Corner turning machine control method and system for a circuit board

Abstract

The application discloses a control method and system for a corner machine for a circuit board, controls the model of the corner machine based on a corner set and the conveying speed of the circuit board, selects a suitable corner machine in multiple corner parameters and the conveying speed of the circuit board, and guarantees the matching of the corner machine and the circuit board. Meanwhile, the corner trajectory of the circuit board is compared with the edge area of the three-dimensional model of the corner machine, and multiple relative distances are output; the multiple relative distances and the conveying direction of the corresponding circuit board are virtually matched with the corresponding card board position, so as to control each card board position, mark an abnormal area based on each card board position and the corner trajectory of the circuit board, match the corresponding abnormal factors according to the abnormal area, define the corresponding optimization means based on the abnormal factors, construct an optimized trajectory in the abnormal area, form an optimized conveying trajectory of the circuit board by combining the optimized trajectory and the conveying trajectory of the circuit board, and optimize each card board position.

Description

Technical Field

[0001] This invention relates to the technical field of corner turning machines, and more particularly to a control method and system for a corner turning machine targeting a circuit board. Background Technology

[0002] With the development of technology, circuit boards need to be transported during the production process. The circuit boards are transported along a preset transport trajectory, including straight transport and corner transport. In the existing technology, the corner transport of circuit boards is controlled by collecting the corner trajectory of the circuit board on the corner machine and monitoring the transport of the circuit board along the corner trajectory in real time. However, the position of the board is not controlled in advance, and the position of the board is manually adjusted, which makes it impossible to optimize the board's position on the corner machine. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a control method and system for a corner machine targeting circuit boards. The method involves collecting the conveying trajectory of the circuit board and determining a cornering area based on the trajectory; determining multiple cornering parameters based on the traversal of the cornering area; constructing a cornering set based on the multiple cornering parameters; and matching the corresponding corner machine model based on the cornering set and the conveying speed of the circuit board. This allows for the control of the corner machine model based on the cornering set and the conveying speed of the circuit board, thereby selecting a suitable corner machine from multiple cornering parameters and the conveying speed of the circuit board, ensuring the compatibility between the corner machine and the circuit board.

[0004] Simultaneously, based on the model of the corner machine, a corresponding 3D model of the corner machine is matched, and the corner trajectory of the circuit board is virtualized according to the conveying trajectory of the circuit board and the 3D model of the corner machine. The corner trajectory of the circuit board is compared with the edge area of ​​the 3D model of the corner machine, and multiple relative distances are output. The multiple relative distances and the corresponding conveying direction of the circuit board are used to virtualize the corresponding card positions, so as to control the position of each card. Based on the position of each card and the corner trajectory of the circuit board, abnormal areas are marked, and corresponding abnormal factors are matched according to the abnormal areas. Based on the abnormal factors, corresponding optimization methods are defined, and an optimized trajectory is constructed in the abnormal areas. The optimized trajectory and the conveying trajectory of the circuit board are combined to form an optimized conveying trajectory of the circuit board. This achieves optimization of the position of each card and targeted optimization for abnormal areas to ensure the accuracy of the optimized trajectory, thereby ensuring the accuracy of the optimized conveying trajectory of the circuit board. It also optimizes the card jamming situation of the circuit board in the corner machine.

[0005] To address the aforementioned technical problems, this invention provides a control method for a corner machine targeting a circuit board, applicable to control scenarios where a corner machine targets a circuit board.

[0006] The control method for the circuit board of the corner machine includes:

[0007] Collect the transport trajectory of the circuit board and determine the turning area based on the transport trajectory of the circuit board;

[0008] Determine multiple corner parameters of the corner region based on traversal of the corner region;

[0009] A set of corners is constructed based on multiple corner parameters, and the corresponding corner machine model is matched based on the corner set and the conveying speed of the circuit board;

[0010] Match the corresponding 3D model of the corner machine to the model number, and simulate the corner trajectory of the circuit board based on the conveying trajectory of the circuit board and the 3D model of the corner machine.

[0011] The cornering trajectory of the circuit board is compared with the edge area of ​​the 3D model of the cornering machine, and multiple relative distances are output; the multiple relative distances and the corresponding conveying direction of the circuit board are used to virtually correspond to the card position.

[0012] Based on the positions of each card and the corner trajectory of the circuit board, abnormal areas are marked. The abnormal areas are matched with corresponding abnormal factors, and the corresponding optimization methods are defined based on the abnormal factors. The optimized trajectory is constructed in the abnormal areas, and the optimized trajectory and the circuit board's transport trajectory are combined to form the optimized transport trajectory of the circuit board.

[0013] Optionally, the process of collecting the transport trajectory of the circuit board and determining the turning area based on the transport trajectory of the circuit board includes:

[0014] Collect the circuit board model number;

[0015] The circuit board's transport trajectory is defined based on its model and transport database.

[0016] Collect the transport trajectory of the circuit board;

[0017] Multiple trajectory regions are defined based on the circuit board's transport trajectory and trajectory line type;

[0018] It triggers the synchronous recognition of multiple trajectory regions and filters out the corresponding turning areas based on the multiple trajectory regions.

[0019] Optionally, determining multiple corner parameters of the corner region based on traversal of the corner region includes:

[0020] Freeze the corner area;

[0021] Define the corresponding region range and corner angle based on the corner region;

[0022] Define the corresponding traversal mode based on the area range and the corner angle;

[0023] Trigger traversal of the corner region along this traversal pattern;

[0024] During the traversal of the corner region, multiple basic parameters of the corner region are collected;

[0025] Multiple corner parameters are output based on the filtering of multiple basic parameters. These corner parameters include corner angle, corner distance, corner curvature, and corner width.

[0026] Optionally, the step of constructing a set of corner parameters based on multiple corner parameters, and matching the corresponding corner machine model based on the set of corner parameters and the conveying speed of the circuit board, includes:

[0027] Construct multiple corner combinations based on multiple corner parameters;

[0028] A set of corners is constructed based on multiple corner combinations and their corresponding weights;

[0029] Collect the conveying speed of the circuit board and correlate it with the corner set and the conveying speed of the circuit board;

[0030] The stability coefficient of the circuit board during the conveying process is defined based on the conveying speed, and the corresponding rotation coefficient is defined based on the rotation angle set.

[0031] The corresponding corner machine model is matched based on the rotation angle coefficient, stability coefficient, and model matching table.

[0032] Optionally, the step of matching the model of the corner machine with the corresponding three-dimensional model of the corner machine, and virtualizing the corner trajectory of the circuit board based on the conveying trajectory of the circuit board and the three-dimensional model of the corner machine, includes:

[0033] Model number of the fixed-angle camera;

[0034] Match the corresponding 3D model of the corner machine based on its model number and 3D model data;

[0035] Traverse the 3D model of the corner machine and define the corner plan view in the 3D model of the corner machine;

[0036] Associate the corner plan view and the circuit board's transport trajectory;

[0037] Multiple sub-trajectories are simulated based on the overlap of the corner plan view and the circuit board's transport trajectory;

[0038] The trajectory coefficient is defined based on the conveying speed of the circuit board, and the corner trajectory of the circuit board is virtualized based on the trajectory coefficient and multiple sub-trajectories.

[0039] Optionally, comparing the corner trajectory of the circuit board with the edge area of ​​the three-dimensional model of the cornering machine and outputting multiple relative distances; and displaying the multiple relative distances and the corresponding conveying orientation of the circuit board at the virtual corresponding card position, includes:

[0040] Freeze the corner trajectory of the circuit board;

[0041] The 3D model based on the cornering machine marks the corresponding edge regions and associates them with the cornering trajectory of the circuit board and the edge regions;

[0042] The card calculation is triggered based on the corner trajectory and edge region of the circuit board, and multiple relative distances are output in the card calculation. At this time, the relative distance is the distance between the corner trajectory and the edge region.

[0043] Optionally, the step of comparing the corner trajectory of the circuit board with the edge area of ​​the three-dimensional model of the cornering machine and outputting multiple relative distances; and displaying the multiple relative distances and the corresponding conveying orientation of the circuit board at the virtual corresponding card position, further includes:

[0044] The relative distance threshold is preset based on the conveying speed of the circuit board and the model of the corner machine;

[0045] Multiple relative distances are compared with a preset relative distance threshold, and the theoretical positions where the relative distance is less than the preset relative distance threshold are marked;

[0046] The distance difference is matched according to the theoretical position and defined as the first coefficient; the transport orientation of the circuit board is collected based on the traversal of the theoretical position and a second coefficient is defined according to the transport orientation of the circuit board.

[0047] Associate the second coefficient with the first coefficient, and match the second coefficient, the first coefficient, and the card database to the corresponding card position.

[0048] Optionally, the step of marking abnormal areas based on the positions of each card and the corner trajectory of the circuit board, matching corresponding abnormal factors according to the abnormal areas, defining corresponding optimization methods based on the abnormal factors, constructing an optimized trajectory in the abnormal areas, and combining the optimized trajectory with the circuit board's transport trajectory to form an optimized circuit board transport trajectory includes:

[0049] Fix the position of each card plate and define the number of card plate positions;

[0050] The region pattern is matched based on the number of card positions and the distance between two adjacent card positions;

[0051] The first sub-anomaly region is constructed based on the regional pattern and the relative positions of each card.

[0052] Anomaly nodes are defined based on the corner trajectory of the circuit board and the position of each card, and a second sub-anomaly region is constructed based on multiple anomaly nodes.

[0053] An abnormal region is formed based on the second sub-abnormal region, the first sub-abnormal region, and the corner trajectory of the circuit board.

[0054] Optionally, the step of marking abnormal areas based on the positions of each card and the corner trajectory of the circuit board, matching corresponding abnormal factors according to the abnormal areas, defining corresponding optimization methods based on the abnormal factors, constructing an optimized trajectory in the abnormal areas, and combining the optimized trajectory with the circuit board's transport trajectory to form an optimized circuit board transport trajectory, further includes:

[0055] Matching corresponding anomalous factors based on region identification of anomalous areas;

[0056] Optimization methods are defined based on abnormal factors and the signals from the corner machine.

[0057] Based on the abnormal region and optimization methods, an optimized trajectory is constructed, and the optimized trajectory and the circuit board's transport trajectory are combined to form an optimized circuit board transport trajectory.

[0058] In addition, embodiments of the present invention also provide a control system for a cornering machine targeting a circuit board, the control system for the cornering machine targeting a circuit board comprising:

[0059] The acquisition module is used to acquire the transport trajectory of the circuit board and determine the turning area based on the transport trajectory of the circuit board;

[0060] The corner parameter module is used to determine multiple corner parameters of a corner region based on the traversal of the corner region.

[0061] The corner machine module is used to construct a corner set based on multiple corner parameters, and to match the corresponding corner machine model based on the corner set and the conveying speed of the circuit board;

[0062] The virtual module is used to match the corresponding 3D model of the corner machine based on the model of the corner machine, and to simulate the corner trajectory of the circuit board according to the conveying trajectory of the circuit board and the 3D model of the corner machine.

[0063] The cardboard position module is used to compare the corner trajectory of the circuit board with the edge area of ​​the 3D model of the cornering machine and output multiple relative distances; the multiple relative distances and the corresponding conveying orientation of the circuit board are used to virtually correspond to the cardboard position.

[0064] The optimization module is used to mark abnormal areas based on the position of each card and the corner trajectory of the circuit board, match the corresponding abnormal factors according to the abnormal areas, define the corresponding optimization methods based on the abnormal factors, construct the optimized trajectory in the abnormal areas, and combine the optimized trajectory and the circuit board's transport trajectory to form the optimized transport trajectory of the circuit board.

[0065] In this embodiment of the invention, the method is used to collect the conveying trajectory of the circuit board and determine the corner area based on the conveying trajectory; multiple corner parameters of the corner area are determined based on the traversal of the corner area; a corner set is constructed based on the multiple corner parameters, and the corresponding corner machine model is matched according to the corner set and the conveying speed of the circuit board, so as to control the model of the corner machine based on the corner set and the conveying speed of the circuit board, thereby selecting a suitable corner machine from multiple corner parameters and the conveying speed of the circuit board, ensuring the matching between the corner machine and the circuit board.

[0066] Simultaneously, based on the model of the corner machine, a corresponding 3D model of the corner machine is matched, and the corner trajectory of the circuit board is virtualized according to the conveying trajectory of the circuit board and the 3D model of the corner machine. The corner trajectory of the circuit board is compared with the edge area of ​​the 3D model of the corner machine, and multiple relative distances are output. The multiple relative distances and the corresponding conveying direction of the circuit board are used to virtualize the corresponding card positions, so as to control the position of each card. Based on the position of each card and the corner trajectory of the circuit board, abnormal areas are marked, and corresponding abnormal factors are matched according to the abnormal areas. Based on the abnormal factors, corresponding optimization methods are defined, and an optimized trajectory is constructed in the abnormal areas. The optimized trajectory and the conveying trajectory of the circuit board are combined to form an optimized conveying trajectory of the circuit board. This achieves optimization of the position of each card and targeted optimization for abnormal areas to ensure the accuracy of the optimized trajectory, thereby ensuring the accuracy of the optimized conveying trajectory of the circuit board. It also optimizes the card jamming situation of the circuit board in the corner machine. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 This is a flowchart illustrating the control method of the corner machine for the circuit board in an embodiment of the present invention;

[0069] Figure 2 This is a flowchart illustrating step S11 of the control method for the circuit board by the corner machine in this embodiment of the invention.

[0070] Figure 3 This is a flowchart illustrating step S12 of the control method for the circuit board by the corner machine in an embodiment of the present invention.

[0071] Figure 4 This is a flowchart illustrating step S13 of the control method for the circuit board by the corner machine in this embodiment of the invention.

[0072] Figure 5 This is a flowchart illustrating S14 of the control method for the circuit board by the corner machine in an embodiment of the present invention.

[0073] Figure 6 This is a flowchart illustrating step S15 of the control method for the circuit board by the corner machine in this embodiment of the invention.

[0074] Figure 7 This is a flowchart illustrating step S16 of the control method for the circuit board by the corner machine in this embodiment of the invention.

[0075] Figure 8 This is a schematic diagram of the structural composition of the control system for the circuit board of the corner machine in an embodiment of the present invention;

[0076] Figure 9 This is a hardware diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0077] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0078] Please see Figures 1 to 9 A control method for a corner machine targeting a circuit board, applied to a control scenario where the corner machine targets a circuit board; the control method for the corner machine targeting a circuit board includes:

[0079] Step S11: Collect the transport trajectory of the circuit board and determine the turning area based on the transport trajectory of the circuit board;

[0080] Step S12: Determine multiple corner parameters of the corner region based on the traversal of the corner region;

[0081] Step S13: Construct a set of corners based on multiple corner parameters, and match the corresponding corner machine model based on the set of corners and the conveying speed of the circuit board;

[0082] Step S14: Match the corresponding 3D model of the corner machine based on the model number of the corner machine, and simulate the corner trajectory of the circuit board according to the conveying trajectory of the circuit board and the 3D model of the corner machine.

[0083] Step S15: Compare the corner trajectory of the circuit board with the edge area of ​​the 3D model of the corner turning machine, and output multiple relative distances; ...

[0084] Step S16: Mark abnormal areas based on the positions of each card and the corner trajectory of the circuit board, match the corresponding abnormal factors according to the abnormal areas, define the corresponding optimization methods based on the abnormal factors, construct the optimized trajectory in the abnormal areas, and combine the optimized trajectory and the circuit board's transport trajectory to form the optimized circuit board transport trajectory.

[0085] In this embodiment of the invention, the method is used to collect the conveying trajectory of the circuit board and determine the corner area based on the conveying trajectory; multiple corner parameters of the corner area are determined based on the traversal of the corner area; a corner set is constructed based on the multiple corner parameters, and the corresponding corner machine model is matched according to the corner set and the conveying speed of the circuit board, so as to control the model of the corner machine based on the corner set and the conveying speed of the circuit board, thereby selecting a suitable corner machine from multiple corner parameters and the conveying speed of the circuit board, ensuring the matching between the corner machine and the circuit board.

[0086] Simultaneously, based on the model of the corner machine, a corresponding 3D model of the corner machine is matched, and the corner trajectory of the circuit board is virtualized according to the conveying trajectory of the circuit board and the 3D model of the corner machine. The corner trajectory of the circuit board is compared with the edge area of ​​the 3D model of the corner machine, and multiple relative distances are output. The multiple relative distances and the corresponding conveying direction of the circuit board are used to virtualize the corresponding card positions, so as to control the position of each card. Based on the position of each card and the corner trajectory of the circuit board, abnormal areas are marked, and corresponding abnormal factors are matched according to the abnormal areas. Based on the abnormal factors, corresponding optimization methods are defined, and an optimized trajectory is constructed in the abnormal areas. The optimized trajectory and the conveying trajectory of the circuit board are combined to form an optimized conveying trajectory of the circuit board. This achieves optimization of the position of each card and targeted optimization for abnormal areas to ensure the accuracy of the optimized trajectory, thereby ensuring the accuracy of the optimized conveying trajectory of the circuit board. It also optimizes the card jamming situation of the circuit board in the corner machine.

[0087] refer to Figure 2 In step S11, the transport trajectory of the circuit board is collected, and the corner area is determined based on the transport trajectory of the circuit board.

[0088] In the specific implementation of this invention, the specific steps can be as follows:

[0089] S111: Model number of the data acquisition circuit board;

[0090] S112: Define the circuit board's transport trajectory based on the circuit board's model and transport database;

[0091] S113: Collect the transport trajectory of the circuit board;

[0092] S114: Define multiple trajectory areas based on the circuit board's transport trajectory and trajectory line type;

[0093] S115: Triggers the synchronous recognition of multiple trajectory regions and filters out the corresponding corner regions based on the multiple trajectory regions.

[0094] In the embodiments of this application, the model of the circuit board is collected, and the basic information of the corresponding circuit board is matched for the model of the circuit board so as to define the model of the circuit board based on the basic information of the circuit board. At this time, the transport trajectory of the circuit board is defined based on the model of the circuit board and the transport database so as to fix the transport trajectory of the circuit board and control the transport trajectory of the circuit board so as to further process the transport trajectory of the circuit board.

[0095] At this time, the transport trajectory of the circuit board is collected; multiple trajectory regions are defined based on the transport trajectory and trajectory line type of the circuit board, so as to divide the transport trajectory of the circuit board according to the trajectory line type, thereby outputting multiple trajectory regions, so as to trigger the synchronous recognition of multiple trajectory regions, and filter out the corresponding corner regions based on multiple trajectory regions, thereby determining the corresponding corner regions, so as to control the corner regions.

[0096] refer to Figure 3 In step S12, multiple corner parameters of the corner region are determined based on the traversal of the corner region;

[0097] In the specific implementation of this invention, the specific steps can be as follows:

[0098] S121: Freeze the corner area;

[0099] S122: Define the corresponding area range and corner angle based on the corner region;

[0100] S123: Define the corresponding traversal mode based on the area range and the corner angle;

[0101] S124: Trigger traversal of the corner region along this traversal pattern;

[0102] S125: During the traversal of the corner area, collect multiple basic parameters of the corner area;

[0103] S126: Outputs multiple corner parameters based on the filtering of multiple basic parameters. The multiple corner parameters include corner angle, corner distance, corner curvature, and corner width.

[0104] In the embodiments of this application, the corner area is fixed and further controlled to define the corresponding area range and corner angle based on the corner area. This introduces the area range and corner angle to define the corresponding traversal mode according to the area range and corner angle, thereby ensuring the accuracy of the traversal mode.

[0105] At this point, the traversal of the corner region is triggered along this traversal pattern, thus introducing the traversal of the corner region. During the traversal of the corner region, multiple basic parameters of the corner region are collected so that they can be further controlled based on these parameters. Multiple corner parameters are then output based on the selection of these basic parameters so that they can be further processed. Optionally, the multiple corner parameters include corner angle, corner distance, corner curvature, and corner width.

[0106] refer to Figure 4 In step S13, a set of corners is constructed based on multiple corner parameters, and the corresponding model of the corner machine is matched based on the set of corners and the conveying speed of the circuit board.

[0107] In the specific implementation of this invention, the specific steps can be as follows:

[0108] S131: Construct multiple corner combinations based on multiple corner parameters;

[0109] S132: Construct a set of corners based on multiple corner combinations and their corresponding weights;

[0110] S133: Collect the conveying speed of the circuit board and associate it with the corner set and the conveying speed of the circuit board;

[0111] S134: Define the stability coefficient of the circuit board during the conveying process based on the conveying speed, and define the corresponding angle coefficient based on the set of angles;

[0112] S135: Match the corresponding corner machine model based on the cornering coefficient, stability coefficient, and model matching table.

[0113] In the embodiments of this application, the conveying trajectory of the circuit board is collected, and the corner area is determined based on the conveying trajectory of the circuit board; multiple corner parameters of the corner area are determined based on the traversal of the corner area; a corner set is constructed based on the multiple corner parameters, and the corresponding corner machine model is matched according to the corner set and the conveying speed of the circuit board, so as to control the model of the corner machine based on the corner set and the conveying speed of the circuit board, thereby selecting a suitable corner machine from multiple corner parameters and the conveying speed of the circuit board, ensuring the matching between the corner machine and the circuit board.

[0114] At this point, multiple corner combinations are constructed based on multiple corner parameters to facilitate combination based on multiple corner parameters, thereby fixing multiple corner combinations, so as to construct a corner set based on multiple corner combinations and their corresponding weights.

[0115] Simultaneously, the conveying speed of the circuit board is collected and correlated with the corner set and the conveying speed of the circuit board to further control the corner set and the conveying speed of the circuit board. Based on the conveying speed, the stability coefficient of the circuit board during the conveying process is defined, and the corresponding corner coefficient is defined based on the corner set. Then, the corner coefficient and stability coefficient are introduced, and the corner coefficient, stability coefficient and model matching table are correlated. Based on the corner coefficient, stability coefficient and model matching table, the corresponding corner machine model is matched, ensuring the accuracy of the corner machine model and realizing the initial matching of circuit board and corner machine.

[0116] refer to Figure 5 S14: Match the corresponding 3D model of the corner machine based on the model number of the corner machine, and simulate the corner trajectory of the circuit board according to the conveying trajectory of the circuit board and the 3D model of the corner machine.

[0117] In the specific implementation of this invention, the specific steps can be as follows:

[0118] S141: Model number of the fixed-angle camera;

[0119] S142: Match the corresponding 3D model of the corner machine based on the model number and 3D model data;

[0120] S143: Traverse the solid model of the corner machine and define the corner plan view in the solid model of the corner machine;

[0121] S144: Associated corner plan view and circuit board transport trajectory;

[0122] S145: Multiple sub-trajectories are simulated based on the overlap of the corner plan view and the circuit board's transport trajectory;

[0123] S146: Define the trajectory coefficient based on the conveying speed of the circuit board, and virtualize the corner trajectory of the circuit board based on the trajectory coefficient and multiple sub-trajectories.

[0124] In the embodiments of this application, the model of the corner machine is fixed so as to match the corresponding 3D model of the corner machine based on the model of the corner machine and the 3D model data, thereby introducing the 3D model of the corner machine and then controlling the 3D model of the corner machine.

[0125] At this point, the 3D model of the corner machine is traversed, and the corner plan view in the 3D model of the corner machine is defined to facilitate further processing of the corner plan view. At the same time, the corner plan view and the circuit board's conveying trajectory are associated to facilitate comparison between the corner plan view and the circuit board's conveying trajectory, thereby simulating multiple sub-trajectories based on the overlap between the corner plan view and the circuit board's conveying trajectory.

[0126] Furthermore, the conveying speed of the circuit board is introduced, and a trajectory coefficient is defined based on the conveying speed of the circuit board to facilitate the association of the trajectory coefficient and multiple sub-trajectories. Thus, the corner trajectory of the circuit board is virtualized based on the trajectory coefficient and multiple sub-trajectories, thereby realizing the determination of the corner trajectory of the circuit board. The corner trajectory of the circuit board is further processed, fully considering the conveying speed of the circuit board and multiple sub-trajectories, thereby realizing multi-dimensional control of the conveying speed of the circuit board and multiple sub-trajectories.

[0127] refer to Figure 6 S15: Compare the corner trajectory of the circuit board with the edge area of ​​the 3D model of the cornering machine, and output multiple relative distances; ...

[0128] In the specific implementation of this invention, the specific steps can be as follows:

[0129] S151: Fixed the corner trajectory of the circuit board;

[0130] S152: Mark the corresponding edge regions based on the 3D model of the cornering machine, and associate the cornering trajectory of the circuit board with the edge regions;

[0131] S153: Trigger card calculation based on the corner trajectory and edge area of ​​the circuit board, and output multiple relative distances in the card calculation. At this time, the relative distance is the distance between the corner trajectory and the edge area.

[0132] S154: Based on the conveying speed of the circuit board and the model of the corner machine, a preset relative distance threshold is output;

[0133] S155: Compare multiple relative distances with a preset relative distance threshold and mark the theoretical positions where the relative distance is less than the preset relative distance threshold;

[0134] S156: Match the corresponding distance difference based on the theoretical position and define the distance difference as the first coefficient; collect the conveying orientation of the circuit board based on the traversal of the theoretical position and define the second coefficient based on the conveying orientation of the circuit board;

[0135] S157: Associate the second coefficient with the first coefficient, and match the second coefficient, the first coefficient, and the card database to the corresponding card position.

[0136] In the embodiments of this application, the corner trajectory of the circuit board is fixed. At the same time, the three-dimensional model of the corner machine is further processed so that the corresponding edge area is marked based on the three-dimensional model of the corner machine, thereby introducing the edge area to associate the corner trajectory of the circuit board and the edge area, and then to control the corner trajectory and edge area of ​​the circuit board as a whole.

[0137] At this point, the cardboard calculation is triggered based on the corner trajectory and edge area of ​​the circuit board to confirm the cardboard position for the corner trajectory and edge area of ​​the circuit board. At the same time, multiple relative distances are output in the cardboard calculation. Here, the relative distance is the distance between the corner trajectory and the edge area.

[0138] Furthermore, a preset relative distance threshold is output based on the circuit board's conveying speed and the corner machine's model, so as to introduce the preset relative distance threshold and to control the circuit board's conveying speed and the corner machine's model as a whole, ensuring the accuracy of the preset relative distance threshold.

[0139] Simultaneously, multiple relative distances are compared with a preset relative distance threshold, and theoretical positions where the relative distance is less than the preset relative distance threshold are marked to facilitate the definition of theoretical positions. This allows control over multiple theoretical positions, enabling matching of corresponding distance differences based on the theoretical positions, and defining the distance difference as the first coefficient. Additionally, the transport orientation of the circuit board is collected based on the traversal of theoretical positions, and a second coefficient is defined based on the transport orientation of the circuit board.

[0140] Therefore, the second coefficient and the first coefficient are correlated, and the second coefficient and the first coefficient are matched with the card database to match the corresponding card position. Then, the card position is controlled based on multiple dimensions, and the theoretical position, distance difference, and circuit board delivery orientation are controlled as a whole.

[0141] refer to Figure 7 S16: Based on the positions of each card and the corner trajectory of the circuit board, mark the abnormal area, match the corresponding abnormal factors according to the abnormal area, define the corresponding optimization methods based on the abnormal factors, construct the optimized trajectory in the abnormal area, and combine the optimized trajectory and the circuit board's transport trajectory to form the optimized circuit board's transport trajectory.

[0142] In the specific implementation of this invention, the specific steps can be as follows:

[0143] S161: Fix the position of each card plate and define the number of card plate positions;

[0144] S162: Matching region pattern based on the number of card positions and the distance between two adjacent card positions;

[0145] S163: Construct the first sub-abnormal region based on the regional pattern and the relative positions of each card position;

[0146] S164: Define abnormal nodes based on the corner trajectory of the circuit board and the position of each card, and construct a second sub-abnormal region based on multiple abnormal nodes;

[0147] S165: An abnormal region is formed based on the second sub-abnormal region, the first sub-abnormal region, and the corner trajectory of the circuit board;

[0148] S166: Matching corresponding anomalous factors based on region identification of anomalous areas;

[0149] S167: Define corresponding optimization methods based on abnormal factors and the signals of the corner machine; build an optimized trajectory based on the abnormal area and optimization methods, and combine the optimized trajectory and the circuit board's transport trajectory to form an optimized circuit board transport trajectory.

[0150] In the specific implementation of this invention, a corresponding 3D model of the corner machine is matched based on the model of the corner machine, and the corner trajectory of the circuit board is virtualized according to the conveying trajectory of the circuit board and the 3D model of the corner machine. The corner trajectory of the circuit board is compared with the edge area of ​​the 3D model of the corner machine, and multiple relative distances are output. The multiple relative distances and the corresponding conveying orientation of the circuit board are used to virtualize the corresponding card positions, so as to control the positions of each card. Abnormal areas are marked based on the positions of each card and the corner trajectory of the circuit board. The abnormal factors are matched according to the abnormal areas, and the corresponding optimization methods are defined based on the abnormal factors. An optimized trajectory is constructed in the abnormal areas, and the optimized trajectory and the conveying trajectory of the circuit board are combined to form an optimized conveying trajectory of the circuit board. This realizes the optimization of the positions of each card and targeted optimization for abnormal areas to ensure the accuracy of the optimized trajectory, thereby ensuring the accuracy of the optimized conveying trajectory of the circuit board, and optimizing the card jamming situation of the circuit board in the corner machine.

[0151] At this point, the positions of each card plate are fixed, and the number of card plate positions is defined to clarify the number of card plate positions. Based on the number of card plate positions and the distance between two adjacent card plate positions, a region pattern is matched, and the region pattern is fixed so that the first sub-anomaly region can be constructed according to the region pattern and the relative positions between each card plate position.

[0152] Furthermore, abnormal nodes are defined based on the corner trajectory of the circuit board and the positions of each card, and a second sub-abnormal region is constructed based on multiple abnormal nodes. This second sub-abnormal region facilitates overall control over the corner trajectory of the circuit board and the positions of each card.

[0153] Therefore, an abnormal region is formed based on the second sub-abnormal region, the first sub-abnormal region, and the corner trajectory of the circuit board. This allows for targeted control of the abnormal region, enabling the matching of corresponding abnormal factors based on the region identification. Subsequently, corresponding optimization methods are defined based on the abnormal factors and the signals from the corner machine. An optimized trajectory is constructed based on the abnormal region and the optimization methods, and the optimized trajectory and the circuit board's transport trajectory are combined to form an optimized transport trajectory for the circuit board.

[0154] Therefore, based on the abnormal area, corresponding abnormal factors are matched, and corresponding optimization methods are defined based on the abnormal factors. An optimized trajectory is constructed in the abnormal area, and the optimized trajectory and the circuit board's transport trajectory are combined to form an optimized circuit board transport trajectory. This achieves optimization of each card position and targeted optimization for abnormal areas to ensure the accuracy of the optimized trajectory, thereby ensuring the accuracy of the optimized circuit board transport trajectory. Furthermore, optimization is performed on the card jamming situation of the circuit board at the corner machine.

[0155] In this embodiment of the invention, the method is used to collect the conveying trajectory of the circuit board and determine the corner area based on the conveying trajectory; multiple corner parameters of the corner area are determined based on the traversal of the corner area; a corner set is constructed based on the multiple corner parameters, and the corresponding corner machine model is matched according to the corner set and the conveying speed of the circuit board, so as to control the model of the corner machine based on the corner set and the conveying speed of the circuit board, thereby selecting a suitable corner machine from multiple corner parameters and the conveying speed of the circuit board, ensuring the matching between the corner machine and the circuit board.

[0156] Simultaneously, based on the model of the corner machine, a corresponding 3D model of the corner machine is matched, and the corner trajectory of the circuit board is virtualized according to the conveying trajectory of the circuit board and the 3D model of the corner machine. The corner trajectory of the circuit board is compared with the edge area of ​​the 3D model of the corner machine, and multiple relative distances are output. The multiple relative distances and the corresponding conveying direction of the circuit board are used to virtualize the corresponding card positions, so as to control the position of each card. Based on the position of each card and the corner trajectory of the circuit board, abnormal areas are marked, and corresponding abnormal factors are matched according to the abnormal areas. Based on the abnormal factors, corresponding optimization methods are defined, and an optimized trajectory is constructed in the abnormal areas. The optimized trajectory and the conveying trajectory of the circuit board are combined to form an optimized conveying trajectory of the circuit board. This achieves optimization of the position of each card and targeted optimization for abnormal areas to ensure the accuracy of the optimized trajectory, thereby ensuring the accuracy of the optimized conveying trajectory of the circuit board. It also optimizes the card jamming situation of the circuit board in the corner machine.

[0157] Please see Figure 8 , Figure 8 This is a schematic diagram of the structural composition of the control system for the circuit board of the corner machine in an embodiment of the present invention.

[0158] like Figure 8 As shown, a control system for a corner turning machine targeting a circuit board includes:

[0159] The acquisition module 21 is used to acquire the conveying trajectory of the circuit board and determine the turning area based on the conveying trajectory of the circuit board;

[0160] Corner parameter module 22 is used to determine multiple corner parameters of a corner region based on the traversal of the corner region;

[0161] The corner machine module 23 is used to construct a corner set based on multiple corner parameters, and to match the corresponding corner machine model based on the corner set and the conveying speed of the circuit board;

[0162] Virtual module 24 is used to match the corresponding three-dimensional model of the corner machine based on the model of the corner machine, and to simulate the corner trajectory of the circuit board according to the conveying trajectory of the circuit board and the three-dimensional model of the corner machine.

[0163] The cardboard position module 25 is used to compare the corner trajectory of the circuit board with the edge area of ​​the three-dimensional model of the cornering machine and output multiple relative distances; and to virtually correspond the multiple relative distances and the corresponding conveying direction of the circuit board to the cardboard position.

[0164] The optimization module 26 is used to mark abnormal areas based on the position of each card and the corner trajectory of the circuit board, match the corresponding abnormal factors according to the abnormal areas, define the corresponding optimization methods based on the abnormal factors, construct the optimized trajectory in the abnormal areas, and combine the optimized trajectory and the circuit board's transport trajectory to form the optimized transport trajectory of the circuit board.

[0165] Please see Figure 9 See below for reference. Figure 9 To describe an electronic device 40 according to this embodiment of the present invention. Figure 9 The electronic device 40 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0166] like Figure 9 As shown, the electronic device 40 is manifested in the form of a general-purpose computing device. The components of the electronic device 40 may include, but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including storage unit 42 and processing unit 41).

[0167] The storage unit stores program code, which can be executed by the processing unit 41 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0168] Storage unit 42 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 421 and / or cache memory 422, and may further include a read-only memory (ROM) 423.

[0169] Storage unit 42 may also include a program / utility 424 having a set (at least one) of optimization modules 425, such optimization modules 425 including but not limited to: an operating system, one or more applications, other optimization modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0170] Bus 43 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the multiple bus structures.

[0171] Electronic device 40 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 40, and / or with any device that enables electronic device 40 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed through input / output (I / O) interface 44. Furthermore, electronic device 40 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 45. Figure 9 As shown, network adapter 45 communicates with other modules of electronic device 40 via bus 43. It should be understood that, although... Figure 9 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0172] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0173] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. Furthermore, it stores computer program instructions, which, when executed by a computer, cause the computer to perform the methods described above.

[0174] Furthermore, the control method and system for the circuit board of the corner machine provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for a circuit board using a cornering machine, characterized in that, Applications include control scenarios for circuit boards in corner machines; The control method for the circuit board of the corner machine includes: Collect the transport trajectory of the circuit board and determine the turning area based on the transport trajectory of the circuit board; Determine multiple corner parameters of the corner region based on traversal of the corner region; A set of corners is constructed based on multiple corner parameters, and the corresponding corner machine model is matched based on the corner set and the conveying speed of the circuit board; Match the corresponding 3D model of the corner machine to the model number, and simulate the corner trajectory of the circuit board based on the conveying trajectory of the circuit board and the 3D model of the corner machine. The cornering trajectory of the circuit board is compared with the edge area of ​​the 3D model of the cornering machine, and multiple relative distances are output; the multiple relative distances and the corresponding conveying direction of the circuit board are used to virtually correspond to the card position. Based on the positions of each card and the corner trajectory of the circuit board, abnormal areas are marked. The abnormal areas are matched with corresponding abnormal factors, and the corresponding optimization methods are defined based on the abnormal factors. The optimized trajectory is constructed in the abnormal areas, and the optimized trajectory and the circuit board's transport trajectory are combined to form the optimized transport trajectory of the circuit board.

2. The control method for a circuit board using a corner machine according to claim 1, characterized in that, The process of collecting the transport trajectory of the circuit board and determining the turning area based on the transport trajectory includes: Collect the circuit board model number; The circuit board's transport trajectory is defined based on its model and transport database. Collect the transport trajectory of the circuit board; Multiple trajectory regions are defined based on the circuit board's transport trajectory and trajectory line type; It triggers the synchronous recognition of multiple trajectory regions and filters out the corresponding turning areas based on the multiple trajectory regions.

3. The control method for the circuit board of the corner machine according to claim 2, characterized in that, The determination of multiple corner parameters of a corner region based on the traversal of the corner region includes: Freeze the corner area; Define the corresponding region range and corner angle based on the corner region; Define the corresponding traversal mode based on the area range and the corner angle; Trigger traversal of the corner region along this traversal pattern; During the traversal of the corner region, multiple basic parameters of the corner region are collected; Multiple corner parameters are output based on the filtering of multiple basic parameters. These corner parameters include corner angle, corner distance, corner curvature, and corner width.

4. The control method for the circuit board of the corner machine according to claim 1, characterized in that, The step of constructing a set of corner angles based on multiple corner angle parameters, and matching the corresponding corner machine model based on the corner angle set and the conveying speed of the circuit board, includes: Construct multiple corner combinations based on multiple corner parameters; A set of corners is constructed based on multiple corner combinations and their corresponding weights; Collect the conveying speed of the circuit board and correlate it with the corner set and the conveying speed of the circuit board; The stability coefficient of the circuit board during the conveying process is defined based on the conveying speed, and the corresponding rotation coefficient is defined based on the rotation angle set. The corresponding corner machine model is matched based on the rotation angle coefficient, stability coefficient, and model matching table.

5. The control method for a circuit board using a corner machine according to claim 4, characterized in that, The process of matching the model of the corner machine with the corresponding 3D model, and virtualizing the corner trajectory of the circuit board based on the conveying trajectory of the circuit board and the 3D model of the corner machine, includes: Model number of the fixed-angle camera; Match the corresponding 3D model of the corner machine based on its model number and 3D model data; Traverse the 3D model of the corner machine and define the corner plan view in the 3D model of the corner machine; Associate the corner plan view and the circuit board's transport trajectory; Multiple sub-trajectories are simulated based on the overlap of the corner plan view and the circuit board's transport trajectory; The trajectory coefficient is defined based on the conveying speed of the circuit board, and the corner trajectory of the circuit board is virtualized based on the trajectory coefficient and multiple sub-trajectories.

6. The control method for a circuit board using a corner machine according to claim 5, characterized in that, The step of comparing the corner trajectory of the circuit board with the edge area of ​​the three-dimensional model of the cornering machine and outputting multiple relative distances; and then connecting these multiple relative distances and the corresponding conveying direction of the circuit board to the virtual corresponding card position, includes: Freeze the corner trajectory of the circuit board; The 3D model based on the cornering machine marks the corresponding edge regions and associates them with the cornering trajectory of the circuit board and the edge regions; The card calculation is triggered based on the corner trajectory and edge region of the circuit board, and multiple relative distances are output in the card calculation. At this time, the relative distance is the distance between the corner trajectory and the edge region.

7. The control method for a circuit board using a corner machine according to claim 6, characterized in that, The step of comparing the corner trajectory of the circuit board with the edge area of ​​the three-dimensional model of the cornering machine and outputting multiple relative distances; and displaying the multiple relative distances and the corresponding conveying direction of the circuit board at the virtual corresponding card position, further includes: The relative distance threshold is preset based on the conveying speed of the circuit board and the model of the corner machine; Multiple relative distances are compared with a preset relative distance threshold, and the theoretical positions where the relative distance is less than the preset relative distance threshold are marked; The distance difference is matched according to the theoretical position and defined as the first coefficient; the transport orientation of the circuit board is collected based on the traversal of the theoretical position and a second coefficient is defined according to the transport orientation of the circuit board. Associate the second coefficient with the first coefficient, and match the second coefficient, the first coefficient, and the card database to the corresponding card position.

8. The control method for a circuit board using a corner machine according to claim 7, characterized in that, The process involves marking abnormal areas based on the positions of each card and the corner trajectory of the circuit board, matching corresponding abnormal factors to these areas, defining corresponding optimization methods based on these factors, constructing an optimized trajectory within the abnormal areas, and combining the optimized trajectory with the circuit board's transport trajectory to form an optimized transport trajectory for the circuit board. This includes: Fix the position of each card plate and define the number of card plate positions; The region pattern is matched based on the number of card positions and the distance between two adjacent card positions; The first sub-anomaly region is constructed based on the regional pattern and the relative positions of each card. Anomaly nodes are defined based on the corner trajectory of the circuit board and the position of each card, and a second sub-anomaly region is constructed based on multiple anomaly nodes. An abnormal region is formed based on the second sub-abnormal region, the first sub-abnormal region, and the corner trajectory of the circuit board.

9. The control method for a circuit board using a corner machine according to claim 8, characterized in that, The process of marking abnormal areas based on the positions of each card and the corner trajectory of the circuit board, matching corresponding abnormal factors according to the abnormal areas, defining corresponding optimization methods based on the abnormal factors, constructing an optimized trajectory in the abnormal areas, and combining the optimized trajectory with the circuit board's transport trajectory to form an optimized circuit board transport trajectory, also includes: Matching corresponding anomalous factors based on region identification of anomalous areas; Based on the abnormal factors and the signals of the corner machine, define the corresponding optimization methods; based on the abnormal area and the optimization methods, build the optimized trajectory, and combine the optimized trajectory with the circuit board's transport trajectory to form the optimized circuit board's transport trajectory.

10. A control system for a cornering machine targeting a circuit board, characterized in that, The control system for the corner machine targeting the circuit board is applied to the control method for the corner machine targeting the circuit board as described in any one of claims 1-9, and the control system for the corner machine targeting the circuit board includes: The acquisition module is used to acquire the transport trajectory of the circuit board and determine the turning area based on the transport trajectory of the circuit board; The corner parameter module is used to determine multiple corner parameters of a corner region based on the traversal of the corner region. The corner machine module is used to construct a corner set based on multiple corner parameters, and to match the corresponding corner machine model based on the corner set and the conveying speed of the circuit board; The virtual module is used to match the corresponding 3D model of the corner machine based on the model of the corner machine, and to simulate the corner trajectory of the circuit board according to the conveying trajectory of the circuit board and the 3D model of the corner machine. The cardboard position module is used to compare the corner trajectory of the circuit board with the edge area of ​​the 3D model of the cornering machine and output multiple relative distances; the multiple relative distances and the corresponding conveying orientation of the circuit board are used to virtually correspond to the cardboard position. The optimization module is used to mark abnormal areas based on the position of each card and the corner trajectory of the circuit board, match the corresponding abnormal factors according to the abnormal areas, define the corresponding optimization methods based on the abnormal factors, construct the optimized trajectory in the abnormal areas, and combine the optimized trajectory and the circuit board's transport trajectory to form the optimized transport trajectory of the circuit board.

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