A material transmission control system and method

Abstract

The embodiment of this specification provides a material transmission control system and method, the system includes a loading detection module, a unloading detection module, a conveying control module and a control module, and the loading detection module, the unloading detection module and the conveying control module are all connected to the control module in communication. Among them, the loading detection module is configured to obtain the loading characteristic information when the initial material is loaded; the unloading detection module is configured to obtain the unloading characteristic information when the assembly material is unloaded; the conveying control module includes a conveying device and an azimuth adjustment device, the conveying device is configured to convey the initial material and the assembly material, and the azimuth adjustment device is configured to adjust the material position of the initial material, and / or adjust the unloading angle of the assembly material; the control module is configured to: based on the loading characteristic information, generate a first control instruction and send it to the conveying control module, and control the conveying control module to adjust the material position of the initial material.

Description

Technical Field

[0001] The present invention relates to the technical field of material transmission, and in particular to a material transmission control system and method. Background Art

[0002] In the production process of the manufacturing industry, loading and unloading is one of the key links. The traditional loading and unloading method is manual loading and unloading, which is slow, inefficient, and has high labor costs. With the improvement of automation technology, automatic loading and unloading has gradually replaced manual labor, but there are also some new disadvantages.

[0003] The automatic loading and unloading component is a device or system that automatically loads and unloads materials in a certain cycle or rule based on preset control instructions. Although the efficiency of loading and unloading is greatly improved, due to the differences in the structure of the materials themselves, the material placement angle may not be accurately distinguished during loading, resulting in the gripper manipulator being unable to identify the material, the material being offset, unable to accurately position, and the material being damaged. In addition, due to the different material placement angles during unloading, the subsequent detection device may not be able to reliably detect the quality of the processed product, causing additional labor costs and reducing overall production efficiency.

[0004] Therefore, it is hoped to provide a material transmission control system and method that can improve loading and unloading efficiency, reduce labor costs, reduce material loss, and improve product quality. Summary of the invention

[0005] One or more embodiments of the present specification provide a material transmission control system, the system comprising: a loading detection module, a unloading detection module, a conveying control module and a control module, the loading detection module, the unloading detection module and the conveying control module are all in communication connection with the control module; the loading detection module is configured to obtain loading characteristic information when the initial material is loaded, and the loading characteristic information includes at least one of the material type, the material position and the material orientation; the loading detection module comprises a pushing drive device, a pushing moving mechanism, a limit sensor, a gravity monitoring component, a first photoelectric sensor and a first image acquisition device, the first photoelectric sensor is configured to obtain the material position, the first image acquisition device is configured to obtain the material type and the material orientation, the pushing drive device is configured to drive the pushing moving mechanism to push the initial material placed on the material platform out of the discharge port, and the limit sensor is configured to detect the initial material whether the material reaches the preset position of the material platform; the unloading detection module is configured to obtain unloading characteristic information when unloading the assembly material, and the unloading characteristic information includes at least one of the unloading position and the unloading angle; the unloading detection module includes a second photoelectric sensor and a second image acquisition device, the second photoelectric sensor is configured to obtain the unloading position, and the second image acquisition device is configured to obtain the unloading angle; the conveying control module includes a conveying device and an azimuth adjustment device, the conveying device is configured to convey the initial material and the assembly material; the azimuth adjustment device is configured to adjust the material position of the initial material, and / or adjust the unloading angle of the assembly material; the control module is configured to: based on the loading characteristic information, generate a first control instruction and send it to the conveying control module, control the conveying control module to adjust the material position of the initial material, and the adjustment includes safety adjustment and stability adjustment.

[0006] In some embodiments, the control module is further configured to: determine the type and degree of deviation of the initial material based on the loading characteristic information; determine the adjustment priority of the safety adjustment and the stability adjustment based on the deviation type and the deviation degree; and generate the first control instruction based on the adjustment priority.

[0007] In some embodiments, the control module is further configured to: based on the material discharge characteristic information, generate a second control instruction and send it to the conveying control module to control the conveying control module to adjust the material discharge angle of the assembly material; in response to an adjustment failure, issue a warning notification to the detection component and generate a detection adjustment instruction, and mark the assembly material that failed the adjustment; the detection adjustment instruction includes the adjustment amount of the detection parameters, and the detection parameters include the detection angle and shooting parameters of the detection component.

[0008] In some embodiments, the orientation adjustment device includes an orientation adjustment component and a material fixing component, and the control module is further configured to: control the material fixing component to fix the assembly material; control the orientation adjustment component to adjust the discharge angle of the assembly material; in response to the discharge angle being adjusted, control the material fixing component to release the assembly material.

[0009] In some embodiments, the conveying device at least includes a conveying drive device, and the control module is further configured to: control the conveying drive device to adjust the conveying rate of the conveying device.

[0010] One or more embodiments of the present specification provide a material transfer control method, which is executed based on the aforementioned material transfer control system, and the method includes: obtaining loading characteristic information when the initial material is loaded, and the loading characteristic information includes at least one of material type, material position and material orientation; based on the loading characteristic information, generating a first control instruction and sending it to the conveying control module, controlling the conveying control module to adjust the material position of the initial material, and the adjustment includes safety adjustment and stability adjustment.

[0011] In some embodiments, generating the first control instruction based on the loading characteristic information includes: determining the type and degree of deviation of the initial material based on the loading characteristic information; determining the adjustment priority of the safety adjustment and the stability adjustment based on the deviation type and the deviation degree; and generating the first control instruction based on the adjustment priority.

[0012] In some embodiments, the method also includes: obtaining blanking characteristic information when the assembly material is blanked, the blanking characteristic information including at least one of a blanking position and a blanking angle; based on the blanking characteristic information, generating a second control instruction and sending it to the conveying control module to control the conveying control module to adjust the blanking angle of the assembly material; in response to an adjustment failure, issuing a warning notification to the detection component and generating a detection adjustment instruction, and marking the assembly material that failed the adjustment; the detection adjustment instruction includes an adjustment amount of a detection parameter, and the detection parameters include a detection angle and shooting parameters of the detection component.

[0013] In some embodiments, controlling the conveying control module to adjust the discharge angle of the assembly material includes: controlling the material fixing component to fix the assembly material; controlling the orientation adjustment component to adjust the discharge angle of the assembly material; in response to the discharge angle being adjusted, controlling the material fixing component to release the assembly material.

[0014] In some embodiments, the method further comprises: controlling the conveying drive device to adjust the conveying rate of the conveying device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0016] Figure 1 is an exemplary module diagram of a material transport control system according to some embodiments of this specification;

[0017] Figure 2 is a schematic diagram of the structure of a material transport control system according to some embodiments of this specification;

[0018] Figure 3 is an exemplary schematic diagram of a material transport control method according to some embodiments of this specification;

[0019] Figure 4 is an exemplary flow chart of generating a first control instruction according to some embodiments of this specification;

[0020] Figure 5 is an exemplary flow chart of a material transport control method according to other embodiments of this specification;

[0021] Figure 6 It is an exemplary flow chart for controlling the conveying control module to adjust the unloading angle of assembly materials according to some embodiments of this specification. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0023] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0024] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0025] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0026] Figure 1 is an exemplary module diagram of a material transport control system according to some embodiments of this specification; Figure 2 It is a structural schematic diagram of a material transport control system according to some embodiments of this specification.

[0027] Some embodiments of this specification provide a material transport control system (hereinafter referred to as "system"). Figure 1 As shown, the material transmission control system 100 includes a loading detection module 110, a unloading detection module 120, a conveying control module 130 and a control module 140. The loading detection module 110, the unloading detection module 120 and the conveying control module 130 are all communicatively connected to the control module 140. Exemplary communication connection methods may include but are not limited to WIFI, Bluetooth, optical fiber, etc.

[0028] In some embodiments, the loading detection module 110 can be used to obtain loading characteristic information when the initial material is loaded, and the loading characteristic information includes at least one of material type, material position and material orientation.

[0029] In some embodiments, Figure 2 As shown, the material loading detection module 110 may include a material pushing driving device 111, a material pushing moving mechanism 112, a limit sensor (not shown in the figure), a gravity monitoring component (not shown in the figure), a first photoelectric sensor 113 and a first image acquisition device 114. Among them, the first photoelectric sensor 113 is configured to obtain the material position, the first image acquisition device 114 is configured to obtain the material type and material orientation, the material pushing driving device 111 is configured to drive the material pushing moving mechanism 112 to push the initial material 116 placed on the material platform 115 out of the discharge port 117, and the limit sensor is configured to detect whether the initial material 116 reaches the preset position of the material platform 115.

[0030] The material pushing driving device 111 refers to a device for driving the material pushing moving mechanism 112 to move. For example, the material pushing driving device 111 may include but is not limited to a servo motor, a hydraulic cylinder, and the like.

[0031] In some embodiments, the push drive device 111 may be a cylinder. Figure 2 As shown, the piston rod in the cylinder can be connected to the material pushing and moving mechanism 112 , and the movement of the piston rod drives the material pushing and moving mechanism 112 to move, so as to push the initial material 116 placed on the material platform 115 out of the discharge port 117 .

[0032] The material platform 115 refers to a platform for placing materials (such as initial materials). In some embodiments, the structure of the material platform 115 is not limited and can be designed according to actual application requirements.

[0033] The discharge port 117 refers to the outlet when the material is pushed out from the material platform 115. In some embodiments, the initial material 116 placed on the material platform 115 can be pushed out through the discharge port 117 under the push of the material pushing and moving mechanism 112. In some embodiments, the setting position and structural dimensions of the discharge port 117 can be determined according to actual conditions. For example, the structural dimensions of the discharge port 117 can be determined according to the size of the initial material 116.

[0034] The material pushing and moving mechanism 112 refers to a mechanism for pushing the initial material 116 out of the material outlet 117. An exemplary material pushing and moving mechanism 112 may include a push rod transmission mechanism, a spring transmission mechanism, and the like.

[0035] In some embodiments, Figure 2 As shown, the material pushing moving mechanism 112 may include a slider 1121 , a linear rail 1122 and a material pushing piece 1123 , the slider 1121 is slidably connected to the linear rail 1122 , and the material pushing piece 1123 is fixedly connected to the slider 1121 .

[0036] In some embodiments, the pushing member 1123 is also connected to the pushing drive device 111 (such as a cylinder). When the pushing drive device 111 works to drive the pushing member 1123 to move, the slider 1121 will slide synchronously along the linear rail 1122 to better support the pushing member 1123, allowing it to move smoothly to push the initial material 116 out of the discharge port 117.

[0037] The limit sensor refers to a component used to detect whether the initial material 115 reaches a preset position. For example, the limit sensor may include a mechanical limit sensor, a photoelectric limit sensor, a Hall-type limit sensor, and the like.

[0038] In some embodiments, the limit sensor may be a photoelectric limit sensor. The photoelectric limit sensor includes a strong light source and a photocell. The strong light source emits a beam of light, which senses the reflection of the initial material 116, causing the photocell to generate an electrical signal, thereby detecting whether the initial material 116 reaches a preset position of the material platform 115. The preset position may be manually set in advance.

[0039] It should be noted that the limit sensor can be set at any feasible position, such as a preset position of the material platform 115.

[0040] The gravity monitoring component refers to a component used to obtain the weight of a material. For example, the gravity monitoring component may include a gravity sensor, etc.

[0041] In some embodiments, a gravity monitoring component can be disposed on the material platform 115 to obtain the weight of the material (such as the assembly material) and then to assist in determining whether the material is qualified. For example, when the weight difference between the weight of the material (such as the assembly material) and the standard weight does not exceed a preset weight range, the material is considered to be qualified.

[0042] The first photoelectric sensor 113 refers to a component for obtaining the material position of the initial material 116. The first photoelectric sensor 113 may include a transmitter, a receiver, and a detection circuit. The transmitter transmits a light signal, which is reflected by the initial material 116, and the receiver receives the reflected light signal and converts it into an electrical signal, thereby determining the material position of the initial material 116.

[0043] In some embodiments, the first photoelectric sensor 113 may be disposed at any feasible position as long as it can detect the position of the initial material 116 .

[0044] The first image acquisition device 114 is a device capable of acquiring image information. An exemplary first image acquisition device 114 may include a CCD camera, a camera, and the like.

[0045] In some embodiments, the first image acquisition device 114 can determine the material type of the initial material 116 by identifying an electronic tag or the like; and can determine the material orientation of the initial material 116 by identifying the contour of the initial material 116 or the like.

[0046] In some embodiments, the first image acquisition device 114 can be disposed at any feasible position as long as it can realize image acquisition and recognition of the initial material 116 .

[0047] In some embodiments, the blanking detection module 120 can be used to obtain blanking feature information when the assembly material 121 is blanked, and the blanking feature information includes at least one of a blanking position and a blanking angle.

[0048] In some embodiments, the material unloading detection module 120 may include a second photoelectric sensor and a second image acquisition device, wherein the second photoelectric sensor is configured to obtain a material unloading position, and the second image acquisition device is configured to obtain a material unloading angle.

[0049] It should be noted that the second photoelectric sensor and the first photoelectric sensor 113 can be the same device, or two devices independently set at different positions, and this specification does not limit this. Similarly, the second image acquisition device and the first image acquisition device 114 can be the same device, or two devices independently set at different positions.

[0050] In some embodiments, Figure 2 As shown, the conveying control module 130 may include a conveying device 131 and an orientation adjustment device 132. The conveying device 131 is configured to convey the initial material 116 and the assembly material 121. The orientation adjustment device 132 is configured to adjust the material position of the initial material 116 and / or adjust the material feeding angle of the assembly material 121.

[0051] The conveying device 131 refers to a device for conveying the initial material 116 and the assembly material 121. In some embodiments, the conveying device 131 may include at least a conveying drive device 1311. Exemplary conveying drive devices may include stepping motors, servo motors, and the like.

[0052] In some embodiments, the conveying device 131 may further include a synchronous belt 1312. The material platform 115 is located above the synchronous belt 1312 and is fixedly connected to the synchronous belt 1312, and the conveying drive device 1311 is in transmission connection with the synchronous belt 1312. When the conveying drive device 1311 is working, it drives the synchronous belt 1312 to run, thereby driving the material platform 115 to move synchronously.

[0053] The orientation adjustment device 132 refers to a device for adjusting the material placement position and / or material placement angle of the assembly material 121. In some embodiments, the orientation adjustment device 132 may include an orientation adjustment component and a material fixing component 1321.

[0054] The orientation adjustment component refers to a component used to adjust the orientation of the material. For example, the orientation adjustment component may include a mechanical gripping arm, the end of which is provided with a plurality of mechanical gripping clamps, and a flexible layer is provided inside the mechanical gripping clamps to avoid damage to the material when gripping the material. In some embodiments, the orientation adjustment component may be disposed on the side of the material platform 115 to facilitate gripping of the material.

[0055] The material fixing component 1321 refers to a component used to constrain the position of the material. For example, the material fixing component 1321 may include a fixing fixture, etc. In some embodiments, Figure 2 As shown, the material fixing component 1321 can be set at one end of the material platform 115 to constrain the position of the material and prevent the material from deflecting during the conveying process.

[0056] In some embodiments, the control module 140 may be used to generate a first control instruction based on the material loading characteristic information and send it to the conveying control module 130 to control the conveying control module 130 to adjust the material position of the initial material 116. The adjustment includes safety adjustment and stability adjustment.

[0057] In some embodiments, the control module 140 can be further used to determine the type and degree of deviation of the initial material 116 based on the loading characteristic information; determine the adjustment priority of safety adjustment and stability adjustment based on the deviation type and degree; and generate a first control instruction based on the adjustment priority.

[0058] In some embodiments, the control module 140 can also be further used to generate a second control instruction based on the material discharge feature information and send it to the conveying control module 130 to control the conveying control module 130 to adjust the material discharge angle of the assembly material 121; and in response to the adjustment failure, send a warning notification to the detection component and generate a detection adjustment instruction, and mark the assembly material that failed the adjustment. The detection adjustment instruction includes the adjustment amount of the detection parameter, and the detection parameter includes the detection angle and shooting parameters of the detection component.

[0059] In some embodiments, the control module 140 can be further used to control the material fixing component 1321 to fix the assembly material 121; control the orientation adjustment component to adjust the discharge angle of the assembly material 121; and in response to the discharge angle adjustment being completed, control the material fixing component 1321 to release the assembly material 121.

[0060] In some embodiments, the control module 140 may be further configured to control the conveying drive device 1311 and adjust the conveying rate of the conveying device 131 .

[0061] For more information about the loading detection module, unloading detection module, conveying control module and control module, please refer to Figure 3-Figure 6 and its related description.

[0062] Figure 3 It is an exemplary schematic diagram of a material transport control method according to some embodiments of this specification.

[0063] Some embodiments of this specification also provide a material transmission control method, which is executed by the material transmission control system 100. Figure 3As shown, the material transmission control method includes: obtaining the loading characteristic information of the initial material when loading S310; and generating a first control instruction S320 based on the loading characteristic information S310 and sending it to the conveying control module 130, and controlling the conveying control module 130 to adjust the material position of the initial material S330. The loading characteristic information S310 includes at least one of the material type S311, the material position S312 and the material orientation S313.

[0064] Initial materials refer to the original materials initially used for production or assembly in the system (such as electronic components, precision mechanical parts, etc.).

[0065] The loading characteristic information refers to the information describing the characteristics or properties of the initial material, as well as the information related to the position and orientation of the initial material during the loading process. The material type refers to the material type or classification type of the initial material. The material position refers to the position of the initial material on the material platform. The material orientation refers to the orientation of the initial material during the loading process. Among them, the loading process refers to the process of moving the initial material from the storage area to the material platform through a robot arm and other devices.

[0066] In some embodiments, the control module can obtain the initial material feeding characteristic information through the feeding detection module (such as the first photoelectric sensor, the first image acquisition device). For more information about the feeding detection module, please refer to Figure 1-Figure 2 and its related description.

[0067] The first control instruction refers to a related instruction for controlling the conveying control module to adjust the material position of the initial material. For example, the first control instruction may include a safety adjustment instruction and a stability adjustment instruction.

[0068] Among them, the safety adjustment instruction refers to the relevant instruction for controlling the conveying control module to make safety adjustments to the material position of the initial material. The stability adjustment instruction refers to the relevant instruction for controlling the conveying control module to make stability adjustments to the material position of the initial material. For more information about safety adjustment and stability adjustment, please refer to Figure 3 Related description in the following text.

[0069] In some embodiments, the control module can generate a first control instruction through a preset table based on the feeding characteristic information. The preset table can reflect the correlation between the feeding characteristic information and the first control instruction. Wherein, each feeding characteristic information has a corresponding first control instruction. In some embodiments, the preset table can be constructed based on the historical feeding characteristic information and the historical first control instruction in the historical data.

[0070] For more information on how to generate the first control instruction, see Figure 4 and its related description.

[0071] In some embodiments, the control module generates a first control instruction and sends it to the conveying control module. After the conveying control module receives the first control instruction, the material position of the initial material is adjusted based on the first control instruction.

[0072] In some embodiments, the adjustment includes a safety adjustment and a stability adjustment. When the conveying control module receives the safety adjustment instruction, it will make a safety adjustment to the material position of the initial material based on the safety adjustment instruction. When the conveying control module receives the stability adjustment instruction, it will make a stability adjustment to the material position of the initial material based on the stability adjustment instruction.

[0073] Safety adjustment refers to an adjustment focused on ensuring that the initial material is not damaged. In some embodiments, the safety adjustment may include at least one of material position adjustment and stable fixation.

[0074] Material position adjustment refers to adjusting the position of the initial material on the material platform so that it can be placed on the material platform more safely and stably. In some embodiments, the control module can adjust the material position of the initial material by controlling the position adjustment component. For more information about the position adjustment component, please refer to Figure 1-Figure 2 and its related description.

[0075] Firm fixation refers to stabilizing the initial material on the material platform to prevent the initial material from sliding or tilting during the conveying process. In some embodiments, the control module can achieve firm fixation of the initial material by controlling the material fixing component. For more information about the material fixing component, please refer to Figure 1-Figure 2 and its related description.

[0076] In some embodiments, some areas of the initial material may be easily damaged. If the initial material is not in the right position, it is very likely to be damaged when it is grabbed. Therefore, it is helpful to avoid this phenomenon by adjusting the material position for safety.

[0077] Stability adjustment refers to an adjustment focused on ensuring stability during subsequent processing or assembly to avoid additional adjustment work. In some embodiments, stability adjustment may include at least one of angle adjustment and speed adjustment.

[0078] Angle adjustment refers to adjusting the angle of the initial material so that it can maintain a stable posture during subsequent processing or assembly. In some embodiments, the control module can achieve angle adjustment of the initial material by controlling the orientation adjustment component.

[0079] Rate adjustment refers to adjusting the delivery rate of the delivery device to avoid stability problems caused by too fast or too slow delivery rate. In some embodiments, the control module can achieve rate adjustment by controlling the delivery drive device. For more information about the delivery drive device, please refer to Figure 1-Figure 2 and its related description.

[0080] In some embodiments of the present specification, the control module generates a first control instruction based on the loading characteristic information when the initial material is loaded, and implements the safety adjustment and stability adjustment of the material position of the initial material by controlling the conveying control module, which can not only avoid damage to the material, but also help to avoid additional adjustment work and improve production efficiency.

[0081] Figure 4 400 is an exemplary flow chart of generating a first control instruction according to some embodiments of the present specification. In some embodiments, the process 400 may include the following steps. In some embodiments, the process 400 may be executed by a control module.

[0082] Step 410: Determine the type and degree of displacement of the initial material based on the material loading characteristic information. For more information about the material loading characteristic information, please refer to Figure 3 and its related description.

[0083] The deviation type of the initial material refers to the type of deviation of the initial material from the expected position, that is, it describes the incorrect placement type of the initial material. For example, horizontal placement, vertical placement, normal placement, placement at the edge of the conveyor, etc. For more information about conveyors, please refer to Figure 1-Figure 2 and its related description.

[0084] The degree of deviation of the initial material refers to the degree to which the initial material is offset from the desired position. In some embodiments, the degree of deviation of the initial material can be expressed in a grade, a numerical value, etc. For example, the larger the numerical value (such as 0 to 10), the greater the degree of deviation of the initial material.

[0085] In some embodiments, the control module can determine the deviation type and deviation degree of the initial material by vector matching based on the feeding characteristic information. For example, the database may include multiple reference vectors and their corresponding reference deviation types and reference deviation degrees. Among them, the reference vector can be constructed based on historical feeding characteristic information. The reference deviation type and reference deviation degree corresponding to the reference vector can be determined based on the actual deviation type and actual deviation degree corresponding to the historical feeding characteristic information, respectively.

[0086] In some embodiments, the control module can construct a feature vector based on the current feeding feature information, and respectively calculate the distance between the feature vector and multiple reference vectors, determine the reference vector whose distance to the feature vector is less than the distance threshold as the target vector, and determine the reference deviation type and reference deviation degree corresponding to the target vector as the current deviation type and deviation degree. The distance threshold can be manually set in advance based on past experience.

[0087] Step 420: Based on the type and degree of deviation, determine the adjustment priority of safety adjustment and stability adjustment. For more information about safety adjustment and stability adjustment, please refer to Figure 3 and its related description.

[0088] The adjustment priority of safety adjustment and stability adjustment refers to the order of making safety adjustment and stability adjustment for the initial material. For example, make safety adjustment first and then make stability adjustment.

[0089] In some embodiments, the control module may determine the adjustment priority of the safety adjustment and the stability adjustment by determining the priority of the safety adjustment and the priority of the stability adjustment based on the deviation type and the deviation degree.

[0090] The priority of safety adjustment refers to the safety problem of the initial material, and determines the urgency or priority of the adjustment. Similarly, the priority of stability adjustment refers to the stability problem of the initial material, and determines the urgency or priority of the adjustment. In some embodiments, the priority can be expressed in terms of level, value, etc. For example, the larger the value, the higher the priority.

[0091] In some embodiments, the control module can determine the priority of safety adjustment and the priority of stability adjustment by querying the first relationship preset table based on the deviation type and deviation degree. Among them, the first relationship preset table can reflect the correlation between the deviation type and deviation degree of the initial material and the priority of safety adjustment and the priority of stability adjustment. In some embodiments, the first relationship preset table can be constructed based on the historical deviation type and historical deviation degree in the historical data, and the production efficiency after historical priority adjustment under the historical deviation type and historical deviation degree, and the priority of safety adjustment and the priority of stability adjustment corresponding to the highest subsequent qualified rate / finished product rate.

[0092] In some embodiments, the control module can determine the adjustment priority of the security adjustment and the stability adjustment by comparison based on the priority of the security adjustment and the priority of the stability adjustment. For example, if the priority of the security adjustment is higher than the priority of the stability adjustment, the adjustment priority is: security adjustment first, then stability adjustment.

[0093] Step 430: Generate a first control instruction based on the adjustment priority. For more information about the first control instruction, see Figure 3 and its related description.

[0094] In some embodiments, the control module may automatically generate the first control instruction through code based on the adjustment priority. In some embodiments, the first control instruction may be used to control the conveying control module to adjust the material position of the initial material based on the adjustment priority.

[0095] In some embodiments of the present specification, the type and degree of deviation of the initial material are determined, and then the adjustment priority of the safety adjustment and the stability adjustment is determined. Then, based on the adjustment priority, a first control instruction is generated to control the conveying control module to adjust the material position of the initial material. This is conducive to quickly determining the adjustment sequence to solve the safety and stability problems of the initial material in the production process.

[0096] In some embodiments, the control module may also determine whether to repeat the adjustment or change the priority order for adjustment based on the adjusted loading characteristic information of the initial material.

[0097] The adjusted loading characteristic information of the initial material refers to the loading characteristic information after the material position of the initial material is adjusted based on the adjustment priority.

[0098] In some embodiments, the adjusted initial material feeding characteristic information can be obtained by a feeding detection module. For example, the first photoelectric sensor and the first image acquisition device in the feeding detection module. For more information about the feeding detection module, please refer to Figure 1-Figure 2 and its related description.

[0099] In some embodiments, the control module can determine whether to repeat the adjustment or change the priority order to make adjustments based on the adjusted initial material feeding characteristic information by judging whether the adjusted initial material feeding characteristic information meets the preset requirements. The preset requirements may include the appearance, shape, position, etc. of the qualified product (i.e., qualified material).

[0100] When the charging characteristic information of the adjusted initial material meets the preset requirements, there is no need to repeat the adjustment or change the priority order for adjustment. When the charging characteristic information of the adjusted initial material does not meet the preset requirements, repeated adjustments can be made first. If the charging characteristic information of the initial material after repeated adjustments still does not meet the preset requirements, the priority order can be changed for adjustment. For example, the adjustment can be changed from first making a safety adjustment and then a stability adjustment to first making a stability adjustment and then a safety adjustment.

[0101] In some embodiments of the present specification, by further judging the feeding characteristic information of the adjusted initial material to determine whether it meets the preset requirements, and then determining whether repeated adjustments or changing the priority order are needed, it is beneficial to ensure that the adjusted initial material meets the preset requirements and improve the qualified rate.

[0102] In some embodiments, the control module can also generate a stop instruction in response to the number of adjustments being greater than the adjustment number threshold, and send it to the conveying control module to control the conveying control module to suspend conveying the initial material and the assembly material. The adjustment number threshold is determined based on the weighted mean and standard deviation of the historical adjustment number thresholds, and the weighted weight is related to the consistency of the feeding characteristic information of the multiple initial materials before and after the adjustment.

[0103] The number of adjustments refers to the total number of times the material position of the initial material is repeatedly adjusted and the priority order is changed.

[0104] In some embodiments, the control module may obtain the number of adjustments by counting the total number of times the initial materials are repeatedly adjusted and the priority order is adjusted.

[0105] The adjustment number threshold refers to the maximum allowed number of times the material position of the initial material is adjusted.

[0106] In some embodiments, the control module may determine the adjustment times threshold by weighting based on the mean and standard deviation of the historical adjustment times threshold.

[0107] An exemplary weighted calculation formula includes: adjustment times threshold = k1 × mean of historical adjustment times threshold + k2 × standard deviation of historical adjustment times threshold. Wherein, k1 and k2 are weights corresponding to the mean and standard deviation of historical adjustment times threshold, respectively. In some embodiments, k1 and k2 are related to the consistency of the feeding characteristic information before and after the adjustment of multiple initial materials. For example, the greater the consistency, the greater k1 (maximum 1), and the smaller k2 (minimum 0).

[0108] The consistency degree is an indicator to measure the similarity or consistency of the loading characteristic information of multiple initial materials before and after adjustment. Among them, multiple initial materials refer to initial materials from the same production batch or the same type.

[0109] In some embodiments, the control module can determine the degree of consistency by calculating the geometric quantities of the feeding characteristic information of the multiple initial materials before and after adjustment. For example, the control module can determine the degree of consistency by calculating the variance of the angular change of the material orientation before and after adjustment of the multiple initial materials. For example, the smaller the variance, the higher the degree of consistency.

[0110] In some embodiments, the adjustment number threshold is also related to the number of failures and the delivery rate of the delivery device.

[0111] The unqualified quantity refers to the number of materials (such as assembly materials) that fail to meet the established quality standards during the processing or assembly process. In some embodiments, the established quality standards can be set manually in advance. For example, the established quality standards may include that the weight difference between the weight of the material and the standard weight does not exceed a preset weight range. For more information about the unqualified quantity, please refer to other parts of this specification (such as Figure 4-Figure 5 ) related description.

[0112] In some embodiments, the control module can determine whether the material is qualified through the gravity monitoring component, the detection component, etc., and then obtain the number of unqualified materials. For more information about the gravity monitoring component, please refer to Figure 1-2 Figure and its related description; for more information about the detection components, see Figure 5 and its related description.

[0113] The conveying rate can reflect the speed of the conveying device in conveying the initial materials and the assembly materials. In some embodiments, the control module can directly retrieve the conveying rate of the conveying device from the database.

[0114] In some embodiments, the adjustment number threshold may be positively correlated with the number of failures and negatively correlated with the delivery rate of the delivery device.

[0115] If there are a lot of unqualified materials, it means that the system needs to make more adjustments to ensure that the materials are qualified. Therefore, by increasing the threshold of the number of adjustments, more adjustments are allowed, which is conducive to improving the qualified rate of the final product. In addition, if the conveying rate of the conveying device is very fast and the material stays on the conveying device (such as a synchronous belt) for a short time, the system will have less time to make adjustments. Therefore, in order to ensure that the materials can be effectively adjusted within a limited time, the system will reduce the number of adjustments for each initial material by lowering the threshold of the number of adjustments, thereby improving the adjustment efficiency.

[0116] The stop command is a command used to suspend the conveying of materials. That is, the production line is temporarily stopped for manual verification by technicians. For example, technicians can check whether it is a problem with the equipment itself or the quality of the materials themselves to prevent unqualified materials from continuing to flow into the next stage of the production process.

[0117] In some embodiments, in response to the adjustment number being greater than the adjustment number threshold, the control module can automatically generate a stop instruction through code and send it to the conveying control module to control the conveying control module to suspend conveying the initial material and the assembly material.

[0118] Understandably, if the system allows unlimited adjustments, it may lead to over-adjustment, which not only wastes time and resources, but may also introduce new errors or cause unnecessary wear and tear on the equipment (i.e., unlimited adjustments may increase production costs, including equipment loss, labor costs, and downtime). Therefore, by limiting the number of adjustments, production costs can be controlled to a certain extent. In addition, in the continuous production process, frequent adjustments may interrupt the production process and affect production efficiency and product quality. Therefore, by setting a threshold for the number of adjustments and limiting the number of adjustments, it is beneficial to ensure production stability and improve production efficiency and product quality.

[0119] In some embodiments, the control module can also determine whether to repeat the adjustment or change the priority order for adjustment based on the number of unsuccessful adjustments for the same type of initial material in historical data; and issue a warning signal in response to the number of unsuccessful adjustments being greater than a preset threshold.

[0120] The number of successful adjustments for the same type of initial material in the historical data refers to the total number of times that the initial position of the initial material is adjusted and the loading characteristic information of the adjusted initial material does not meet the preset requirements. In this embodiment, the adjustment may include safety adjustment and stability adjustment, repeated adjustment, and adjustment by changing the priority order.

[0121] In some embodiments, when the number of unsuccessful adjustments for the same type of initial material in the historical data is less than a preset threshold, the adjustment can be repeated or the priority order can be changed. For more information on how to repeat the adjustment or change the priority order, please refer to Figure 4 Related description in the previous article.

[0122] Early warning signals refer to warning signals used to remind technicians. Early warning signals can be sent to technicians in the form of alarms, pop-up reminders, or other forms to remind relevant technicians that there is an adjustment problem in the system and further processing or manual intervention is required.

[0123] In some embodiments, when the number of unsuccessful adjustments for the same type of initial material in historical data is greater than a preset threshold, the control module will automatically issue a warning signal.

[0124] The preset threshold refers to the condition used to determine whether a warning signal needs to be issued.

[0125] In some embodiments, the preset threshold value may be related to the number of unqualified products. The number of unqualified products may be an important indicator for measuring system performance. For example, when the number of unqualified products exceeds a certain value, production efficiency and product quality begin to decline, and this certain value may be set as the preset threshold value. In some embodiments, the certain value may be determined based on historical data or past experience.

[0126] In some embodiments, the preset threshold value may also be related to the conveying rate of the conveying device. It is understandable that the conveying rate affects the processing capacity and response time of the system. If the conveying rate is too fast, the system needs to adjust faster to adapt to the changing materials. Therefore, the preset threshold value may be negatively correlated with the conveying rate of the conveying device. For example, the faster the conveying rate of the conveying device, the smaller the preset threshold value.

[0127] In some embodiments, the preset threshold value can be dynamically updated to adapt to changes in production conditions. In some embodiments, the control module can dynamically adjust and update the preset threshold value according to the change in the number of unqualified assembly materials with the conveying rate of the conveying device. For example, if the number of unqualified assembly materials increases with the increase in the conveying rate of the conveying device, the preset threshold value can be reduced accordingly.

[0128] In some embodiments of the present specification, when the number of unsuccessful adjustments for the same type of initial material in historical data exceeds a preset threshold, a warning signal is issued through the control module to promptly remind technical personnel that there may be adjustment problems in the system, so that they can check, discover and solve the problems in time.

[0129] Figure 5 500 is an exemplary flow chart of a material transport control method according to other embodiments of the present specification. In some embodiments, the process 500 may include the following steps. In some embodiments, the process 500 may be executed by a control module.

[0130] Step 510, obtaining material cutting characteristic information when cutting assembly materials.

[0131] An assembled material refers to a material obtained by mechanical processing or assembly of at least one initial material. In some embodiments, an assembled material may include one or more initial materials.

[0132] The material unloading characteristic information refers to the information related to the position and angle of the assembly material during the unloading process. The unloading position refers to the position of the assembly material on the material platform when unloading begins. The unloading angle refers to the placement angle of the assembly material on the material platform when unloading begins. Among them, the unloading process refers to the process of the assembly material being pushed out from the material platform through the discharge port.

[0133] In some embodiments, the control module can obtain the material cutting feature information through the material cutting detection module. For example, the control module can obtain the material cutting position through the second photoelectric sensor and obtain the material cutting angle through the second image acquisition device. For more information about the material cutting detection module, please refer to Figure 1-Figure 2 and its related description.

[0134] Step 520: Based on the material discharge characteristic information, generate a second control instruction and send it to the conveying control module to control the conveying control module to adjust the material discharge angle of the assembly material. For more information about the conveying control module, please refer to Figure 1-Figure 2 and its related description.

[0135] The second control instruction refers to a related instruction for controlling the conveying control module to adjust the unloading angle of the assembly material.

[0136] In some embodiments, the control module can calculate the angle difference between the blanking angle and the standard angle based on the blanking feature information, and if the angle difference exceeds the preset angle range, the second control instruction is automatically generated through the code. The standard angle and the preset angle range can be manually set in advance.

[0137] In some embodiments, the control module generates a second control instruction and sends it to the conveying control module. After receiving the second control instruction, the conveying control module adjusts the discharge angle of the assembly material based on the second control instruction so that the angle difference between the discharge angle of the assembly material and the standard angle does not exceed a preset angle range (i.e., within an allowable error range).

[0138] For more information on how to adjust the cutting angle of assembly materials, please refer to Figure 6 and its related description.

[0139] Step 530 , in response to the adjustment failure, a warning notification is sent to the detection component and a detection adjustment instruction is generated, and the assembly material that failed the adjustment is marked.

[0140] Adjustment failure refers to the situation that the cutting angle of the assembly material cannot be adjusted to the standard angle in time. In some embodiments, when the angle difference between the adjusted cutting angle of the assembly material and the standard angle still exceeds the preset angle range, it is considered adjustment failure.

[0141] The detection component refers to a component used to detect the angle or position information of the assembly material. For example, the detection component may include but is not limited to a camera, etc. In some embodiments, the detection component may be independent of the system and communicated with the control module.

[0142] In some embodiments, the control module may automatically send an early warning notification to the detection component and generate a detection instruction in response to an adjustment failure, wherein the early warning notification may be used to indicate that the detection component needs to be adjusted.

[0143] The detection adjustment instruction refers to an instruction for controlling the detection component to make relevant adjustments. In some embodiments, the detection adjustment instruction may include an adjustment amount of a detection parameter, and the detection parameter includes a detection angle and a shooting parameter of the detection component.

[0144] The detection angle refers to the angle or orientation of the detection component relative to the assembly material to be detected. The shooting parameters refer to the relevant parameters used by the detection component (such as a camera) when detecting the assembly material. For example, the shooting parameters may include exposure time, aperture size, etc.

[0145] In some embodiments, if the assembly material is not at a standard angle, the inspection data (image data) of the assembly material obtained by the inspection component may be different from the image data of the standard / qualified assembly material, thereby affecting the inspection accuracy. Therefore, it is necessary to consider adjusting the inspection parameters of the inspection component.

[0146] The adjustment amount of the detection parameter refers to the adjustment range when adjusting the detection angle and shooting parameters of the detection component.

[0147] In some embodiments, the control module may determine the adjustment amount of the detection parameter by calculation based on the angle difference between the adjusted assembly material feed angle and the standard angle. An exemplary calculation formula may include: the adjustment amount of the detection parameter = k × the angle difference between the adjusted assembly material feed angle and the standard angle. Where k is a weight coefficient.

[0148] In some embodiments, k is related to the delivery rate of the delivery device. It can be understood that if the delivery rate of the delivery device is very fast, it means that the system needs to respond quickly and make adjustments in time, so k can be increased accordingly; conversely, if the delivery rate of the delivery device is relatively slow, then k can be reduced accordingly.

[0149] Marking refers to the process of marking assembly materials that have failed adjustment. For example, the control module can add marks or labels to the assembly materials for subsequent processing or sorting.

[0150] In some embodiments, the control module may automatically mark the assembly material that failed adjustment through a code in response to the adjustment failure.

[0151] In some embodiments of the present specification, the control module generates a second control instruction based on the unloading characteristic information of the assembly material when unloading, and controls the conveying control module to adjust the unloading angle of the assembly material, which is beneficial to avoid damage to the assembly material during the unloading process and improve the yield rate of the product. In addition, the control module generates a detection adjustment instruction in response to the adjustment failure to adjust the detection parameters of the detection component, which is beneficial to timely adjust the detection parameters of the detection component and improve the detection accuracy.

[0152] In some embodiments, the control module may also determine the test results through the evaluation model based on the test data; determine the number of unqualified assembly materials of the same type based on the test results; and determine the adjustment amount of the test parameters based on the number of unqualified assembly materials.

[0153] The detection data refers to the image data of the assembly material photographed by the detection component, for example, the appearance and shape of the assembly material. In some embodiments, the control module can obtain the detection data through the detection component.

[0154] The test results can reflect the defect probability and confidence level of each assembly material. The defect probability of an assembly material refers to the probability that the assembly material is defective or damaged, that is, the probability of being unqualified. In some embodiments, the defect probability can be expressed as 0 to 100%. The confidence level refers to the degree of confidence in the prediction result. In some embodiments, the confidence level can also be expressed as 0 to 100%.

[0155] In some embodiments, the control module may process the image data through an evaluation model to determine a detection result.

[0156] The evaluation model refers to a model used to predict the test results. In some embodiments, the evaluation model can be a machine learning model. For example, the evaluation model can include a convolutional neural network (CNN) model, etc.

[0157] In some embodiments, the evaluation model may be trained based on a large number of labeled training samples, wherein the training samples may include sample detection data, and the labels may include labels of defect probability and labels of confidence.

[0158] In some embodiments, training samples may be determined based on historical data.

[0159] In some embodiments, the label of the defect probability can be constructed based on the actual test results corresponding to the training samples. For example, for the actual test results of each assembly material (assembly material 1, ..., assembly material n) in the sample test data, if the assembly material (such as assembly material i) in the sample test data actually has defects, then the label of the defect probability corresponding to the assembly material is 1 (that is, the label of the defect probability of assembly material i is 1); if the assembly material (such as assembly material i) in the sample test data does not actually have defects, then the label of the defect probability corresponding to the assembly material is 0 (that is, the label of the defect probability of material i is 0).

[0160] In some embodiments, confidence labels may be constructed by the following method.

[0161] S1: Extract the object frame for each assembly material in the sample test data, and compare the object frame of each assembly material with the image data of the standard / qualified assembly material to obtain the comparison similarity s1, ..., s n Among them, s nIndicates the comparison similarity between the object box of the nth assembly material in the sample inspection data and the image data of the standard / qualified assembly material.

[0162] In some embodiments, the method of extracting the object frame for each assembly material in the sample detection data includes but is not limited to image segmentation algorithm and the like.

[0163] The comparison similarity can be used to characterize the similarity between the object frame of each assembly material in the sample detection data and the image data of the standard / qualified assembly material. In some embodiments, the control module can determine the comparison similarity of each assembly material in the sample detection data by a hash method, a histogram algorithm, a cosine similarity, or the like.

[0164] S2: Obtain the number of types of testing methods for each assembly material in the sample test data, recorded as a1, a2, ..., a n Among them, a n Indicates the number of types of inspection methods actually inspected for the nth assembly material in the sample inspection data.

[0165] The detection method refers to the method used when actually testing the assembled materials. Exemplary detection methods may include hardness testing, ultrasonic flaw detection, etc. In some embodiments, the detection method can be obtained through input by a technician.

[0166] S3: Obtain the defect severity obtained by actual inspection of each assembly material in the sample inspection data, recorded as b1, b2, ..., b n Among them, b n Indicates the severity of the defect of the nth assembly material in the sample inspection data.

[0167] The severity of the defect can reflect the severity of the defect or damage in the assembly material. In some embodiments, the severity of the defect can be determined by calculating the ratio between the surface area of ​​the defect or damage in the assembly material and the surface area of ​​the entire assembly material. For example, the larger the ratio, the higher the severity of the defect.

[0168] In some embodiments, the surface area of ​​the assembly material having defects or damage can be obtained by actually testing each assembly material in the sample test data. In some embodiments, the surface area of ​​the entire assembly material can be manually set in advance, and the surface area of ​​each assembly material of the same type in the sample test data can be the same.

[0169] S4: Construct confidence labels. For example, the confidence of the nth assembly material in the sample test data = k11÷s n +k12×a n +k13×b nAmong them, k11, k12, and k13 are s n 、a n , b n Corresponding weights. In some embodiments, k11, k12, and k13 can be manually set in advance.

[0170] In some embodiments, the more similar the image of the assembly material is to the image of the standard / qualified assembly material, the lower the probability that the assembly material has defects, and thus the confidence level will decrease; the greater the number of detection methods for the assembly material, the more comprehensive the detection of defects and the higher the reliability, and thus the confidence level will increase; the higher the severity of the defect of the assembly material, the less random the defect is, and thus the confidence level will increase.

[0171] In some embodiments, the control module may input the training samples into the initial evaluation model, and update the parameters of the initial evaluation model through training iterations until the trained model meets the preset training conditions, thereby obtaining the trained evaluation model. The preset training conditions may be that the loss function is less than a threshold, converges, or the training cycle reaches a threshold. In some embodiments, the method of iteratively updating the parameters of the model may include conventional model training methods such as stochastic gradient descent.

[0172] In some embodiments, the control module may determine, based on the detection results, that the assembly materials whose defect probability and confidence level meet preset conditions are unqualified, and obtain the number of unqualified assembly materials of the same type through statistics. The preset conditions may include that the defect probability exceeds a defect threshold and the confidence level exceeds a confidence threshold.

[0173] In some embodiments, the control module may determine whether it is necessary to adjust the detection parameters of the detection component based on the number of unqualified assembly materials of the same type; and determine the adjustment amount of the detection parameter in response to the need to adjust the detection parameters of the detection component.

[0174] In some embodiments, the control module can determine whether it is necessary to adjust the detection parameters of the detection component based on the above-mentioned number of unqualified items by comparing the number of unqualified items with a preset number threshold. For example, when the number of unqualified items of the same type of assembly material exceeds the preset number threshold, it is necessary to adjust the detection parameters of the detection component. That is, if there are too many unqualified items in this batch of assembly materials, it may be caused by the detection component itself (such as the detection angle of the detection component, etc.); on the contrary, if the number of unqualified items is not large, it means that the current impact is not great, and there is no need to adjust the detection parameters.

[0175] In some embodiments, the control module may respond to the need to adjust the detection parameters of the detection component by calculating the ratio between the number of unqualified and total number of assembly materials of the same type and determining the adjustment amount of the detection parameters by vector matching based on a database.

[0176] In some embodiments, the database may include multiple candidate vectors and their corresponding candidate detection parameter adjustment amounts. The candidate vector may be constructed based on the ratio between the number of unqualified and total assembly materials of the same type in history. The adjustment amount of the candidate detection parameter corresponding to the candidate vector may be determined based on the ratio between the number of unqualified and total assembly materials of the same type in history and the corresponding actual detection parameter adjustment amount.

[0177] It should be noted that the vector matching method here is the same as Figure 4 The vector matching method described in is similar to that described in the specification and will not be described in detail in this specification.

[0178] In some embodiments of the present specification, by determining the detection results through a trained evaluation model, the accuracy of the model's prediction results can be effectively improved, and the number of unqualified assembly materials of the same type can be accurately determined. Combined with historical data, the adjustment amount of the detection parameters can be quickly and accurately determined, which is beneficial to adjust the detection components and improve the detection accuracy of the detection components.

[0179] In some embodiments, the control module can also control the conveying drive device to adjust the conveying rate of the conveying device. For more information about the conveying drive device and the conveying device, please refer to other parts of this specification (such as Figure 1-Figure 2 ) related description.

[0180] In some embodiments, the control module can determine the adjustment amount of the conveying rate through the second relationship table based on the number of unqualified assembly materials, and then adjust the conveying rate of the conveying device by controlling the conveying drive device. The adjustment amount of the conveying rate refers to the adjustment difference of the conveying rate on the preset conveying rate. In some embodiments, the preset conveying rate can be manually set in advance.

[0181] The second preset relationship table can reflect the correlation between the number of unqualified assembly materials and the conveying rate of the conveying device. For example, the more unqualified assembly materials are, the smaller the conveying rate of the conveying device is. In some embodiments, the second preset relationship table can be constructed based on historical data.

[0182] In some embodiments, the control module may adjust the delivery rate of the delivery device by controlling the operating power of the delivery drive device based on the adjustment amount of the delivery rate.

[0183] The operating power of the conveying drive device refers to the power of the conveying drive device when driving the conveying device to operate. In some embodiments, there is a correlation between the operating power of the conveying drive device and the conveying rate of the conveying device, and each operating power of the conveying drive device corresponds to a conveying power of the conveying device.

[0184] In some embodiments, the control module can determine the adjustment amount of the operating power of the conveying drive device based on the adjustment amount of the conveying rate through the third preset relationship table, thereby adjusting the conveying rate of the conveying device. In some embodiments, the third preset relationship table can be constructed based on the historical operating power of the conveying drive device and the historical conveying rate of the conveying device.

[0185] In some embodiments of this specification, the control module timely adjusts the conveying rate of the conveying device based on the number of unqualified assembly materials, which is conducive to ensuring that the assembly materials can be effectively adjusted within a limited time on the basis of ensuring production efficiency, thereby improving product quality or product yield. For example, when the number of unqualified assembly materials is too large, the conveying rate of the conveying device is slowed down so that the assembly materials to be tested can be effectively adjusted, thereby avoiding damage to the assembly materials during the unloading process and improving the product yield.

[0186] Figure 6 600 is an exemplary flow chart of controlling the conveying control module to adjust the material discharge angle of the assembly material according to some embodiments of the present specification. In some embodiments, the process 600 includes the following steps. In some embodiments, the process 600 is executed by the control module.

[0187] Step 610, control the material fixing component to fix the assembly material. For more information about the material fixing component, please refer to Figure 1-Figure 2 and its related description.

[0188] Fixing the assembly material refers to the operation of constraining or limiting the position of the assembly material to prevent the assembly material from moving or shaking when the cutting angle is adjusted in the next step.

[0189] In some embodiments, the control module can generate and send a second control instruction to control the material fixing component to fix the assembly material. For more information on how to control the material fixing component, please refer to Figure 6 For more information about the second control instruction, see Figure 5 and its related description.

[0190] Step 620, control the orientation adjustment component to adjust the material feeding angle of the assembly material. For more information about the orientation adjustment component, please refer to Figure 1-Figure 2 and its related description.

[0191] Adjusting the unloading angle of assembly materials refers to the operation of adjusting the placement angle of assembly materials on the material platform at the beginning of unloading.

[0192] In some embodiments, the control module may control the orientation adjustment component to adjust the discharge angle of the assembly material by generating and sending a second control instruction.

[0193] In some embodiments, the control module can also determine the adjustment amount of the material cutting angle based on the material cutting angle of the assembly material; control the material fixing component to fix the assembly material based on the material cutting position of the assembly material; and control the orientation adjustment component to adjust the material cutting angle of the assembly material based on the adjustment amount of the material cutting angle. For more information about the material cutting position and material cutting angle, please refer to Figure 5 and its related description.

[0194] In some embodiments, the control module may calculate an angle difference between the blanking angle and a standard angle based on the blanking angle of the assembly material, and determine the angle difference as the adjustment amount of the blanking angle of the assembly material.

[0195] In some embodiments, the second control instruction may include a material unloading position for the assembly material. When the material fixing component receives the second control instruction, it will move to the material unloading position and clamp the assembly material to fix the assembly material.

[0196] In some embodiments, the second control instruction may include an adjustment amount of the assembly material feed angle. When the orientation adjustment component receives the second control instruction, it adjusts the assembly material feed angle based on the adjustment amount of the assembly material feed angle, so that the feed angle is adjusted to or close to the standard angle.

[0197] In some embodiments of the present specification, the unloading angle of the assembly material is adjusted based on the current unloading position and angle of the assembly material, which can more accurately control the unloading process, reduce unloading errors caused by material position deviation or angle deviation, and improve product quality.

[0198] Step 630, in response to the material discharge angle being adjusted, controlling the material fixing assembly to release the assembly material.

[0199] In some embodiments, the control module can determine that the angle adjustment is complete by determining whether the angle difference between the adjusted blanking angle of the assembly material and the standard angle exceeds a preset angle range. For example, if the angle difference between the adjusted blanking angle of the assembly material and the standard angle does not exceed a preset angle range (i.e., within an allowable error range), it means that the blanking angle adjustment is complete.

[0200] In some embodiments, in response to the adjustment of the material cutting angle, the control module can automatically generate and send a release instruction through code to control the material fixing component to release the assembly material. The release instruction refers to a related instruction for controlling the material fixing component to release the assembly material.

[0201] In some embodiments of the present specification, the control module can achieve stable fixation of the assembly material and adjustment of the discharge angle of the assembly material through the material fixing component and the orientation adjustment component, so that the process is fast and convenient, which not only ensures product quality, but also helps to improve production efficiency.

[0202] It should be noted that the above descriptions of process 400, process 500, and process 600 are only for illustration and description, and do not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to process 400, process 500, and process 600 under the guidance of this specification. However, these modifications and changes are still within the scope of this specification.

[0203] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A material transmission control system, characterized in that: The system comprises: a loading detection module, a unloading detection module, a conveying control module and a control module, wherein the loading detection module, the unloading detection module and the conveying control module are all in communication connection with the control module; The feeding detection module is configured to obtain feeding characteristic information when the initial material is fed, wherein the feeding characteristic information includes at least one of the material type, the material position and the material orientation; The feeding detection module includes a material pushing driving device, a material pushing moving mechanism, a limit sensor, a gravity monitoring component, a first photoelectric sensor and a first image acquisition device, wherein the first photoelectric sensor is configured to obtain the material position, the first image acquisition device is configured to obtain the material type and the material orientation, the material pushing driving device is configured to drive the material pushing moving mechanism to push the initial material placed on the material platform out of the discharge port, and the limit sensor is configured to detect whether the initial material reaches the preset position of the material platform; The blanking detection module is configured to obtain blanking feature information when the assembly material is blanked, wherein the blanking feature information includes at least one of a blanking position and a blanking angle; The material unloading detection module includes a second photoelectric sensor and a second image acquisition device, wherein the second photoelectric sensor is configured to acquire the material unloading position, and the second image acquisition device is configured to acquire the material unloading angle; The conveying control module includes a conveying device and an orientation adjustment device, wherein the conveying device is configured to convey the initial material and the assembly material; the orientation adjustment device is configured to adjust the material position of the initial material and / or adjust the material discharge angle of the assembly material; The control module is configured as follows: Based on the material loading characteristic information, a first control instruction is generated and sent to the conveying control module, and the conveying control module is controlled to adjust the material position of the initial material, wherein the adjustment includes safety adjustment and stability adjustment; To generate the first control instruction, the control module is further configured to: Based on the feeding characteristic information, determining the deviation type and deviation degree of the initial material; Determining adjustment priorities of the safety adjustment and the stability adjustment based on the deviation type and the deviation degree; Based on the adjustment priority, generating the first control instruction; The control module is further configured to: Based on the adjusted initial material loading characteristic information, determine whether to repeat the adjustment or change the priority order for adjustment; In response to the number of adjustments being greater than a threshold value of the number of adjustments, a stop instruction is generated and sent to the conveying control module, so as to control the conveying control module to suspend conveying the initial material and the assembly material, wherein the threshold value of the number of adjustments is determined by weighting based on the mean of the historical threshold values ​​of the number of adjustments and their standard deviations, and the weight of the weighting is related to the consistency of the feeding characteristic information of the multiple initial materials before and after the adjustment; the threshold value of the number of adjustments is also related to the number of unqualified materials and the conveying rate of the conveying device; The control module is further configured to: Based on the material blanking characteristic information, a second control instruction is generated and sent to the conveying control module to control the conveying control module to adjust the material blanking angle of the assembly material; In response to the adjustment failure, a warning notification is issued to the detection component and a detection adjustment instruction is generated, and the assembly material that failed the adjustment is marked; the detection adjustment instruction includes an adjustment amount of the detection parameter, and the detection parameter includes a detection angle and a shooting parameter of the detection component; Wherein, in order to generate the detection adjustment instruction, the control module is further configured to: Based on the detection data, determining the detection result through an evaluation model, wherein the evaluation model is a machine learning model; Based on the test results, determining the number of unqualified assembly materials of the same type; and determining an adjustment amount of the detection parameter based on the number of unqualified items; The detection adjustment instruction is generated based on the adjustment amount of the detection parameter.

2. The system according to claim 1, characterized in that The orientation adjustment device includes an orientation adjustment component and a material fixing component, and the control module is further configured as follows: Controlling the material fixing component to fix the assembly material; Controlling the orientation adjustment component to adjust the feeding angle of the assembly material; In response to the adjustment of the material discharge angle being completed, the material fixing component is controlled to release the assembly material.

3. The system according to claim 1, characterized in that The conveying device at least includes a conveying drive device, and the control module is further configured as follows: The conveying drive device is controlled to adjust the conveying speed of the conveying device.

4. A material transmission control method, executed based on the material transmission control system according to any one of claims 1 to 3, characterized in that: The method comprises: Acquire material loading characteristic information when the initial material is loaded, wherein the material loading characteristic information includes at least one of material type, material position and material orientation; Acquire material cutting characteristic information when the assembly material is cut, wherein the material cutting characteristic information includes at least one of a cutting position and a cutting angle; Based on the material loading characteristic information, a first control instruction is generated and sent to the conveying control module, and the conveying control module is controlled to adjust the material position of the initial material, wherein the adjustment includes safety adjustment and stability adjustment; To generate the first control instruction, the method further includes: Based on the feeding characteristic information, determining the deviation type and deviation degree of the initial material; Determining adjustment priorities of the safety adjustment and the stability adjustment based on the deviation type and the deviation degree; Based on the adjustment priority, generating the first control instruction; The method further comprises: Based on the adjusted initial material loading characteristic information, determine whether to repeat the adjustment or change the priority order for adjustment; In response to the number of adjustments being greater than a threshold value of the number of adjustments, a stop instruction is generated and sent to the conveying control module, so as to control the conveying control module to suspend conveying the initial material and the assembly material, wherein the threshold value of the number of adjustments is determined by weighting based on the mean of the historical threshold values ​​of the number of adjustments and their standard deviations, and the weight of the weighting is related to the consistency of the feeding characteristic information of the multiple initial materials before and after the adjustment; the threshold value of the number of adjustments is also related to the number of unqualified materials and the conveying rate of the conveying device; The method further comprises: Based on the material blanking characteristic information, a second control instruction is generated and sent to the conveying control module to control the conveying control module to adjust the material blanking angle of the assembly material; In response to the adjustment failure, a warning notification is issued to the detection component and a detection adjustment instruction is generated, and the assembly material that failed the adjustment is marked; the detection adjustment instruction includes an adjustment amount of the detection parameter, and the detection parameter includes a detection angle and a shooting parameter of the detection component; Wherein, in order to generate the detection adjustment instruction, the method further includes: Based on the detection data, determining the detection result through an evaluation model, wherein the evaluation model is a machine learning model; Based on the test results, determining the number of unqualified assembly materials of the same type; and determining an adjustment amount of the detection parameter based on the number of unqualified items; The detection adjustment instruction is generated based on the adjustment amount of the detection parameter.

5. The method according to claim 4, characterized in that The controlling the conveying control module to adjust the unloading angle of the assembly material comprises: Controlling the material fixing component to fix the assembly material; Controlling the orientation adjustment component to adjust the feeding angle of the assembly material; In response to the adjustment of the material discharge angle being completed, the material fixing component is controlled to release the assembly material.

6. The method according to claim 4, characterized in that The method further comprises: The conveying drive device is controlled to adjust the conveying speed of the conveying device.

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