Feeding detection method, device and computer equipment

Abstract

The present application relates to a feeding detection method, device, computer equipment, storage medium and computer program product. The feeding detection method comprises: in response to a feeding instruction, moving the object to be detected from the feeding position to the first preset position according to the first preset path; when the number of objects to be detected at the first preset position meets the first preset condition, moving the object to be detected from the first preset position to the second preset position according to the second preset path; when the number of objects to be detected at the second preset position meets the second preset condition, collecting the position data of the object to be detected at the second preset position; according to the position data, moving the object to be detected at the second preset position to the third preset position. Through this setting, real-time monitoring of the number of objects to be detected can be achieved, preventing the product detection equipment from being unable to perform the detection work due to the number of objects to be detected not meeting the detection conditions.

Description

Technical Field

[0001] The present application relates to the field of panel detection technology, and in particular to a material loading detection method, device, computer equipment, storage medium and computer program product. Background Art

[0002] With the continuous development of science and technology, LCD screens have gradually become an indispensable object in people's lives, so people have higher and higher requirements for the various qualities and performances of LCD screens. As we all know, after the front-end manufacturing process of LCD screens is completed, various defects of LCD screens need to be detected to confirm whether the manufacturing process and quality meet the requirements. Usually, a device needs to be compatible with screens of different work orders and models. During the production process, it is necessary to switch the production work order and inspection parameters, formula parameters, etc. according to the model of the screen.

[0003] In order to ensure the accuracy of various parameters and operating procedures of the inspection station, each station needs to be inspected for the first time before mass production (that is, each inspection station can only load one piece of material for inspection, and repeated loading is not allowed). Each inspection position of the first inspection equipment has two inspection fixtures, and two pieces of material need to be placed for the first inspection. Usually, the transport arm of the inspection fixture corresponds to the object position on the first inspection equipment, and the gripper of the transport arm corresponds one by one to the loading position on the first inspection equipment. However, when the upstream equipment continues to receive single pieces of material, the inspection fixture on one side will be unable to perform the first inspection because there is no object at the corresponding loading position. Summary of the invention

[0004] Based on this, it is necessary to provide a feeding detection method, device, computer equipment, storage medium and computer program product that can prevent first inspection failures due to single-piece incoming materials in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a feeding detection method, comprising:

[0006] In response to a loading instruction, the object to be detected is moved from a feeding position to a first preset position according to a first preset path;

[0007] When the number of objects to be detected at the first preset position meets a first preset condition, moving the objects to be detected from the first preset position to a second preset position according to a second preset path;

[0008] When the number of objects to be detected at the second preset position meets a second preset condition, collecting position data of the objects to be detected at the second preset position;

[0009] According to the position data, the object to be detected at the second preset position is moved to a third preset position.

[0010] In one of the embodiments, the first preset condition is that the number of the objects to be detected is a single piece;

[0011] When the number of objects to be detected at the first preset position meets a first preset condition, moving the objects to be detected from the first preset position to the second preset position according to a second preset path includes:

[0012] When the number of the objects to be inspected is a single piece, generating a material unloading instruction;

[0013] According to the material unloading instruction, the object to be detected is moved from the first preset position to the second preset position along the second preset path.

[0014] In one embodiment, the second preset position includes a plurality of first sub-preset positions; the second preset paths correspond one to one with the first sub-preset positions;

[0015] The step of moving the object to be detected from the first preset position to the second preset position according to the second preset path includes:

[0016] The object to be detected is moved from the first preset position to the idle first preset sub-position according to a second preset path corresponding to the idle first preset sub-position.

[0017] In one embodiment, the method further comprises:

[0018] When the number of the objects to be detected does not satisfy the first preset condition but satisfies the second preset condition, the objects to be detected are moved from the first preset position to the third preset position according to a third preset path.

[0019] In one of the embodiments, the second preset condition is that the number of the objects to be detected is two;

[0020] When the number of the objects to be detected at the second preset position meets the second preset condition, collecting the position data of the objects to be detected at the second preset position includes:

[0021] When the number of the objects to be detected is two, a new loading instruction is generated;

[0022] According to the new loading instruction, the position data of the object to be detected at the second preset position is collected.

[0023] In one embodiment, the third preset position includes a plurality of second sub-preset positions; the second sub-preset positions correspond one-to-one to the first sub-preset positions;

[0024] The step of moving the object to be detected at the second preset position to a third preset position according to the position data comprises:

[0025] According to the position data corresponding to the object to be detected at each of the first sub-preset positions, the object to be detected at each of the first sub-preset positions is moved to the corresponding second sub-preset position.

[0026] In a second aspect, the present application also provides a feeding detection device, comprising:

[0027] A first moving module, used for moving the object to be detected from a feeding position to a first preset position according to a first preset path in response to a feeding instruction;

[0028] A second moving module, used for moving the object to be detected from the first preset position to a second preset position along a second preset path when the number of the objects to be detected at the first preset position meets a first preset condition;

[0029] A collection module, used for collecting position data of the objects to be detected at the second preset position when the number of the objects to be detected at the second preset position meets a second preset condition;

[0030] The third moving module is used to move the object to be detected at the second preset position to a third preset position according to the position data.

[0031] In a third aspect, the present application 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 material loading detection method described in any of the above embodiments is implemented.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the material loading detection method described in any of the above embodiments is implemented.

[0033] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program product is executed by a processor, the material loading detection method described in any of the above embodiments is implemented.

[0034] The above-mentioned loading detection method, device, computer equipment, storage medium and computer program product enable the product detection equipment to monitor the number of objects to be detected in real time when performing the first inspection on the objects to be detected and receiving the loading instruction, thereby preventing the situation where the detection fixture cannot perform the detection work because the number of objects to be detected does not meet the detection conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 An application environment diagram of a feeding detection method in an embodiment;

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

[0037] Figure 3 It is a schematic flow chart of a feeding detection method in one embodiment;

[0038] Figure 4 It is a schematic flow chart of a feeding detection method in one embodiment;

[0039] Figure 5 It is a structural block diagram of a feeding detection device in one embodiment;

[0040] Figure 6 is a structural block diagram of a second moving module in a feeding detection device in one embodiment;

[0041] Figure 7 It is a structural block diagram of a collection module in a feeding detection device in an embodiment;

[0042] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The feeding detection method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 via the network.

[0045] For example, the feeding detection method is applied to the terminal 102. When the terminal 102 receives the feeding instruction, the terminal 102 first moves the object to be detected to the first preset position according to the first preset path; then, when the number of objects to be detected meets the first preset condition, the terminal 102 moves the object to be detected from the first preset position to the second preset position according to the second preset path; then, when the number of objects to be detected at the second preset position meets the second preset condition, the position data of the object to be detected at the second preset position is collected; and according to the position data, the object to be detected at the second preset position is moved to the third preset position, wherein the terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices may be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented with an independent server or a server cluster consisting of multiple servers. The terminal 102 and the server 104 may be directly or indirectly connected via wired or wireless communication, such as via a network connection.

[0046] For another example, the feeding detection method is applied to the server 104. After receiving the feeding instruction, the terminal 102 sends the feeding instruction to the server 104. The server 104 first moves the object to be detected to the first preset position according to the first preset path; then, when the number of objects to be detected meets the first preset condition, the server 104 moves the object to be detected from the first preset position to the second preset position according to the second preset path; then, when the number of objects to be detected at the second preset position meets the second preset condition, the position data of the object to be detected at the second preset position is collected; and according to the position data, the object to be detected at the second preset position is moved to the third preset position. It can be understood that the data storage system can be an independent storage device, or the data storage system is located on the server, or the data storage system is located on another terminal.

[0047] In one embodiment, a material loading detection method is provided. This embodiment is described by taking the material loading detection method applied to a processor as an example. It is understandable that the processor may be located on a terminal or a server. Figure 2 As shown, the feeding detection method includes:

[0048] Step 202: In response to a loading instruction, move the object to be detected from a loading position to a first preset position according to a first preset path.

[0049] Specifically, the loading instruction can be issued by the user through the human-computer interaction interface of the terminal, or it can be automatically issued by the sensor set on the product inspection device when it detects that there is a new object to be inspected. The loading instruction is used to prompt the product inspection device that there is a new object to be inspected, and the product inspection device performs subsequent operations according to the loading instruction to perform product inspection on the object to be inspected. The product inspection device can be a common turntable type LCD screen detector, etc.

[0050] The object to be tested refers to the product waiting to be tested, and the object to be tested may specifically be an OLED liquid crystal screen.

[0051] The feeding position refers to the position pre-set on the product inspection equipment for storing products transmitted from the upstream equipment.

[0052] The processor can move the object to be inspected from the feeding position to the first preset position by controlling the incoming material robot arm on the product inspection equipment. The first preset path may include the change process of data such as the moving distance, moving direction and multiple joint degrees of freedom of the incoming material robot arm.

[0053] The first preset position may be set on a feeding platform of the product inspection device, and the first preset position is used to temporarily store the device to be inspected that is to be inspected by the product inspection device.

[0054] In this embodiment, after receiving the loading signal, the processor controls the incoming material robot arm on the product inspection equipment to take out the object to be inspected transmitted by the upstream equipment from the feeding position on the product inspection equipment according to the first preset path, and place it at the first preset position of the product inspection equipment.

[0055] Step 204: When the number of objects to be detected at the first preset position meets a first preset condition, the objects to be detected are moved from the first preset position to the second preset position according to a second preset path.

[0056] The first preset condition may be that the number of objects to be detected at the first preset position does not exceed a preset numerical threshold. As an example, when the number of objects to be detected at the first preset position does not exceed a preset numerical threshold, the processor may deem that the number of objects to be detected at the first preset position meets the first preset condition, and then the processor moves the objects to be detected from the first preset position to the second preset position according to the second preset path. The first preset condition is used as a criterion for determining whether the number of objects to be detected transmitted from the upstream device meets the detection condition.

[0057] The second preset position can be set at a feeding position or a separate buffer position of the product detection device, and the second preset position is used to temporarily store objects to be detected that do not meet the detection conditions.

[0058] As an example, the second preset position and the first preset position can be at the same position, and the second preset position is the feeding position of the product inspection equipment. When the number of objects to be inspected at the first preset position meets the first preset condition, the processor can control the incoming material robot arm not to perform any operation, so that the objects to be inspected remain at the feeding position of the product inspection equipment.

[0059] In this embodiment, when the number of objects to be inspected that can be grasped at one time by the incoming material robot on the product inspection equipment meets the first preset condition, the processor can control the loading robot on the product inspection equipment to move the objects to be inspected from the first preset position to the second preset position. The second preset path can include the change process of data such as the moving distance, moving direction and multiple joint degrees of freedom of the loading robot.

[0060] Step 206: When the number of the objects to be detected at the second preset position meets the second preset condition, the position data of the objects to be detected at the second preset position are collected.

[0061] The second preset condition may be that the number of objects to be detected at the second preset position reaches a preset numerical threshold. As an example, when the number of objects to be detected at the second preset position reaches a preset numerical threshold, the processor may deem that the number of objects to be detected at the second preset position meets the second preset condition, and then the processor collects position data of each object to be detected at the second preset position. The second preset condition is used as a criterion for judging whether the number of objects to be detected at the second preset position meets the detection condition.

[0062] As an example, a coordinate axis is pre-set at the second preset position, and each object to be detected at the second preset position has corresponding coordinate position data. A reference line may also be pre-set at the second preset position.

[0063] The position data includes the inclination of the object to be detected relative to the reference line, the coordinate position data of the coordinate axis at the second preset position, etc.

[0064] As an example, the processor can use a wide-field camera to photograph each object to be detected at the second preset position to obtain a position image of each object to be detected, and obtain the specific coordinate position information and the inclination relative to the reference line of each object to be detected through the position image.

[0065] As an example, when the second preset position is at the same position as the first preset position, if the number of objects to be detected at the first preset position meets the first preset condition, the processor controls the incoming material robot arm not to perform any operation, so that the objects to be detected remain at the feeding position of the product inspection equipment until the processor receives the next loading instruction, and the incoming material robot arm on the product inspection equipment moves the new objects to be detected from the feeding position to the first preset position, and so on, until the number at the first preset position meets the second preset condition, and the processor continues to execute the operation of collecting the position data of the objects to be detected at the second preset position.

[0066] In this embodiment, when the processor determines that the number of objects to be detected at the second preset position meets the detection condition, the processor collects a position image of the objects to be detected at the second preset position through a wide-field camera, and obtains coordinate position data based on the position image.

[0067] Step 208: Move the object to be detected at the second preset position to a third preset position according to the position data.

[0068] The third preset position can be set as a detection position on the product inspection device, and the second preset position is used to detect various defects of the object to be inspected. The processor can control the loading robot arm on the product inspection device to move the object to be inspected from the second preset position to the third preset position, and the fourth preset path may include the change process of data such as the moving distance, moving direction and multiple joint degrees of freedom of the loading robot arm.

[0069] As an example, the processor may pre-store the inclination-coordinate position data of a plurality of objects to be inspected at the second preset position in a one-to-one correspondence with the fourth preset path of the loading robot arm on the product inspection device.

[0070] When the processor obtains the inclination-coordinate position data corresponding to each object to be detected at the second preset position in step 206, it can match the fourth preset path corresponding to each object to be detected according to the inclination-coordinate position data corresponding to each object to be detected, and then control the loading robot arm on the product inspection equipment to move the object to be detected from the second preset position to the third preset position according to the fourth preset path corresponding to each object to be detected.

[0071] In the above-mentioned feeding detection method, the processor can control the incoming material robot arm on the product detection equipment to move the object to be detected from the feeding position to the first preset position when receiving the feeding instruction, and when the number of objects to be detected at the first preset position does not meet the detection conditions, move the object to be detected to the second preset position for temporary storage, and then when the number of objects to be detected at the second preset position meets the detection conditions, collect the position data of each object to be detected at the second preset position to perform position compensation for each object to be detected, so that each object to be detected at the detection position can meet the detection position standard of the product detection equipment. Through the above-mentioned setting, the product detection equipment can monitor the number of objects to be detected in real time when performing the first inspection on the objects to be detected, so as to prevent the detection jig on the product detection equipment from being unable to perform the detection work because the number of objects to be detected does not meet the detection conditions.

[0072] like Figure 3 As shown, in some optional embodiments, the first preset condition is that the number of objects to be detected is a single piece; step 204 includes: step 2042, when the number of objects to be detected is a single piece, generating a material unloading instruction; step 2044, according to the material unloading instruction, moving the objects to be detected from the first preset position to the second preset position along the second preset path.

[0073] The unloading instruction refers to an instruction to move the object to be detected from the feeding position to the buffer position.

[0074] In the current embodiment, the product inspection equipment is provided with two inspection jigs. If there is only a single piece of the object to be inspected at the inspection position of the product inspection equipment, one inspection jig will not be able to perform the first inspection. Therefore, if the number of objects to be inspected transmitted from the upstream equipment is a single piece, it can be considered that it does not meet the inspection conditions. At this time, a unloading instruction is generated, and the product inspection equipment is switched to the unloading mode. The object to be inspected is moved from the first preset position to the second preset position by controlling the loading robot arm on the product inspection equipment.

[0075] In some optional embodiments, the second preset position includes multiple first sub-preset positions; the second preset path corresponds one-to-one to the first sub-preset position; and the object to be detected is moved from the first preset position to the second preset position according to the second preset path, including: moving the object to be detected from the first preset position to the idle first sub-preset position according to the second preset path corresponding to the idle first sub-preset position.

[0076] The second preset position can store at least one object to be detected, and the plurality of first sub-preset positions are used to store the objects to be detected respectively.

[0077] There are differences in the coordinate positions corresponding to the multiple first sub-preset positions. Therefore, when the loading robot arm on the product inspection equipment moves at least one object to be inspected from the first preset position to any first sub-preset position on the second preset position, because the first sub-preset positions are different, the second preset paths corresponding to the various objects to be inspected will also be different.

[0078] In this embodiment, the processor can arbitrarily select an idle first sub-preset position at the second preset position as the placement position corresponding to the object to be detected, and then move the object to be detected from the first preset position to the idle first sub-preset position according to the second preset path corresponding to the selected first sub-preset position.

[0079] In some optional embodiments, the feeding detection method further includes:

[0080] When the number of the objects to be detected does not satisfy the first preset condition but satisfies the second preset condition, the objects to be detected are moved from the first preset position to the third preset position according to the third preset path.

[0081] In this embodiment, if the number of objects to be inspected on the feeding platform of the product inspection device has met the inspection conditions, the processor directly moves the objects to be inspected from the first preset position to the third preset position according to the third preset path for subsequent inspection.

[0082] like Figure 4 As shown, in some optional embodiments, the second preset condition is that the number of objects to be detected is two pieces; step 206 includes: step 2062, when the number of objects to be detected is two pieces, generate a new loading instruction; step 2064, according to the new loading instruction, collect the position data of the objects to be detected at the second preset position.

[0083] The loading instruction refers to an instruction to move the object to be inspected from the buffer position to the inspection position.

[0084] In the current embodiment, the product inspection device is provided with two inspection jigs. If the object to be inspected located at the inspection position of the product inspection device is only a single piece, one inspection jig will not be able to perform the first inspection. Therefore, if the number of objects to be inspected transmitted by the upstream device is a single piece, it is considered that it does not meet the inspection conditions. The processor generates a material unloading instruction, switches the product inspection device to a material unloading mode, and moves the object to be inspected from a first preset position to a second preset position by controlling a loading robot arm on the product inspection device. If the processor subsequently receives a new loading instruction, it switches the product inspection device to a loading mode. If the number of objects to be inspected transmitted by the upstream device is still a single piece, the number of objects to be inspected on the feeding platform at this time still does not meet the inspection conditions. The processor generates a material unloading instruction again, switches the product inspection device to a material unloading mode, and moves the object to be inspected from a first preset position to a second preset position by controlling a loading robot arm on the product inspection device. The number of objects to be inspected at the second preset position becomes two pieces. At this time, the number of objects to be inspected at the second preset position meets the inspection conditions, and the processor collects position data of the objects to be inspected at the second preset position.

[0085] In some optional embodiments, the third preset position includes multiple second sub-preset positions; the second sub-preset positions correspond one-to-one to the first sub-preset positions; according to the position data, the object to be detected at the second preset position is moved to the third preset position, including: according to the position data corresponding to the object to be detected at each first sub-preset position, the object to be detected at each first sub-preset position is moved to the corresponding second sub-preset position.

[0086] The third preset position can simultaneously perform detection work on at least one object to be detected, and the plurality of second sub-preset positions are used to store the objects to be detected respectively.

[0087] There are differences in the coordinate positions corresponding to the multiple second sub-preset positions. Therefore, when the loading robot arm on the product inspection equipment moves at least one object to be inspected from the second preset position to any second sub-preset position on the third preset position, because the second sub-preset positions are different, the fourth preset paths corresponding to each object to be inspected will also be different.

[0088] As an example, the processor can pre-store multiple mapping relationships of the first sub-preset position-the inclination-coordinate position data of the object to be detected at the first preset position-the second sub-preset position-the fourth preset path. The processor can arbitrarily select the idle second sub-preset position at the third preset position as the detection position corresponding to the object to be detected, and then match it to the corresponding fourth preset path according to the selected second sub-preset position and the first preset sub-position storing the object to be detected, and the inclination-coordinate position data of the object to be detected, and then move the object to be detected from the first preset sub-position to the idle second sub-preset position.

[0089] In the above-mentioned feeding detection method, when the upstream device transmits the object to be detected, the processor controls the incoming material mechanical arm on the product detection device to move the object to be detected from the feeding position to the first preset position, and when the number at the first preset position is a single piece, the object to be detected is moved from the first preset position to the second preset position by controlling the feeding mechanical arm on the product detection device. When the processor receives the single-piece object to be detected transmitted by the upstream device again, the single-piece object to be detected is also moved to the second preset position by controlling the feeding mechanical arm. When the number of objects to be detected at the second preset position is two pieces, the processor collects the position image of the object to be detected at the second preset position through a wide-view camera, and obtains the coordinate position data according to the position image; then, according to the second preset position of the object to be detected - the position data of the object to be detected - the third preset position to be stored, the corresponding fourth preset path is matched, and then the object to be detected is moved according to the fourth preset path. Through this setting, the product detection device will not be alarmed due to the transmission of a single-piece product by the upstream device, thereby affecting the detection efficiency.

[0090] It should be understood that, although the steps in the flowcharts involved in the above 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 is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may 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 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.

[0091] Based on the same inventive concept, the embodiment of the present application also provides a feeding detection device for implementing the feeding detection method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more feeding detection device embodiments provided below can refer to the limitations of the feeding detection method above, and will not be repeated here.

[0092] In one embodiment, Figure 5As shown, a feeding detection device 500 is provided, comprising: a first moving module 502, a second moving module 504, a collection module 506 and a third moving module 508, wherein: the first moving module 502 is used to respond to a feeding instruction and move the object to be detected from a feeding position to a first preset position according to a first preset path; the second moving module 504 is used to move the object to be detected from the first preset position to a second preset position according to a second preset path when the number of objects to be detected at the first preset position meets a first preset condition; the collection module 506 is used to collect position data of the object to be detected at the second preset position when the number of objects to be detected at the second preset position meets a second preset condition; the third moving module 508 is used to move the object to be detected at the second preset position to the third preset position according to the position data.

[0093] like Figure 6 As shown, in some optional embodiments, the first preset condition is that the number of objects to be detected is a single piece; the second moving module 504 includes: a first generating unit 5042, used to generate a material unloading instruction when the number of objects to be detected is a single piece; a moving unit 5044, used to move the objects to be detected from the first preset position to the second preset position according to the second preset path according to the material unloading instruction.

[0094] In some optional embodiments, the second preset position includes multiple first sub-preset positions; the second preset path corresponds one-to-one to the first sub-preset position; the first moving unit 5044 is also configured to: move the object to be detected from the first preset position to the idle first sub-preset position according to the second preset path corresponding to the idle first sub-preset position.

[0095] In some optional embodiments, the loading detection device 500 is further configured to: when the number of objects to be detected does not meet the first preset condition but meets the second preset condition, move the objects to be detected from the first preset position to the third preset position according to the third preset path.

[0096] like Figure 7 As shown, in some optional embodiments, the second preset condition is that the number of objects to be detected is two pieces; the acquisition module 506 includes: a second generation unit 5062, used to generate a new loading instruction when the number of objects to be detected is two pieces; an acquisition unit 5064, used to collect the position data of the objects to be detected at the second preset position according to the new loading instruction.

[0097] In some optional embodiments, the third preset position includes multiple second sub-preset positions; the second sub-preset positions correspond one-to-one to the first sub-preset positions; the third moving module 508 is also configured to: according to the position data corresponding to the objects to be detected at each first sub-preset position, move the objects to be detected at each first sub-preset position to the corresponding second sub-preset position.

[0098] Each module in the above-mentioned feeding detection device can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0099] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. 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 input / output interface of the computer device is used to exchange information between the processor and an external device. 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 implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a feeding detection method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen 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 covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0100] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application 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.

[0101] 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 following steps are implemented: in response to a loading instruction, the object to be detected is moved from a feeding position to a first preset position according to a first preset path; when the number of objects to be detected at the first preset position meets a first preset condition, the object to be detected is moved from the first preset position to a second preset position according to a second preset path; when the number of objects to be detected at the second preset position meets a second preset condition, the position data of the object to be detected at the second preset position is collected; and according to the position data, the object to be detected at the second preset position is moved to a third preset position.

[0102] In some optional embodiments, the first preset condition is that the number of objects to be detected is a single piece; when the computer program is executed by the processor, it is also used to implement the following steps: when the number of objects to be detected is a single piece, generate a material unloading instruction; according to the material unloading instruction, move the objects to be detected from the first preset position to the second preset position along the second preset path.

[0103] In some optional embodiments, the second preset position includes a plurality of first sub-preset positions; the second preset path corresponds to the first sub-preset position one by one; and when the computer program is executed by the processor, it is also used to implement the following steps: moving the object to be detected from the first preset position to the idle first sub-preset position according to the second preset path corresponding to the idle first sub-preset position;

[0104] In some optional embodiments, the computer program is also used to implement the following steps when executed by the processor: when the number of objects to be detected does not meet the first preset condition but meets the second preset condition, the objects to be detected are moved from the first preset position to the third preset position along the third preset path.

[0105] In some optional embodiments, the second preset condition is that the number of objects to be detected is two pieces; when the computer program is executed by the processor, it is also used to implement the following steps: when the number of objects to be detected is two pieces, generate a new loading instruction; according to the new loading instruction, collect the position data of the objects to be detected at the second preset position.

[0106] In some optional embodiments, the third preset position includes multiple second sub-preset positions; the second sub-preset positions correspond one-to-one to the first sub-preset positions; when the computer program is executed by the processor, it is also used to implement the following steps: according to the position data corresponding to the object to be detected at each first sub-preset position, move the object to be detected at each first sub-preset position to the corresponding second sub-preset position.

[0107] In one embodiment, a computer program product is provided, comprising a computer program, which implements the following steps when executed by a processor: in response to a loading instruction, moving an object to be detected from a feeding position to a first preset position along a first preset path; when the number of objects to be detected at the first preset position meets a first preset condition, moving the object to be detected from the first preset position to a second preset position along a second preset path; when the number of objects to be detected at the second preset position meets a second preset condition, collecting position data of the object to be detected at the second preset position; and moving the object to be detected at the second preset position to a third preset position according to the position data.

[0108] In some optional embodiments, the first preset condition is that the number of objects to be detected is a single piece; when the computer program is executed by the processor, it is also used to implement the following steps: when the number of objects to be detected is a single piece, generate a material unloading instruction; according to the material unloading instruction, move the objects to be detected from the first preset position to the second preset position along the second preset path.

[0109] In some optional embodiments, the second preset position includes a plurality of first sub-preset positions; the second preset path corresponds to the first sub-preset position one by one; and when the computer program is executed by the processor, it is also used to implement the following steps: moving the object to be detected from the first preset position to the idle first sub-preset position according to the second preset path corresponding to the idle first sub-preset position;

[0110] In some optional embodiments, the computer program is also used to implement the following steps when executed by the processor: when the number of objects to be detected does not meet the first preset condition but meets the second preset condition, the objects to be detected are moved from the first preset position to the third preset position along the third preset path.

[0111] In some optional embodiments, the second preset condition is that the number of objects to be detected is two pieces; when the computer program is executed by the processor, it is also used to implement the following steps: when the number of objects to be detected is two pieces, generate a new loading instruction; according to the new loading instruction, collect the position data of the objects to be detected at the second preset position.

[0112] In some optional embodiments, the third preset position includes multiple second sub-preset positions; the second sub-preset positions correspond one-to-one to the first sub-preset positions; when the computer program is executed by the processor, it is also used to implement the following steps: according to the position data corresponding to the object to be detected at each first sub-preset position, move the object to be detected at each first sub-preset position to the corresponding second sub-preset position.

[0113] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application 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 in this application 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 in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0114] 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.

[0115] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A feeding detection method, characterized in that: include: In response to a loading instruction, the object to be detected is moved from a feeding position to a first preset position according to a first preset path; When the number of objects to be detected at the first preset position meets a first preset condition, the objects to be detected are moved from the first preset position to a second preset position according to a second preset path; wherein the first preset condition is that the number of objects to be detected is a single piece; the second preset position is used to temporarily store objects to be detected that do not meet the detection condition; When the number of objects to be detected at the second preset position meets the second preset condition, collecting the position data of the objects to be detected at the second preset position; wherein the second preset condition is that the number of the objects to be detected is two; a reference line is also pre-set at the second preset position; collecting the position data of the objects to be detected at the second preset position includes: obtaining a position image of each object to be detected, and obtaining the coordinate position data of each detection object and the inclination relative to the reference line through the position image; According to the position data, moving the object to be detected at the second preset position to a third preset position, including: matching a fourth preset path to each object to be detected according to the coordinate position data corresponding to each object to be detected and the inclination; The object to be detected at the second preset position is moved to a third preset position according to a fourth preset path.

2. The method according to claim 1, characterized in that When the number of objects to be detected at the first preset position meets a first preset condition, moving the objects to be detected from the first preset position to the second preset position according to a second preset path includes: When the number of the objects to be inspected is a single piece, generating a material unloading instruction; According to the material unloading instruction, the object to be detected is moved from the first preset position to the second preset position along the second preset path.

3. The method according to claim 2, characterized in that The second preset position includes a plurality of first sub-preset positions; the second preset paths correspond one to one with the first sub-preset positions; The step of moving the object to be detected from the first preset position to the second preset position according to the second preset path includes: The object to be detected is moved from the first preset position to the idle first preset sub-position according to a second preset path corresponding to the idle first preset sub-position.

4. The method according to claim 1, characterized in that The method further comprises: When the number of the objects to be detected does not satisfy the first preset condition but satisfies the second preset condition, the objects to be detected are moved from the first preset position to the third preset position according to a third preset path.

5. The method according to claim 1, characterized in that When the number of the objects to be detected at the second preset position meets the second preset condition, collecting the position data of the objects to be detected at the second preset position includes: When the number of the objects to be detected is two, a new loading instruction is generated; According to the new loading instruction, the position data of the object to be detected at the second preset position is collected.

6. The method according to claim 5, characterized in that The second preset position includes a plurality of first sub-preset positions; the third preset position includes a plurality of second sub-preset positions; the second sub-preset positions correspond one to one with the first sub-preset positions; The step of moving the object to be detected at the second preset position to a third preset position according to the position data comprises: According to the position data corresponding to the object to be detected at each of the first sub-preset positions, the object to be detected at each of the first sub-preset positions is moved to the corresponding second sub-preset position.

7. A feeding detection device, characterized in that: include: A first moving module, used for moving the object to be detected from a feeding position to a first preset position according to a first preset path in response to a feeding instruction; A second moving module is used to move the object to be detected from the first preset position to a second preset position according to a second preset path when the number of objects to be detected at the first preset position meets a first preset condition; wherein the first preset condition is that the number of objects to be detected is a single piece; the second preset position is used to temporarily store objects to be detected that do not meet the detection condition; The acquisition module is used to acquire the position data of the objects to be detected at the second preset position when the number of the objects to be detected at the second preset position meets the second preset condition; wherein the second preset condition is that the number of the objects to be detected is two; a reference line is also pre-set at the second preset position; acquiring the position data of the objects to be detected at the second preset position includes: acquiring the position image of each object to be detected, and acquiring the coordinate position data of each detection object and the inclination relative to the reference line through the position image; The third moving module is used to move the object to be detected at the second preset position to the third preset position according to the position data, including: matching the fourth preset path of each object to be detected according to the coordinate position data corresponding to each object to be detected and the inclination; moving the object to be detected at the second preset position to the third preset position according to the fourth preset path.

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 material loading detection 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 material loading detection 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 material loading detection method described in any one of claims 1 to 6 are implemented.

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