Product unloading method, device, computer equipment, and storage medium

Abstract

The present disclosure relates to a product unloading method, device, computer equipment, and storage medium. It is applied to multiple unloading tables in the detection equipment, each of which includes multiple product positions. The detection equipment also includes: an unloading port corresponding to the unloading table, and the method includes: controlling the unloading table to move to the unloading port for material discharge calibration to obtain a first reference position corresponding to each product under the unloading port; in response to the presence of products in the unloading table, photographing the products for alignment, and determining the deviation amount according to the result of the photographing alignment and the first reference position; according to the first reference position, the deviation amount, and the coordinate value of each placement position in the carrier plate of the unloading port, controlling the material picking arm of the unloading port to place the product in the unloading table in each placement position of the carrier plate. The use of this method can simplify the manual processing of personnel during unloading calibration, and can accurately and quickly place products on the Tray.

Description

Technical Field

[0001] The present disclosure relates to the field of automated processing technology, and in particular to a product unloading method, device, computer equipment, and storage medium. Background Art

[0002] With the development of machine vision and automation technology, many operations in the production line are completed through automation. In order to improve production efficiency, most manufacturers will produce or assemble products in sections, which requires frequent loading and unloading of products.

[0003] At present, when the mainstream unloading machine is in operation, the product is aligned on a certain platform. After obtaining the compensation data, the product is grabbed from the platform by a robot. At the same time, the robot moves the grabbed product to the corresponding acupoint of the tray and compensates for the offset of the tray, and places the product into the acupoint of the tray.

[0004] However, the current calibration method for Tray is basically performed manually by personnel to determine the compensation data. However, if there are multiple loading ports or multiple platforms, personnel are required to manually process them one by one. The processing process is relatively complicated and time-consuming. Summary of the invention

[0005] Based on this, it is necessary to provide a product unloading method, device, computer equipment, and storage medium to simplify manual processing when unloading, calibrating, and placing products, and to accurately and quickly place products on the Tray to address the above technical problems.

[0006] In a first aspect, the present disclosure provides a product unloading method. A plurality of unloading platforms are applied to a detection device, each of which includes a plurality of product positions, and the detection device further includes: an unloading port corresponding to the unloading platform, and the method includes:

[0007] Control the unloading platform to move to the unloading port to perform unloading calibration, and obtain the first reference position corresponding to each product under the unloading port;

[0008] In response to the presence of a product in the unloading table, photographing and aligning the product, and determining a deviation amount according to a result of the photographing and alignment and the first reference position;

[0009] According to the first reference position, the deviation amount and the coordinate value of each placement position in the carrier plate of the discharge port, the picking arm of the discharge port is controlled to place the product in the discharge table in each placement position of the carrier plate, wherein the coordinate value of the placement position is calculated based on the coordinate values ​​of at least two teaching positions in the carrier plate, and the teaching positions include: the point positions on the edge of the carrier plate.

[0010] In one of the embodiments, the method further comprises: in response to the number of products in the carrier tray reaching a product threshold and / or the state of the cylinder fixing the carrier tray being a non-extended state, determining that the carrier tray is a non-working carrier tray;

[0011] Stop placing the product on the non-working carrier tray, and place the product on other carrier trays.

[0012] In one embodiment, the method for determining the coordinate value of the placement position includes:

[0013] Recording the coordinate values ​​of the teaching position in the carrier plate, wherein the coordinate values ​​include: the horizontal coordinate, the vertical coordinate, the vertical coordinate and the value of the rotation axis;

[0014] The coordinate value of each placement position is calculated according to the coordinate value of the teaching position, the number and spacing of rows and columns in the carrier plate, and the teaching position includes: the first placement position for placing a product and the last placement position for placing a product.

[0015] In one embodiment, the unloading platform includes: a good product unloading platform and a bad product unloading platform, and the unloading port includes: a first good product unloading port and a second good product unloading port; the control of moving the unloading platform to the unloading port for unloading calibration to obtain the first reference position corresponding to each product under the unloading port includes:

[0016] Placing a product on the product position of the good product unloading platform, controlling the good product unloading platform to move to the first good product unloading port and the second good product unloading port respectively for unloading calibration, and obtaining a first reference position of the product under the first good product unloading port and a first reference position corresponding to the product in the good product unloading platform under the second good product unloading port;

[0017] Control the good product unloading platform to move to the discharge position of the second good product unloading port, and use the picking arm of the second good product unloading port to obtain the product in the good product unloading platform according to the first reference position;

[0018] Control the defective product unloading platform to move to the receiving position of the second good product unloading port, and use the picking arm of the second good product unloading port to place the product on the defective product unloading platform;

[0019] The products in the defective product unloading table are photographed and calibrated to obtain a first reference position corresponding to the products in the defective product unloading table under the second good product unloading port.

[0020] In one embodiment, after obtaining the first reference position corresponding to each product under the discharge port, the method further includes:

[0021] Control the picking arm of the first good product unloading port to obtain the product according to the first reference position of the product under the first good product unloading port and / or the first reference position corresponding to the product in the good product unloading table under the second good product unloading port, and sequentially place the product in other product positions of the good product unloading table for photographing and calibration, so as to obtain the first reference position corresponding to each product position in the good product unloading table;

[0022] The picking arm of the second good product unloading port is controlled to obtain the product according to the first reference position corresponding to the product in the defective product unloading table under the second good product unloading port, and the products are placed in other product positions of the defective product unloading table in turn for photographing and calibration to obtain the first reference position corresponding to each product position in the defective product unloading table.

[0023] In one embodiment, the method further comprises:

[0024] In response to identifying that the product is not completely placed in the placement position of the carrier tray, receiving a deviation parameter;

[0025] The material taking arm of the material discharge port is controlled according to the deviation parameter to adjust the products that are not fully placed in the placement position of the carrier plate.

[0026] In a second aspect, the present disclosure further provides a product unloading device. A plurality of unloading platforms are used in a detection device, each of which includes a plurality of product positions, and the detection device further includes: an unloading port corresponding to the unloading platform, and the device includes:

[0027] A calibration module, used for controlling the unloading platform to move to the unloading port for unloading calibration, and obtaining a first reference position corresponding to each product under the unloading port;

[0028] a deviation rate determination module, configured to, in response to the presence of a product in the blank, photograph and align the product, and determine the deviation amount according to the result of the photograph and alignment and the first reference position;

[0029] A material unloading and placement module is used to control the material picking arm of the unloading port to place the product in the unloading table in each placement position in the carrying plate according to the first reference position, the deviation amount and the coordinate value of each placement position in the carrying plate, wherein the coordinate value of the placement position is calculated based on the coordinate values ​​of at least two teaching positions in the carrying plate, and the teaching positions include: point positions on the edge of the carrying plate.

[0030] In a third aspect, the present disclosure further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any method embodiment are implemented.

[0031] In a fourth aspect, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any method embodiment when executed by a processor.

[0032] In a fifth aspect, the present disclosure further provides a computer program product. The computer program product includes a computer program, which, when executed by a processor, implements the steps of any of the above method embodiments.

[0033] In the above embodiments, the unloading platform is moved to the unloading port for unloading calibration, and the first reference position of the product in the unloading platform under each unloading port can be determined. In the process of unloading and placing, the only thing that moves is the unloading platform, so this first reference position is used as the standard. When there is a product in the subsequent unloading platform, the unloading platform can continue to be controlled to move to the corresponding unloading port, and the product in the unloading platform can be calibrated again, and then the compensation amount, that is, the deviation amount, of the unloading arm in the unloading port to grab the product can be determined according to the reference position of the above standard and the result of the current calibration. The product can be accurately grabbed according to the deviation amount. In addition, in order to accurately place the product in the placement position of the carrier plate. The teaching position in the carrier plate can be used to accurately determine the coordinate value of each placement position in the carrier plate, and the product can be accurately grabbed and placed in the corresponding placement position of the carrier plate. Different from the current traditional technology, there is no need for manual processing by personnel, which simplifies manual processing by personnel, and can accurately and quickly place the product on the carrier plate. And when there are multiple unloading ports or unloading platforms, this logic can also be used for processing to improve unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of an application environment of a product unloading method in an embodiment;

[0036] Figure 2 It is a schematic flow chart of a product unloading method in one embodiment;

[0037] Figure 3 A schematic diagram of the structure of a detection device in one embodiment;

[0038] Figure 4 A schematic diagram of the structure of a carrier plate in one embodiment;

[0039] Figure 5 It is a schematic diagram of a process of switching a carrier plate in one embodiment;

[0040] Figure 6 It is a flowchart of a method for determining the coordinate value of a placement position in one embodiment;

[0041] Figure 7 Schematic diagram of the process of step S202 in one embodiment;

[0042] Figure 8 Schematic diagram of the process after step S202 in one embodiment;

[0043] Fig. 9 A schematic diagram of a process for adjusting deviation parameters in one embodiment;

[0044] Fig.10 It is a schematic block diagram of the structure of a product unloading device in one embodiment;

[0045] Fig.11 Schematic diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present disclosure more clear, the present disclosure 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 disclosure and are not used to limit the present disclosure.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of this article described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0048] In this article, the term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the related objects before and after are in an "or" relationship.

[0049] The present disclosure provides a method for unloading a product, which can be applied to Figure 1In the application environment shown. Among them, the host computer 102 communicates with the detection device 104 through the network. The detection device includes a plurality of unloading platforms, each of which includes a plurality of product positions, and the detection device also includes: a unloading port corresponding to the unloading platform. The method includes: the host computer 102 controls the unloading platform to move to the unloading port for material discharge calibration, and obtains the first reference position corresponding to each product under the unloading port. In response to the presence of products in the unloading platform, the host computer controls the detection device to take photos of the products, and determines the deviation of the product according to the results of the photo alignment and the first reference position. According to the first reference position, the deviation and the coordinate value of each placement position in the carrier plate of the unloading port, the material taking wall of the unloading port is controlled to place the product in the unloading platform in each placement position of the carrier plate. Among them, the coordinates of the placement position are calculated according to the coordinate values ​​of at least two teaching positions in the carrier plate, and the teaching position includes: the point position of the edge of the carrier plate. Among them, the host computer 102 can be but not limited to various personal computers, laptops, smart phones, tablet computers, etc. The detection device 104 may be composed of one or more of a display brightness detection device, an AOI detection device, a Gamma compensation device, and a PCD detection device.

[0050] In one embodiment, Figure 2 As shown, a product unloading method is provided, which is applied to Figure 1 The host computer 102 in the example is used for explanation, and the host computer is used to control the detection equipment, the multiple unloading tables in the detection equipment, each of which includes multiple product positions, the detection equipment also includes: a unloading port corresponding to the unloading table, and the method includes the following steps:

[0051] like Figure 3 As shown, first according to Figure 3 The detection equipment involved in some embodiments of the present disclosure is further described. The detection equipment may include: a loading part, a detection part, a re-judgment part, a unloading platform and a unloading port. The loading part is used to load the product. The detection part is used to detect the product to determine whether the product is qualified (good product status) or unqualified (defective product status). The re-display part performs a secondary inspection on the product to further determine whether the product is qualified or unqualified. Then place it on the corresponding unloading table. There can be multiple product positions in the unloading table, and multiple product positions can all place products. The unloading port is used to place the product on the unloading table on the carrying plate for unloading.

[0052] S202, controlling the unloading platform to move to the unloading port to perform unloading calibration, and obtaining a first reference position corresponding to each product under the unloading port.

[0053] Among them, the unloading platform can usually be a platform for placing unloading products. There can be multiple unloading platforms in the detection equipment, and different unloading platforms can also be equipped according to different product types. For example, the unloading platform for placing good products can be a good unloading platform, and the unloading platform for placing defective products can be a defective unloading platform. The unloading port can usually be a port for controlling the unloading of products in the unloading platform, which can also be distinguished according to different product types. For example, some unloading ports can only grab and place good products, some unloading ports can only grab and place defective products, and some unloading ports can grab both good products and defective products. In addition, the unloading platform can correspond to multiple unloading ports. For example, unloading port A1 and unloading port A2 can correspond to unloading platform A, and both A1 and A2 can grab products in unloading platform A.

[0054] Specifically, the unloading table can be controlled to move to the unloading port corresponding to the product on it, a product is placed on the unloading table, and a photo is taken for calibration. The state of the calibrated product at this time is the standard image, and the position of the product at this time is the first reference position.

[0055] In some exemplary embodiments, for example, the unloading port A1 and the unloading port A2 may correspond to the unloading platform A, and the product may be placed in the unloading platform A. The unloading platform A is controlled to move to the unloading port A1, and photographs and calibration are performed at the unloading port A1. Then, the unloading platform A is controlled to move to the unloading port A2, and photographs and calibration are performed at the unloading port A2. It can be understood that in some embodiments of the present disclosure, the order in which the unloading platform moves to the unloading port is not restricted.

[0056] S204, in response to the presence of a product in the unloading table, photographing and aligning the product, and determining a deviation amount according to a result of the photographing and alignment and the first reference position.

[0057] Among them, the camera alignment can usually be a method of moving the product on the unloading table to the corresponding unloading port and then taking a camera for calibration. The deviation can usually be the correction data of the material picking arm of the unloading port so that it can accurately grab the object.

[0058] Specifically, when the upstream equipment places qualified good products or unqualified defective products in the corresponding unloading platform, there are products in the unloading platform at this time. The unloading platform can be moved to the corresponding unloading port, and a photo is taken at the unloading port to obtain the position corresponding to the product in the unloading platform at the unloading port position at this time. Then, the position is compared with the reference position of the product in the unloading platform to determine the deviation. It is understandable that in the case of multiple products, each product can also be calibrated in turn.

[0059] In some exemplary embodiments, taking the feed port A1 as an example, when there is a product in the feed table A, the feed table A can be moved to the corresponding feed port A1, and a photo is taken at the feed port A1 to determine the current product position, and compare it with the first reference position calibrated by the previous photo to obtain the deviation.

[0060] S206, according to the first reference position, the deviation amount and the coordinate value of each placement position in the carrier plate of the unloading port, control the material taking arm of the unloading port to place the product in the unloading platform in each placement position of the carrier plate,

[0061] The coordinate value of the placement position is calculated based on the coordinate values ​​of at least two teaching positions in the carrier plate, and the teaching positions include: the edge points in the carrier plate. Figure 4 As shown, it can be B1, B2, B3 and B4. The teaching points can be selected: B1 and B3, or B2 and B4, or more edge points can be selected to determine. The carrier plate can usually be a Tray, which is usually supported by the mechanism of the port and is used cyclically. Usually, every 30 Trays are stacked up and then discharged. The materials (products) from the upstream are usually stored on the Tray for unloading or discharging.

[0062] Specifically, the product can be grabbed by the feeding arm of the feeding port in advance and placed on the teaching position, and the coordinates of the teaching position at this time can be recorded. Then, the coordinate value of each placement position in the carrier plate is calculated based on the coordinates of the teaching position. Then, the feeding arm of the feeding port is adjusted according to the first reference position and the deviation, so that it can accurately grab the product in the feeding platform, and put the product into the placement position of the carrier plate according to the coordinate value of each placement position in the carrier plate.

[0063] In the above product unloading method, the unloading platform is moved to the unloading port for unloading calibration, and the first reference position of the product in the unloading platform under each unloading port can be determined. In the process of unloading and placing, the only thing that moves is the unloading platform, so this first reference position is used as the standard. When there is a product in the subsequent unloading platform, the unloading platform can continue to be controlled to move to the corresponding unloading port, and the product in the unloading platform can be calibrated again, and then the compensation amount of the unloading arm in the unloading port to grab the product, that is, the deviation amount, can be determined according to the reference position of the above standard and the result of the current calibration. The product can be accurately grabbed according to the deviation amount. In addition, in order to accurately place the product in the placement position of the carrier plate. The teaching position in the carrier plate can be used to accurately determine the coordinate value of each placement position in the carrier plate, and the product can be accurately grabbed and placed in the corresponding placement position of the carrier plate. Different from the current traditional technology, there is no need for manual processing by personnel, which simplifies manual processing by personnel, and can accurately and quickly place the product on the carrier plate. And when there are multiple unloading ports or unloading platforms, this logic can also be used for processing to improve unloading efficiency.

[0064] In one embodiment, Figure 5 As shown, the method also includes:

[0065] S302, determining whether the number of products in the carrier plate reaches a product threshold.

[0066] S304, determining whether the state of the cylinder fixing the carrier plate is a non-extended state.

[0067] S306, in response to the number of products in the carrier tray reaching a product threshold and / or the cylinder fixing the carrier tray being in a non-extended state, determining that the carrier tray is a non-working carrier tray;

[0068] S308, stop placing the product on the non-working carrier tray, and place the product on other carrier trays.

[0069] The product threshold may be the maximum number of products that can be placed in the carrier. When the product threshold is reached, it can be determined that the carrier is full and cannot continue to load products. A non-working carrier may be a carrier that does not load products, cannot continue to load products, or may be a carrier that has a fault.

[0070] Specifically, it can be determined whether the number of products in the carrier tray has reached the product threshold. If the product threshold is reached, it is determined that the current carrier tray is in a fully loaded state. It is impossible to continue loading products, and the carrier tray is a non-working carrier tray. When there is a carrier tray, the state of the cylinder that fixes the carrier tray is usually in an extended state. Therefore, when the state of the cylinder that fixes the carrier tray is not in an extended state, it can be determined that the discharge port may be replacing the carrier tray or the carrier tray does not meet the loading state. At this time, the carrier tray may also be a non-working carrier tray. According to the above conditions, when the carrier tray is a non-working carrier tray, and when there are products on the discharge table corresponding to the discharge port, the product will not be placed on the non-working carrier tray temporarily, and the product will be placed in other carrier trays that do not meet the above conditions.

[0071] In this embodiment, whether the current carrier tray is non-working is determined by the number of products in the carrier tray and the state of the cylinder. The state of each carrier tray in the discharge port can be determined to ensure that the carrier tray on which the product is placed can be automatically switched, avoiding the problem of long waiting time when the carrier tray has an abnormality, thereby improving the equipment utilization rate.

[0072] In one embodiment, Figure 6 As shown, the method for determining the coordinate value of the placement position includes:

[0073] S402, recording the coordinate values ​​of the teaching position in the carrier plate, wherein the coordinate values ​​include: the horizontal coordinate, the vertical coordinate, the vertical coordinate and the value of the rotation axis;

[0074] S404, calculating the coordinate value of each placement position according to the coordinate value of the teaching position, the number and spacing of rows and columns in the carrier plate, wherein the teaching position includes: the first placement position for placing a product and the last placement position for placing a product.

[0075] Specifically, the picking arm in the feeding port can be used to grab the product and place it in the first placement position of the product in the carrier plate, and record the horizontal coordinate, vertical coordinate, vertical coordinate and rotation axis values ​​at this time. Then grab the product and place it in the last placement position of the product in the carrier plate, and record the horizontal coordinate, vertical coordinate, vertical coordinate and rotation axis values ​​at this time. Then, according to the number and spacing of rows and columns in the carrier plate, the coordinate value of each placement position in the carrier plate is calculated. Usually, because the carrier plates are on the same horizontal plane, the setting of the vertical coordinate is consistent.

[0076] In some exemplary embodiments, the material picking arm is taught to the first placement position of the Tray and records the coordinate values ​​of XYRZ, X1, Y1, R1, Z1, and is taught to the last placement position of the Tray and records the coordinate values ​​of XYRZ, X2, Y2, R2, Z2. According to the spacing of the placement positions in the X and Y directions of the Tray, and the coordinate values ​​of the first and last placement positions recorded, the coordinate values ​​of each placement position are calculated, and the coordinate setting of the Z axis is consistent. Wherein X is the horizontal coordinate. Y is the vertical coordinate, R is the rotation axis, and Z is the vertical coordinate. The X direction can be the direction of the horizontal coordinate, and the Y direction can be the direction of the vertical coordinate.

[0077] In this embodiment, the coordinate value of each placement position can be accurately determined through the coordinate value of the teaching position and the number and spacing of rows and columns in each carrier plate, and the product can be accurately placed in the carrier plate later through the coordinate value.

[0078] In one embodiment, the unloading platform includes: a good product unloading platform and a bad product unloading platform, and the unloading port includes: a first good product unloading port and a second good product unloading port. The second good product unloading port is used for the products conveyed by the good product unloading platform and the bad product unloading platform. Figure 7 As shown, the control of the unloading platform to move to the unloading port for unloading calibration to obtain the first reference position corresponding to each product under the unloading port includes:

[0079] S502, placing products on the product position of the good product unloading table, controlling the good product unloading table to move to the first good product unloading port and the second good product unloading port respectively for unloading calibration, and obtaining the first reference position of the product under the first good product unloading port and the first reference position corresponding to the product in the good product unloading table under the second good product unloading port.

[0080] S504, controlling the good product unloading platform to move to the discharge position of the second good product unloading port, and using the picking arm of the second good product unloading port to obtain the products in the good product unloading platform according to the first reference position.

[0081] Among them, the good product unloading table can usually be an unloading table for placing products in good condition.

[0082] Specifically, the product can be placed on the product position of the good product unloading platform, and the operator can operate the button on the touch screen to start calibration. First, the good product unloading platform is controlled to move to the first good product unloading port, and the first good product unloading port is photographed and calibrated. Because the second good product unloading port will also receive products in the good product state, in order to save calibration steps, the good product unloading platform is controlled to move to the second good product unloading port, and the second good product unloading port is photographed and calibrated to obtain the first reference position of the good product unloading platform relative to the first good product unloading port and the second good product unloading port. The first reference position is usually the standard position.

[0083] S506, controlling the defective product unloading platform to move to the receiving position of the second good product unloading port, and using the picking arm of the second good product unloading port to place the product on the defective product unloading platform.

[0084] S508, photograph and calibrate the products in the defective product unloading table to obtain a first reference position corresponding to the products in the defective product unloading table under the second good product unloading port.

[0085] The defective product unloading station may be a unloading station for placing defective products. Usually, the defective product unloading station receives products from the re-judgment part.

[0086] Specifically, because the second good product unloading port can also receive products on the defective product unloading table. If the re-judgment part determines that there are good products among the products in the defective state. The products in the good state can be placed on the defective product unloading table. Then the second good product unloading port can obtain the products in the good state. Therefore, it is necessary to calibrate the defective product unloading table at the second good product unloading port. When the good product unloading table is calibrated at the second good product unloading port, the good product unloading table can be moved to the discharge position of the second good product unloading port. Because the calibration has been completed at the second good product unloading port, the picking arm of the second good product unloading port can obtain the products on the good product unloading table according to the first reference position. Then the good product unloading table can be moved to the receiving position. The receiving position is the position where the good product unloading table receives the upstream products. At this time, the picking arm of the second good product unloading port can place the product on the bad product unloading platform. At this time, the picking arm of the second good product unloading port can move to the origin position, which usually refers to the waiting position, similar to a standby state when there is no command, and the bad product unloading platform cannot be blocked from taking pictures at this position. Then, the product in the bad product unloading platform is photographed and calibrated to obtain the first reference position corresponding to the product in the bad product unloading platform under the second good product unloading port.

[0087] It is understandable that the discharge port may also include: a defective product discharge port. The calibration method of the defective product discharge platform and the defective product discharge port can refer to the above-mentioned step S502, which will not be repeated here.

[0088] In this embodiment, the good product unloading table and the defective product unloading table are calibrated at the first good product unloading port and the second good product unloading port through one product, which can ensure that all products can be placed in the carrying plate, and the whole process becomes automated, saving manual calibration time.

[0089] In one embodiment, Figure 8 As shown, after obtaining the first reference position corresponding to each product under the discharge port, the method further includes:

[0090] S602, control the picking arm of the first good product discharge port to obtain the product according to the first reference position of the product under the first good product discharge port and / or the first reference position corresponding to the product in the good product discharge table under the second good product discharge port, and place the products in other product positions of the good product discharge table in turn for photographing and calibration, so as to obtain the first reference position corresponding to each product position in the good product discharge table.

[0091] Specifically, there may be multiple product positions in a material unloading table, so each product position needs to be calibrated, so as to ensure that the product can be accurately grabbed when the subsequent material picking arm grabs the product. When the first good product unloading port and the second good product unloading arm grab the product on the good product unloading table. It is necessary to grab the product according to the first reference position obtained above, and put the product into other product positions for calibration in turn to obtain the first reference position corresponding to each product in the good product unloading table.

[0092] S604, control the picking arm of the second good product unloading port to obtain the product according to the first reference position corresponding to the product in the defective product unloading table under the second good product unloading port, put the product into other product positions of the defective product unloading table in turn for photographing and calibration, and obtain the first reference position corresponding to each product position in the defective product unloading table.

[0093] Specifically, after obtaining the first reference position corresponding to each product position of the good product unloading platform, it is necessary to calibrate each product position in the defective product unloading platform. Therefore, the material taking arm of the second good product unloading port can be controlled to obtain the product according to the first reference position corresponding to the product in the defective product unloading platform. Then, GIA puts the product into other product positions in turn for calibration, and obtains the first reference position corresponding to each product in the defective product unloading platform.

[0094] In some exemplary embodiments, for example, there are three product positions, namely product position 1, product position 2, and product position 3. At product position 1, the first reference position corresponding to it has been determined by the method in the above steps S502 to S508. The product at product position 1 can be moved to product position 2 by using the material picking arm, and the product at product position 2 can be calibrated. Then, the product at product position 2 can be moved to product position 3 by using the material picking arm, and the product at product position 3 can be calibrated. The first reference positions corresponding to product position 1, product position 2, and product position 3 are obtained.

[0095] In this embodiment, by calibrating each product position in turn, it can be ensured that the material picking arm obtains the product at the same position, thereby ensuring that all products can be placed in the carrying tray.

[0096] In one embodiment, the method further includes: defining the addresses of the good product unloading station and the defective product unloading station and the calibrated numbers. The calibrated numbers are subsequently assigned after calibration in different situations. When the product is subsequently captured, the algorithms of different products can be called according to the calibrated numbers to obtain correction data. Ensure that the product can be captured accurately. The address is usually the address for communication with the software. Different products correspond to different addresses. This can better distinguish which platform the product is on. The software can call different algorithms according to the number in the address, so as to capture the product more quickly and accurately.

[0097] In some exemplary embodiments, there are two product positions in the good product unloading station and the defective product unloading station, namely product 1 and product 2, for example. Product 1 in the good product unloading station can be defined as D1000, and product 2 can be defined as D1001. The address of product 1 in the defective product unloading station can be defined as D1002, and the address of product 2 can be defined as D1003; the calibration of product 1 in the good product unloading station to discharge to the first good product unloading port can be numbered 1, and the calibration of discharge to the second good product unloading port can be numbered 2; the calibration of product 2 in the good product unloading station to discharge to the first good product unloading port can be numbered 1, and the calibration of discharge to the second good product unloading port can be numbered 2; the calibration of product 1 in the defective product unloading station to discharge to the second good product unloading port can be numbered 1, and the calibration of discharge to the defective product unloading port can be numbered 2, and the calibration of product 2 to discharge to the second good product unloading port can be numbered 1, and the calibration of discharge to the defective product unloading port can be numbered 2, where. The product is already determined on the platform to be good or bad, and then the decision is made to which discharge port to discharge the product based on the good or bad product status. According to the defined address and label, the correction data (deviation) is obtained by communicating with the software. It is understandable that the above numbers and addresses are only used for illustration.

[0098] In one embodiment, Fig. 9 As shown, the method also includes:

[0099] S702: In response to identifying that the products are not all placed in the placement positions of the carrier plate, receiving deviation parameters.

[0100] S704, controlling the picking arm of the discharge port according to the deviation parameter to adjust the products that are not fully placed in the placement positions of the carrier plate.

[0101] Specifically, in the actual production process, if the camera detects that a product is not completely placed in the placement position of the Tray, the deviation parameters obtained by the judgment can be received and input on the touch screen (HMI) to make the picking arm re-grab the product and adjust the position of the product according to the deviation parameters so that the product that is not completely placed in the placement position of the Tray can be completely placed in the placement position.

[0102] In this embodiment, the deviation parameters can be used to adjust the products in the placement positions of the carrier plate to ensure that all products are placed in the placement positions.

[0103] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0104] Based on the same inventive concept, the embodiment of the present disclosure also provides a product unloading device for implementing the product unloading method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more product unloading device embodiments provided below can refer to the limitations of the product unloading method above, and will not be repeated here.

[0105] In one embodiment, Fig.10 As shown, a product unloading device 800 is provided, which is applied to multiple unloading platforms in the detection equipment, each of which includes multiple product positions, and the detection equipment also includes: an unloading port corresponding to the unloading platform, including: a calibration module 802, a deviation rate determination module 804 and a unloading placement module 806, wherein:

[0106] The calibration module 802 is used to control the unloading platform to move to the unloading port to perform unloading calibration, and obtain the first reference position corresponding to each product under the unloading port;

[0107] The deviation rate determination module 804 is used for, in response to the presence of a product in the blank, photographing and aligning the product, and determining the deviation amount according to the result of the photographing and alignment and the first reference position;

[0108] The material unloading and placement module 806 is used to control the material picking arm of the unloading port to place the product in the unloading table in each placement position in the carrier plate according to the first reference position, the deviation amount and the coordinate value of each placement position in the carrier plate, wherein the coordinate value of the placement position is calculated based on the coordinate values ​​of at least two teaching positions in the carrier plate, and the teaching positions include: the point positions on the edge of the carrier plate.

[0109] In one embodiment of the device, the device further includes: a carrier plate state determination module, for determining that the carrier plate is a non-working carrier plate in response to the number of products in the carrier plate reaching a product threshold and / or the state of the cylinder fixing the carrier plate is non-extended.

[0110] The unloading and placing module 806 is further used to stop placing the product on the non-working carrier tray and place the product on other carrier trays.

[0111] In one embodiment of the device, the device further comprises: a coordinate recording module for recording the coordinate values ​​of the teaching position in the carrier plate, wherein the coordinate values ​​comprise: a horizontal coordinate, a vertical coordinate, a vertical coordinate and a value of a rotation axis.

[0112] The coordinate value calculation module is used to calculate the coordinate value of each placement position according to the coordinate value of the teaching position, the number and spacing of rows and columns in the carrier plate, and the teaching position includes: the first placement position for placing the product and the last placement position for placing the product.

[0113] In one embodiment of the device, the unloading platform includes: a good product unloading platform and a bad product unloading platform, and the unloading port includes: a first good product unloading port and a second good product unloading port; the calibration module 802 includes:

[0114] The first calibration module is used to place products on the product position of the good product unloading table, control the good product unloading table to move to the first good product unloading port and the second good product unloading port respectively for unloading calibration, and obtain the first reference position of the product under the first good product unloading port and the first reference position corresponding to the product in the good product unloading table under the second good product unloading port.

[0115] The product grabbing module is used to control the good product unloading platform to move to the discharge position of the second good product unloading port, and use the picking arm of the second good product unloading port to obtain the product in the good product unloading platform according to the first reference position.

[0116] The product placement module is used to control the defective product unloading platform to move to the receiving position of the second good product unloading port, and use the picking arm of the second good product unloading port to place the product on the defective product unloading platform.

[0117] The second calibration module is used to take pictures and calibrate the products in the defective product unloading table to obtain the first reference position corresponding to the products in the defective product unloading table under the second good product unloading port.

[0118] In one embodiment of the device, the device further comprises:

[0119] The first product position calibration module is used to control the picking arm of the first good product discharge port to obtain the product according to the first reference position of the product under the first good product discharge port and / or the first reference position corresponding to the product in the good product discharge table under the second good product discharge port, and put the products into other product positions of the good product discharge table in turn for photographing and calibration, so as to obtain the first reference position corresponding to each product position in the good product discharge table.

[0120] The second product position calibration module is used to control the picking arm of the second good product unloading port to obtain the product according to the first reference position corresponding to the product in the defective product unloading table under the second good product unloading port, and put the products into other product positions of the defective product unloading table in turn for photographing and calibration, so as to obtain the first reference position corresponding to each product position in the defective product unloading table.

[0121] In one embodiment of the device, the device further comprises: a deviation parameter receiving module, configured to receive a deviation parameter in response to identifying that the product is not completely placed in the placement position of the carrier plate.

[0122] The deviation parameter adjustment module is used to control the material taking arm of the material discharge port according to the deviation parameter, and adjust the products that are not fully placed in the placement position of the carrier plate.

[0123] Each module in the above-mentioned product unloading device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0124] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.11As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device 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 and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a product unloading method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse, etc.

[0125] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present disclosure, and does not constitute a limitation on the computer device to which the scheme of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0126] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in any of the above method embodiments when executing the computer program.

[0127] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0128] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in any of the above method embodiments when executed by a processor.

[0129] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method 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 the memory, database or other medium used in the embodiments provided by the present disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided by the present disclosure may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided by the present disclosure may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but are not limited to this.

[0130] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above-described embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the attached claims.

Claims

1. A product blanking method, characterized in that: A plurality of unloading tables are applied to the detection equipment, each of which includes a plurality of product positions, and the detection equipment further includes: an unloading port corresponding to the unloading table, and at least one of the unloading table and the unloading port is set according to the product type, and the method includes: Control the multiple unloading tables to move to the unloading openings for unloading calibration, obtain the first reference position corresponding to each product under the unloading openings of each unloading table, and calibrate each product in turn when there are multiple products; In response to the presence of a product in the unloading platform, the product is photographed for alignment, and a deviation of the product at the unloading port of the corresponding unloading platform is determined according to the result of the photographic alignment and the first reference position; According to the first reference position, the deviation amount and the coordinate value of each placement position in the carrier plate of the discharge port, the picking arm of the discharge port of the discharge table corresponding to the product is controlled to place the product in the discharge table in each placement position of the carrier plate, wherein the coordinate value of the placement position is determined according to the recorded coordinate value of the teaching position in the carrier plate, and the teaching position includes: the first placement position for placing the product and the last placement position for placing the product.

2. The method according to claim 1, characterized in that The method further includes: in response to the number of products in the carrier tray reaching a product threshold and / or the state of a cylinder fixing the carrier tray being in a non-extended state, determining that the carrier tray is a non-operating carrier tray; Stop placing the product on the non-working carrier tray, and place the product on other carrier trays.

3. The method according to claim 1, characterized in that The method for determining the coordinate value of the placement position includes: Recording the coordinate values ​​of the teaching position in the carrier plate, wherein the coordinate values ​​include: the horizontal coordinate, the vertical coordinate, the vertical coordinate and the value of the rotation axis; The coordinate value of each placement position is calculated according to the coordinate value of the teaching position, the number and spacing of rows and columns in the carrier plate, and the teaching position includes at least: the first placement position for placing a product and the last placement position for placing a product.

4. The method according to claim 1, characterized in that: The unloading platform includes: a good product unloading platform and a bad product unloading platform, and the unloading port includes: a first good product unloading port and a second good product unloading port; the control of moving the unloading platform to the unloading port for unloading calibration to obtain the first reference position corresponding to each product under the unloading port includes: Placing a product on the product position of the good product unloading platform, controlling the good product unloading platform to move to the first good product unloading port and the second good product unloading port respectively for unloading calibration, and obtaining a first reference position of the product under the first good product unloading port and a first reference position corresponding to the product in the good product unloading platform under the second good product unloading port; Control the good product unloading platform to move to the discharge position of the second good product unloading port, and use the picking arm of the second good product unloading port to obtain the product in the good product unloading platform according to the first reference position; Control the defective product unloading platform to move to the receiving position of the second good product unloading port, and use the picking arm of the second good product unloading port to place the product on the defective product unloading platform; The products in the defective product unloading table are photographed and calibrated to obtain a first reference position corresponding to the products in the defective product unloading table under the second good product unloading port.

5. The method according to claim 4, characterized in that After obtaining the first reference position corresponding to each product under the feeding port, the method further includes: Control the picking arm of the first good product unloading port to obtain the product according to the first reference position of the product under the first good product unloading port and / or the first reference position corresponding to the product in the good product unloading table under the second good product unloading port, and sequentially place the product in other product positions of the good product unloading table for photographing and calibration, so as to obtain the first reference position corresponding to each product position in the good product unloading table; The picking arm of the second good product unloading port is controlled to obtain the product according to the first reference position corresponding to the product in the defective product unloading table under the second good product unloading port, and the products are placed in other product positions of the defective product unloading table in turn for photographing and calibration to obtain the first reference position corresponding to each product position in the defective product unloading table.

6. The method according to claim 1, characterized in that The method further comprises: In response to identifying that the product is not completely placed in the placement position of the carrier tray, receiving a deviation parameter; The material taking arm of the material discharge port is controlled according to the deviation parameter to adjust the products that are not fully placed in the placement position of the carrier plate.

7. A product unloading device, characterized in that: Multiple unloading tables used in the detection equipment, each of which includes multiple product positions, the detection equipment also includes: unloading ports corresponding to the unloading tables, at least one of the unloading tables and the unloading ports is set according to the product type, and the device includes: A calibration module, used for controlling the multiple unloading platforms to move to the unloading ports for unloading calibration, and obtaining a first reference position corresponding to each product under the unloading ports of each unloading platform, and the first reference position of the product at the unloading port of the corresponding unloading platform; a deviation rate determination module, for, in response to the presence of a product in the material being unloaded, taking a photograph of the product for alignment, and determining a deviation of the product at a corresponding unloading port of the unloading platform according to a result of the photographic alignment and the first reference position; A material unloading and placement module is used to control the picking arm of the unloading port corresponding to the unloading table corresponding to the product to place the product in the unloading table in each placement position in the carrier plate according to the first reference position, the deviation amount and the coordinate value of each placement position in the carrier plate, wherein the coordinate value of the placement position is calculated based on the coordinate values ​​of at least two teaching positions in the carrier plate, and the teaching positions include: the first placement position for placing the product and the last placement position for placing the product.

8. 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 6 are implemented.

9. 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 6 are implemented.

10. A computer program product, comprising a computer program, 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 6 are implemented.

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