; The actual position of each of the initial flexible cut pieces in the detection area is calculated according to the target image, the pixel positions of each of the cut pieces and the preset detection area size data.

3. The method for stacking flexible panels according to claim 1, characterized in that: The step of calculating the grabbing control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, the preset stacking equipment parameter set, the target shooting time corresponding to the target image, and the target conveyor belt speed includes: According to the actual position corresponding to the target flexible cut piece, respectively calculating the actual length and the actual width of the cut piece for the target flexible cut piece; According to the actual position corresponding to the target flexible cut piece and the stacking device parameter set, the minimum distance between the target flexible cut piece and the lower jaw surface of the clamp is calculated as the distance between the cut piece and the lower jaw; According to the distance between the cut piece and the lower claw and the target conveyor belt speed, the time length for the target flexible cut piece to reach the upper surface of the clamping claw is calculated as the cut piece arrival time length; The target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw and the stacking equipment parameter set are used as the grabbing control data corresponding to the target flexible cut piece.

4. The method for stacking flexible panels according to claim 3, characterized in that: The step of using the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking device parameter set as the grabbing control data corresponding to the target flexible cut piece includes: Determining whether the target flexible cut piece is covered according to the target image; If not, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw, and the stacking device parameter set are used as the grabbing control data corresponding to the target flexible cut piece; If yes, calculating the farthest boundary distance of the target flexible cutout according to the actual position corresponding to the target flexible cutout; Adding the farthest boundary distance to a preset limit offset to obtain a limit position; The limit position, the target shooting time, the target conveyor belt speed, the arrival time of the cut piece, the actual length of the cut piece, the actual width of the cut piece, the distance between the cut piece and the lower claw and the stacking equipment parameter set are used as the grabbing control data corresponding to the target flexible cut piece.

5. The method for stacking flexible panels according to claim 1, characterized in that: Before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes: Acquire an initial image, wherein the initial image is an image obtained by photographing the detection area using a camera device with a first exposure duration; Determining whether the image brightness of the initial image is equal to a preset image brightness threshold; If yes, taking the initial image as the target image; If not, obtaining an adjusted image, wherein the adjusted image is an image obtained by the camera device photographing the detection area using a second exposure duration, and the second exposure duration is greater than or less than the first exposure duration; Calculating an image brightness increment within a unit exposure duration according to the image brightness of the adjusted image, the image brightness of the initial image, the first exposure duration, and the second exposure duration to obtain a brightness increment per unit duration; Calculating a target exposure duration according to the image brightness of the adjusted image, the second exposure duration, the brightness increment per unit duration, and the image brightness threshold; An image obtained by photographing the detection area by the camera device using the target exposure time is acquired as the target image.

6. The method for stacking flexible panels according to claim 1, characterized in that: Before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes: Acquire a first comparison image and a second comparison image, wherein the first comparison image and the second comparison image are images obtained by photographing the detection area twice in succession, and the photographing time of the first comparison image is earlier than the photographing time of the second comparison image; Performing flexible cut piece identification on the first comparison image to obtain a first flexible cut piece; Performing flexible cut piece identification on the second comparison image to obtain a second flexible cut piece; Subtract the shooting time of the first comparison image from the shooting time of the second comparison image to obtain the interval between two frames; According to the interval between the two frames and the conveyor belt speed corresponding to the interval between the two frames, a moving distance between the two frames is obtained; Move each of the first flexible pieces in the first comparison image along the moving direction of the conveyor belt by the moving distance of two frames to obtain a set of moved flexible pieces; Find each of the first flexible cut pieces located in the detection area from the set of moved flexible cut pieces to obtain the flexible cut pieces to be compared; Determine whether the second flexible cut piece is the same as the flexible cut piece to be compared; If not, determining that the teleportation judgment result is present, and updating the abnormal image record table according to the first comparison image and the second comparison image; If it exists, it is determined that the teleportation judgment result does not exist, and the second comparison image is used as the target image.

7. The method for stacking flexible panels according to claim 1, characterized in that: Before the step of performing initial flexible cut piece recognition on the acquired target image, the method further includes: Get the conveyor belt speed at the current time as the conveyor belt speed to be processed; Calculating the target shooting interval duration according to the conveyor belt speed to be processed, the preset detection zone length and the preset minimum analysis frame number; The camera device is controlled to shoot the detection area according to the target shooting interval to obtain the target image.

8. A stacking device for flexible cut pieces, characterized in that: The device comprises: A flexible cut piece identification and position calculation module, used to perform initial flexible cut piece identification on the acquired target image and calculate the actual position of each of the initial flexible cut pieces in the detection area, wherein the target image is an image obtained by photographing the detection area; A target flexible cut piece determination module is used to obtain each complete initial flexible cut piece from each initial flexible cut piece as a target flexible cut piece according to each actual position; A grasping control data calculation module, used for calculating grasping control data for the target flexible cut piece according to the actual position corresponding to the target flexible cut piece, a preset stacking equipment parameter set, and a target shooting time and a target conveyor belt speed corresponding to the target image; A sub-packaging mark judging module, used for judging whether there is a sub-packaging mark on the target flexible cut piece according to the target image; The data synchronization module is used to send the grabbing control data to the controller of the stacking device if it does not exist; otherwise, generate subpackaging control data according to the target flexible cut piece and send the grabbing control data and the subpackaging control data to the controller.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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

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