Automatic marking device for irregular products and method thereof

Abstract

The application discloses an automatic marking device for irregular products and a method thereof, which comprises a rack, wherein the rack is provided with a conveying belt, and a mounting rack is arranged on one side of the rack in the conveying path of the conveying belt; a marking machine and a first visual detection device are arranged on the mounting rack, the first visual detection device is arranged on the side of the marking machine close to the conveying belt, and a driving assembly for driving the mounting rack to move towards the X-axis and Y-axis directions is arranged on the rack; and a mechanical arm is arranged on the side of the conveying belt away from the mounting rack, and a second visual detection device is arranged on the working end of the mechanical arm. The application has the advantages of improving the marking efficiency for various irregular products.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser marking, in particular to an automatic marking device for irregular products and a method thereof. BACKGROUND

[0002] At present, laser marking refers to marking a permanent mark on the surface of various materials by using a laser beam. This marking method does not require an external label on the material, greatly reducing energy consumption and achieving energy saving and emission reduction.

[0003] In addition, during the processing of a product or a device, the quantity of single-batch production devices is small. Therefore, the quantity of the same parts is small, and the total quantity of parts of the same batch production device is large, and the different types of parts are irregular products. In order to more accurately know the specific information of the parts in the device during subsequent maintenance and replacement of the parts, a label is marked on the corresponding parts.

[0004] At present, when marking the parts of each single-batch production device, an operator needs to mark each type of part in turn. When marking different parts, the marking position of the marking machine needs to be adjusted, and the information of the parts to be marked needs to be changed.

[0005] According to the related technology in the above, the inventor believes that when marking this type of part, the types of parts are numerous and irregular. Therefore, the operator not only needs to take out each part from the frame for marking, but also needs to adjust the marking position and marking information of the marking machine multiple times, which is time-consuming and labor-intensive, and the work efficiency is low. SUMMARY

[0006] In order to improve the marking efficiency of multiple types of irregular products, the present application provides an automatic marking device for irregular products and a method thereof.

[0007] In a first aspect, the present application provides an automatic marking device for irregular products, which adopts the following technical solution:

[0008] An automatic marking device for irregular products comprises: a rack, the rack is provided with a conveying belt, the rack is provided with a mounting frame on one side of the conveying path of the conveying belt, the mounting frame is provided with a marking machine and a first visual detection device, the first visual detection device is located on the side of the marking machine close to the feeding port of the conveying belt, and the rack is provided with a driving assembly for driving the mounting frame to move in the X-axis and Y-axis directions; further comprising: a mechanical hand provided on the side of the conveying belt away from the mounting frame, and the working end of the mechanical hand is provided with a second visual detection device.

[0009] By adopting the technical scheme, the same equipment or each irregular part product in different equipment is placed in the same material frame and at a position directly below the feeding port of the conveying belt, and then the manipulator is started, the manipulator grasps the products in the material frame one by one and places them on the conveying belt, while the products are grasped, the second visual detection equipment installed on the manipulator photographs the shape of the products to determine the types of the products and the corresponding marking information; the conveying belt conveys the products to the first visual detection equipment, since the products are irregular products, the products may deviate due to inertia during conveying on the conveying belt, therefore, the actual state of the products is photographed and identified first to find the actual marking position; then the marking of the products is completed by the marking machine; finally, the products are placed into the material frame by the manipulator; in this process, the marking of multiple irregular products is achieved, the product types are automatically identified, the actual marking position is automatically determined, the marking of the corresponding position is automatically completed, and the material is automatically collected, which greatly reduces the operation steps of the operator, only needs to input all types of product information to be marked into the terminal in advance, improves the marking efficiency of multiple types of irregular products, and determines the actual position of the products before marking, thereby improving the marking accuracy.

[0010] Preferably, the mounting frame is provided with a third visual detection equipment on the side of the marking machine away from the first visual detection equipment.

[0011] By adopting the technical scheme, in order to improve the marking quality of the products, the third visual detection equipment photographs the marking position of the products after the marking machine completes the marking, and identifies whether the qualified position is accurate, when the manipulator grasps the products away from the conveying belt, if it is determined as unqualified products, the products are placed into the corresponding material frame.

[0012] The driving assembly comprises a first lead screw motor module, a moving seat and a second lead screw motor module, the lead screw of the first lead screw motor module extends towards the X-axis direction, and the first lead screw motor module is installed on the rack; the moving seat is threadedly installed on the lead screw of the first lead screw motor module; the lead screw of the second lead screw motor module extends towards the Y-axis direction, and the second lead screw motor module is installed on the moving seat; and the mounting frame is threadedly installed on the lead screw of the second lead screw motor module.

[0013] By adopting the technical scheme, when it is necessary to adjust the positions of the first visual detection equipment, the marking machine and the third visual detection equipment, the first lead screw motor module and the second lead screw motor module are directly driven; the driving mode is high in stability and progress.

[0014] In a second aspect, the application provides an automatic marking method for irregular products, which adopts the following technical scheme:

[0015] An automatic marking method of irregular products, an automatic marking device of the irregular products, the method comprising:

[0016] Obtaining product data information of each product to be marked, and screening product image information of each product to be marked from the product data information of each product to be marked;

[0017] Obtaining first visual image information, and identifying target marking product image information from the product image information of each product to be marked;

[0018] Obtaining target marking product data according to the target marking product image information;

[0019] Obtaining second visual image information, and identifying marking position coordinate information from the second visual image information;

[0020] Triggering a marking instruction and a material collecting instruction according to the marking position coordinate information.

[0021] When a plurality of products of different specifications and irregularities need to be marked, the operator inputs the data of each product to be marked into the terminal, and then screens the image information corresponding to each product to be marked, so as to facilitate subsequent quick identification of the corresponding product to be marked. When the robot grasps the product to be marked, the first visual image information is obtained, the target marking product image information is identified from the image information of each product to be marked, and the target marking product data is obtained, so that the information to be marked is known during the process of grasping the product to be marked by the robot, and the marking efficiency is improved.

[0022] Because the product is conveyed on the conveying belt and the inertia of the product to be marked and other factors affect the displacement of the product to be marked before reaching the marking machine, the second visual image information is obtained before marking, the marking position coordinate information of the product to be marked is identified from the second visual image, and the marking position is finally determined. The marking machine executes the marking instruction according to the marking position coordinate, and the robot executes the material collecting instruction after marking.

[0023] In the above marking process, the specifications and types of the products to be marked grabbed by the manipulator each time can be different. Therefore, the marking process of automatically identifying the product type, automatically determining the actual marking position, automatically completing marking at the corresponding position, and automatically collecting the products can be performed, and the operator only needs to input the relevant data of the corresponding product to be marked into the terminal, thereby greatly improving the automation degree of marking in this case and improving the marking efficiency. In addition, before marking, since each product to be marked is an irregular product, the position offset that can occur is inconsistent. Therefore, the actual marking position is determined before marking each time, thereby improving the marking accuracy and improving the product marking qualification rate.

[0024] Preferably, the material collection instruction includes a normal material collection instruction and an abnormal material collection instruction. After the marking instruction is triggered, before the material collection instruction is triggered, the method further includes:

[0025] Obtaining third visual image information, and identifying and obtaining marking actual position image information from the third visual image information;

[0026] According to the product data information to be marked, obtaining target product standard image information, comparing the target product standard image information and the marking actual position image information, and determining whether the actual marking is accurate;

[0027] If yes, the normal material collection instruction is triggered;

[0028] If no, the abnormal material collection instruction is triggered.

[0029] By using the above technical solution, after completing marking on the product to be marked, the marking position can deviate due to terminal calculation errors, device errors, and other influencing factors. Therefore, after completing marking, the marking machine first obtains third visual image information, identifies marking actual position image from the third visual image, and obtains target product standard image from the product data to be marked. The marking effect of the target product standard image is compared with the marking effect of the marking actual position image to determine whether the actual marking is accurate. When the actual marking is determined to be accurate, the normal material collection instruction is transmitted to place the product in the qualified product frame by the manipulator. When the actual marking is determined to be abnormal, the abnormal material collection instruction is transmitted to place the product in the unqualified product frame by the manipulator. In the above process, the product with inaccurate marking can be removed, and the marking effect is improved.

[0030] Preferably, after the if no, the abnormal material collection instruction is triggered, the method further includes:

[0031] Obtaining marking abnormal product quantity information, and determining whether the marking abnormal product quantity is greater than a predetermined threshold;

[0032] If yes, a marking exception instruction is triggered.

[0033] By adopting the technical scheme, when it is determined that actual marking exception occurs, the number of products with marking exception is calculated, and it is determined whether the number of products with marking exception is greater than a predetermined threshold, that is, whether the situation of abnormal marking occurs is abnormal; if it is determined that the number of products with marking exception is greater than the predetermined threshold, the marking exception instruction is triggered, that is, the corresponding monitoring personnel is informed to perform maintenance inspection on the marking equipment; the timeliness of monitoring is achieved, and the situation that too many products are marked unqualified is reduced.

[0034] Preferably, after the first visual image information is acquired, the target marking product image information is obtained by identifying and analyzing the to-be-marked product image information, and before the second visual image information is acquired, the to-be-marked position coordinate information is obtained by identifying and acquiring the second visual image information, the method further comprises:

[0035] Acquiring historical marking position coordinate information of the same kind of product, and calculating initial position coordinate information of various kinds of products according to the historical marking position coordinate information;

[0036] Triggering an initial position adjustment instruction according to the initial position coordinate information of various kinds of products.

[0037] By adopting the technical scheme, in order to further improve the marking efficiency, the initial position coordinate information of various kinds of products is calculated from the historical marking position coordinate information of the same kind of product; because the initial state and position of the same kind of product placed on the conveying belt by the mechanical hand are consistent, the initial position adjustment instruction can be triggered according to the deviation of the same kind of product on the conveying belt during the period from when the second visual image information is acquired, so as to drive the marking machine to preliminarily move after the target marking product image information is determined and before the second visual image information is acquired; if the moving position is within a reasonable range of the to-be-marked position coordinate subsequently acquired, the marking process can be directly performed; if the moving position is not reasonable compared with the to-be-marked position coordinate subsequently acquired, a short-distance adjustment can be quickly performed to reach the marking position; therefore, the loading time can be fully utilized, and the marking efficiency is improved.

[0038] Preferably, the method for triggering the initial position adjustment instruction comprises:

[0039] Calculating average data information of the marking position coordinate of the same kind of product according to the historical marking position coordinate information;

[0040] Taking the average data information of the marking position coordinate as the initial position coordinate information of the kind of product, and triggering the initial position adjustment instruction;

[0041] The marking position coordinate average data information is compared with the to-be-marked position coordinate information to obtain marking position error information, and it is judged whether the marking position error is within a predetermined threshold range;

[0042] If yes, a marking instruction is triggered.

[0043] By using the above technical solution, the coordinate average value is obtained from the historical marking position coordinate information, so that the closest reasonable range can be reached, that is, the average value information of the same kind of product is calculated, and the marking position coordinate average data information is used as the initial position coordinate information of the kind of product, so as to trigger the initial position adjustment instruction; when the to-be-marked position coordinate information is obtained subsequently, the marking position coordinate average data is compared with the to-be-marked position coordinate information, and the marking position error is calculated; since there is a certain error range in the position of the product for marking, it is judged whether the marking position error is within a predetermined threshold range; only when the marking position error is reasonable, the marking instruction is triggered; the process can shorten the time for adjusting the position of the marking machine and improve the marking efficiency.

[0044] In summary, the present application has at least one of the following beneficial technical effects:

[0045] 1. For marking a plurality of irregular products, automatic identification of product types, automatic determination of actual marking positions, automatic completion of corresponding position marking, and automatic material collection are achieved, which greatly reduces the operation steps of the operator, only needs to input all kinds of product information to be marked to the terminal in the early stage, improves the marking efficiency of a plurality of irregular products, and improves the marking accuracy by determining the actual position of the product before marking;

[0046] 2. The product with marking error can be removed to improve the marking effect;

[0047] 3. The marking position can be quickly adjusted in a short distance, the feeding time can be fully utilized, and the marking efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 is a schematic diagram of the overall structure of the automatic marking device for irregular products of the present application.

[0049] Figure 2 is a schematic diagram of the driving assembly structure of the automatic marking device for irregular products of the present application.

[0050] Figure 3 is a flowchart of the implementation of the automatic marking method for irregular products in an embodiment of the present application.

[0051] Figure 4is the implementation flow chart of step S50 in the automatic marking method of irregular products in an embodiment of the present application.

[0052] Figure 5 is the implementation flow chart of the automatic marking method of irregular products in an embodiment of the present application after S20 and before S40.

[0053] Figure 6 is the method flow chart of triggering the marking instruction in the automatic marking method of irregular products in an embodiment of the present application.

[0054] Figure 7 is the device schematic diagram in an embodiment of the present application.

[0055] Explanation of reference signs:

[0056] 1, rack; 11, conveying belt; 12, mounting rack; 13, first visual detection device; 14, marking machine; 15, third visual detection device; 2, mechanical hand; 21, second visual detection device; 3, driving assembly; 31, first screw motor module; 32, moving seat; 33, second screw motor module. DETAILED DESCRIPTION

[0057] The following will be described in detail with reference to the accompanying drawings. Figures 1-7 The present application will be further described in detail.

[0058] The embodiment of the present application discloses an automatic marking device of irregular products. Referring to Figure 1 and Figure 2 , the automatic marking device comprises a rack 1 and a mechanical hand 2, one side of the rack 1 is fixedly installed with a conveying belt 11, the conveying belt 11 extends in the horizontal direction; the other side of the rack 1 is installed with a mounting rack 12, the mounting rack 12 is fixedly installed with a first visual detection device 13, a marking machine 14 and a third visual detection device 15, the first visual detection device 13, the marking machine 14 and the third visual detection device 15 are arranged in sequence in the conveying direction of the conveying belt 11; the rack 1 is installed with a driving assembly 3 for driving the mounting rack 12 to move in the X-axis and Y-axis directions; the mechanical hand 2 is installed on the side of the conveying belt 11 away from the mounting rack 12, and the working end of the mechanical hand 2 is installed with a second visual detection device 21.

[0059] Among them, the first visual detection device 13, the second visual detection device 21 and the third visual detection device 15 are industrial cameras.

[0060] The driving assembly 3 comprises a first screw motor module 31, a moving seat 32 and a second screw motor module 33, the bearing seat of the first screw motor module 31 is fixedly installed on the rack 1, the screw rod of the first screw motor module 31 extends towards the X-axis direction; the moving seat 32 is parallel to the mounting rack 12, the moving seat 32 is threadedly installed on the screw rod of the first screw motor module 31; the bearing seat of the second screw motor module 33 is fixedly installed on the moving seat 32, the screw rod of the second screw motor module 33 extends towards the Y-axis direction, and the mounting rack 12 is threadedly installed on the screw rod of the second screw motor module 33, so that the first visual inspection equipment 13, the marking machine 14 and the third visual inspection equipment 15 can be driven to move towards the X-axis and Y-axis directions.

[0061] The implementation principle of the automatic marking device for irregular products in the embodiment of the application is as follows: a material frame loaded with irregular products of different specifications is placed at a position directly below the feeding port of the conveying belt 11; the manipulator 2 is started, the working end of the manipulator 2 captures the product and simultaneously performs shooting identification on the product through the second visual inspection equipment 21, and the corresponding marking information of the product is analyzed and obtained; then the product is placed on the conveying belt 11 for conveying; when the product is conveyed to the position of the first visual inspection equipment 13, the actual marking position is determined; then the product is marked through the marking machine 14; then the marking position is detected through the third visual inspection equipment 15; finally, the manipulator 2 captures and places the product with completed marking in a qualified product frame or an unqualified product frame.

[0062] The embodiment of the application also discloses an automatic marking method for irregular products, which refers to Figure 3 and specifically comprises the following steps:

[0063] S10: acquiring product data information to be marked, and screening product image information to be marked from the product data information to be marked.

[0064] In the embodiment, the product data to be marked refers to the data of various types and various specifications of products in the same batch, which comprises information to be marked of the product, image information of various angles of the product and target product standard image information after marking, etc.; the product image to be marked refers to the image information of various angles of the product in the product data to be marked.

[0065] Specifically, before marking a batch of products, an operator inputs the product data to be marked of various types and various specifications of products into a terminal through a U disk or the like; then, the product image to be marked corresponding to various types and various specifications of products is screened and acquired from the product data information to be marked, that is, the image information of various angles of various types and various specifications of products is acquired, so as to identify what kind of product is to be marked.

[0066] S20: Obtain first visual image information, and identify and analyze target product image information from the product image information to be marked.

[0067] In this embodiment, the target product image information refers to the image of the product to be grabbed by the corresponding mechanical hand from all product images to be marked.

[0068] Specifically, the first visual image information is obtained by photographing the product to be grabbed by the second visual detection device installed on the working end of the mechanical hand; then the first visual image is compared and identified with the product image to be marked to obtain the target product image information to be marked.

[0069] S30: Obtain target product data to be marked according to the target product image information to be marked.

[0070] In this embodiment, the target product data to be marked refers to the information of the product to be marked and the standard image information of the target product after marking corresponding to the target product to be marked.

[0071] Specifically, after the target product image information to be marked is determined, the corresponding target product data to be marked can be obtained from each product data to be marked, so as to prepare for subsequent marking and marking quality detection of the product.

[0072] S40: Obtain second visual image information, and identify and obtain the coordinate information of the position to be marked from the second visual image information.

[0073] In this embodiment, the coordinate of the position to be marked is the coordinate of the position to be marked by the marking machine in the moving range area of the target product to be marked on the conveying belt after the target product to be marked moves to the first visual detection device.

[0074] Specifically, the second visual image information is obtained by photographing the product to be marked by the first visual detection device; the coordinate information of the position to be marked is obtained by data analysis according to the standard image information of the target product after marking in the target product data to be marked; for example, the distance data of product 1 in the X-axis and Y-axis directions and the angle data of product 1 in the standard image of the target product after marking corresponding to product 1, and then the above data information of product 1 in the second visual image is obtained, the difference value is calculated, and the coordinate of the first visual detection device at that time is combined to obtain the final coordinate of the position to be marked; since the product to be marked will displace on the conveying belt, the position to be marked cannot be set in advance, the position to be marked is finally determined by analyzing the second visual image, and the marking accuracy is improved.

[0075] S50: Trigger the marking instruction and the material collection instruction in sequence according to the coordinate information of the position to be marked.

[0076] Specifically, after the to-be-marked position coordinate information is determined, a marking instruction is first triggered to drive the marking machine to move to the corresponding marking position to mark the to-be-marked product; then a material collecting instruction is started to place the marked product into the corresponding material frame by the manipulator.

[0077] In an embodiment, the material collecting instruction includes a normal material collecting instruction and an abnormal material collecting instruction, with reference to Figure 4 After the marking instruction is triggered, before the material collecting instruction is triggered, the method further includes:

[0078] S51: Obtain third visual image information, and identify and obtain marking actual position image information from the third visual image information.

[0079] Specifically, after the product is marked, the conveying belt conveys the product to the position of the third visual detection device, the product is photographed by the third visual detection device, third visual image information is obtained, and the marking actual position image is identified from the third visual image information for marking quality analysis.

[0080] S52: Obtain target product standard image information according to the to-be-marked product data information, and compare the target product standard image information with the marking actual position image information to determine whether the actual marking is accurate.

[0081] Specifically, the target product standard image corresponding to the target marking product is obtained from the to-be-marked product data, and the target product standard image is compared with the marking actual position image information to determine whether the actual marking is accurate, including the marking position and the label itself, so as to improve the marking quality when the product is used subsequently.

[0082] S53: If yes, a normal material collecting instruction is triggered.

[0083] Specifically, if it is determined that the actual marking of the product is accurate, a normal material collecting instruction is triggered, and the marked product is grabbed into a qualified product frame by the manipulator.

[0084] S54: If no, an abnormal material collecting instruction is triggered.

[0085] Specifically, if it is determined that the actual marking of the product is not accurate, an abnormal material collecting instruction is triggered, and the marked product is grabbed into an unqualified product frame by the manipulator.

[0086] In an embodiment, before S54, the method further includes:

[0087] S541: Obtain marking abnormal product quantity information, and determine whether the marking abnormal product quantity is greater than a predetermined threshold value.

[0088] In this embodiment, the predetermined threshold value refers to a normal quantity value of continuous marking abnormalities.

[0089] Specifically, when the abnormal marking product is detected, the number of abnormal marking products is calculated, and the number of abnormal marking products is compared with the predetermined threshold to determine whether the number of abnormal marking products is greater than the predetermined threshold, i.e., whether the operation of the marking device is abnormal.

[0090] S542: If yes, trigger the marking abnormality instruction.

[0091] Specifically, if it is determined that the number of abnormal marking products is greater than the predetermined threshold, it means that the device is in an abnormal marking state, and the marking abnormality instruction is triggered to inform the corresponding monitoring personnel to perform maintenance inspection on the marking device.

[0092] In an embodiment, with reference to Figure 5 After S20 and before S40, the method further includes:

[0093] S21: Obtain historical marking position coordinate information of the same kind of product, and calculate initial position coordinate information of various kinds of products according to the historical marking position coordinate information.

[0094] In this embodiment, the historical marking position coordinate information refers to the sum of the to-be-marked position coordinates of the same kind of product collected when a certain amount of the same kind of product is marked; the same kind refers to the same specifications, including types, sizes, etc.

[0095] Specifically, in order to improve the subsequent assembly and other subsequent processing efficiency of the device, the same frame generally stores various parts that need to be marked for the same device, and multiple devices are marked in the same batch; therefore, after a certain amount of device marking, multiple historical marking position coordinate data of the same kind of product have been collected; the initial position coordinate information of various kinds of products is calculated from the historical marking position coordinate information, which can be obtained by averaging or by taking the one with the most occurrences as the initial position coordinate; thereby the possible coordinates of the product to be marked during the conveying process on the conveying belt can be known in advance.

[0096] S22: Trigger an initial position adjustment instruction according to the initial position coordinate information of various kinds of products.

[0097] Specifically, after obtaining the target marking product image of the product to be marked, the product to be marked information is known, and the initial position adjustment instruction is triggered according to the initial position coordinate information corresponding to the kind of product, so that the marking machine is driven to move to the preliminarily determined marking position during the period when the robot grasps the product to the conveying belt and conveys it to the first visual detection device, thereby improving the efficiency of subsequent adjustment of the position of the marking machine.

[0098] In an embodiment, with reference toFigure 6 The method for triggering the marking instruction comprises:

[0099] S211: Calculate the average data information of the marking position coordinates of the same kind of product according to the historical marking position coordinate information.

[0100] Specifically, the average value of the plurality of to-be-marked position coordinates of each kind is calculated after summation in the historical marking position coordinate information, and the average data of the marking position coordinates of the same kind of product is obtained.

[0101] S212: Trigger the initial position adjustment instruction by taking the average data information of the marking position coordinates as the initial position coordinate information of the kind of product.

[0102] Specifically, the average data information of the marking position coordinates is directly taken as the initial position coordinate information of the kind of product, and the initial position adjustment instruction is triggered, so as to drive the marking machine to move to the preliminarily determined marking position.

[0103] S213: Compare the average data information of the marking position coordinates with the to-be-marked position coordinate information, obtain the marking position error information, and determine whether the marking position error is within the predetermined threshold range.

[0104] In the embodiment, the predetermined threshold range refers to the reasonable error value range of the marking position of each to-be-marked product.

[0105] Specifically, after the product to be marked is transported to the position corresponding to the first visual detection device and the to-be-marked position coordinate information is determined, the average data of the marking position coordinates is compared with the to-be-marked position coordinate, the marking position error is calculated, and the marking position error is compared with the predetermined threshold range to determine whether the marking position error is within the predetermined threshold range, that is, whether the position of the preliminary adjustment of the marking machine meets the marking condition.

[0106] S214: If yes, trigger the marking instruction.

[0107] Specifically, if it is determined that the marking position error is within the predetermined threshold range, it means that the position of the preliminary adjustment of the marking machine has met the marking condition, and therefore when the product is transported to the position corresponding to the marking machine, the marking instruction is directly triggered to mark the product; if it is determined that the marking position error is not within the predetermined threshold range, the position of the marking machine is fine-tuned according to the calculated marking position error, and the marking can be performed, which greatly improves the marking efficiency.

[0108] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0109] In one embodiment, a computer device is provided, which can be a server, and an internal structure diagram thereof can be as shown in Figure 7 The computer device includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer device is configured 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 internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to communicate with an external terminal through a network connection. The network interface of the computer device is configured to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement an automatic marking method for irregular products.

[0110] In one embodiment, a computer device is provided, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the following steps when executing the computer program:

[0111] Obtaining product data information of each product to be marked, and obtaining image information of each product to be marked from the product data information of each product to be marked;

[0112] Obtaining first visual image information, and obtaining target product image information from the image information of each product to be marked by identification and analysis;

[0113] Obtaining target product data according to the target product image information;

[0114] Obtaining second visual image information, and obtaining position coordinate information of each product to be marked from the second visual image information;

[0115] Triggering a marking instruction and a material collection instruction in sequence according to the position coordinate information of each product to be marked.

[0116] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0117] Obtaining product data information of each product to be marked, and obtaining image information of each product to be marked from the product data information of each product to be marked;

[0118] Obtaining first visual image information, and obtaining target product image information from the image information of each product to be marked by identification and analysis;

[0119] Obtaining target product data according to the target product image information;

[0120] Obtaining second visual image information, and identifying the position coordinate information of the to-be-marked position from the second visual image information;

[0121] According to the position coordinate information of the to-be-marked position, triggering the marking instruction and the material receiving instruction in sequence.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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).

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0124] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An automatic marking method of irregular products, based on an automatic marking device of irregular products, the automatic marking device comprising: A rack (1), characterized in that the rack (1) is provided with a conveying belt (11), and a mounting rack (12) is arranged on one side of the conveying belt (11) in a conveying path, and a marking machine (14) and a first visual detection device (13) are arranged on the mounting rack (12), the first visual detection device (13) is arranged on the side of the marking machine (14) close to a feeding port of the conveying belt (11), and a driving assembly (3) for driving the mounting rack (12) to move in X and Y directions is arranged on the rack (1); further comprising: a mechanical arm (2) arranged on the side of the conveying belt (11) away from the mounting rack (12), and a second visual detection device (21) is arranged on a working end of the mechanical arm (2); A material frame for accommodating various irregular part products is arranged directly below the feeding port of the conveying belt; The automatic marking method comprises: Obtaining product data information to be marked, and screening product image information to be marked from the product data information to be marked; Controlling the mechanical arm to pick up the product to be marked from the material frame one by one, and placing the product to be marked on the conveying belt; Obtaining first visual image information through the second visual detection device (21), and identifying and analyzing target marking product image information from the product image information to be marked; Obtaining target marking product data according to the target marking product image information; Obtaining historical marking position coordinate information of the same kind of product, and calculating initial position coordinate information of various kinds of products according to the historical marking position coordinate information; Triggering an initial position adjustment instruction according to the initial position coordinate information of various kinds of products, and driving the marking machine to move to a position corresponding to the initial position coordinate information; Obtaining second visual image information through the first visual detection device (13), and identifying and obtaining marking position coordinate information to be marked from the second visual image information; Triggering a marking instruction and a material collecting instruction according to the marking position coordinate information to be marked; Wherein, triggering the marking instruction comprises: calculating the average data information of the marking position coordinate of the same kind of product according to the historical marking position coordinate information; Taking the average data information of the marking position coordinate as the initial position coordinate information of the kind of product, and triggering the initial position adjustment instruction; Comparing the average data information of the marking position coordinate with the marking position coordinate information to be marked, obtaining marking position error information, and judging whether the marking position error is within a predetermined threshold range; If yes, triggering the marking instruction.

2. The automatic marking method of irregular products according to claim 1, characterized in that, The third visual detection device (15) is arranged on the side of the marking machine (14) away from the first visual detection device (13).

3. The automatic marking method of irregular products according to claim 1, characterized in that, The driving assembly (3) comprises a first screw motor module (31), a moving seat (32) and a second screw motor module (33), the screw rod of the first screw motor module (31) extends towards the X-axis direction, and the first screw motor module (31) is installed on the rack (1); the moving seat (32) is screwed on the screw rod of the first screw motor module (31); the screw rod of the second screw motor module (33) extends towards the Y-axis direction, and the second screw motor module (33) is installed on the moving seat (32), and the mounting rack (12) is screwed on the screw rod of the second screw motor module (33).

4. The method of claim 2, wherein the random product is a bottle. The material receiving instruction comprises a normal material receiving instruction and an abnormal material receiving instruction, and the method further comprises the following steps after the marking instruction is triggered and before the material receiving instruction is triggered: third visual image information is acquired through the third visual detection device (15), and actual marking position image information is identified from the third visual image information; target product standard image information is acquired according to the product data information to be marked, and the target product standard image information and the actual marking position image information are compared to determine whether the actual marking is accurate; if yes, the normal material receiving instruction is triggered; if no, the abnormal material receiving instruction is triggered.

5. The automatic marking method for irregular products according to claim 4, characterized in that, After the step of if no, the abnormal material receiving instruction is triggered, the method further comprises the following steps: actual marking position image information is acquired through the third visual detection device (15), and actual marking position image information is identified from the third visual image information; target product standard image information is acquired according to the product data information to be marked, and the target product standard image information and the actual marking position image information are compared to determine whether the actual marking is accurate; 6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, if yes, the normal material receiving instruction is triggered; 7. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: receiving a request for a resource from a client; determining whether the client is authorized to access the resource; and if the client is authorized to access the resource, providing the resource to the client. if no, the abnormal material receiving instruction is triggered. The processor executes the computer program to realize the steps of the automatic marking method of irregular products according to any one of claims 1-5. The computer program is executed by the processor to realize the steps of the automatic marking method of irregular products according to any one of claims 1-5.

Images