Path control method and device of automatic packaging machine and storage medium

Abstract

The invention relates to the technical field of intelligent packaging, and discloses a path control method and device of an automatic packaging machine and a storage medium. The method comprises the following steps: acquiring product plane image data acquired by camera equipment; acquiring an acquisition trigger point according to the product plane image data; obtaining a product plane identification point according to the product plane image data; comparing the product plane identification point with the acquisition trigger point to obtain a displacement distance between the acquisition trigger point and the product plane identification point; the displacement distance is compared with a preset displacement threshold value, and a product position adjusting instruction is generated; and obtaining a working path of the transmission structure according to the product position adjusting instruction. High-precision positioning of the product position is achieved, the production speed is increased, the production and machining accuracy is improved, and the product quality is ensured.

Description

Technical Field

[0001] The present invention relates to the field of intelligent packaging technology, and in particular to a path control method, device and storage medium of an automatic packaging machine. Background Art

[0002] Smart packaging technology is a form of packaging that integrates a variety of high-tech means. It uses innovative thinking to add new technologies such as mechanical, electrical, electronic and chemical properties to packaging to meet the special requirements and environmental conditions of goods. Smart packaging not only has the protection, isolation, quantitative, decorative and instruction functions of traditional packaging, but also can realize advanced functions such as status monitoring, asset tracking, consumer participation, etc. It has become an indispensable link in product production and plays a very critical role in the production and sales of products.

[0003] In one prior art, after the sealing device completes the sealing process of the product, the clamping cylinder and the pressing cylinder are in the state of the first air pressure action, so that the labeling part is pulled out from the label material strip and then pressed and pressed on its corresponding product. Then, the sealing cylinder is pneumatically acted for the second time, and the clamping cylinder and the pressing cylinder are lifted up through the connecting block and the push-pull component at the same time, and at the same time, the clamping part is also driven to move backward, so that the labeling part already attached to the product is separated from the product and returns to the initial position, completing the pressing and bonding process of all the labeling parts. However, in the process of continuous labeling of a large number of products, since the position of the conveying clamp holding the product is constantly changing, and the width of the product is irregular, the relative position of the mechanical transmission mechanism and the characteristic identification point of the product to be processed will change, thereby affecting the accuracy of the processing. In addition, if the labeling part cannot be pressed accurately in the correct position, it will cause deviations in the labeling of the product, thereby affecting the accuracy of the labeling, and the accuracy and qualified rate of the product labeling cannot be completed. Summary of the invention

[0004] The present invention provides a path control method, device and storage medium of an automatic packaging machine, so as to improve the accuracy and qualified rate of product labeling and ensure the accuracy of the processing process.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides a path control method, device and storage medium for an automatic packaging machine, including: Acquire product plane image data collected by camera equipment; Obtaining a collection trigger point according to the product plane image data; Obtaining product plane identification points according to the product plane image data; According to the comparison between the product plane identification point and the acquisition trigger point, a displacement distance between the acquisition trigger point and the product plane identification point is obtained; According to the displacement distance, a comparison is made with a preset displacement threshold value to generate a product position adjustment instruction; According to the product position adjustment instruction, a working path of the transmission structure is obtained.

[0006] As an optional implementation manner, the obtaining of product planar image data collected by a camera device includes: Using the visual recognition module, a top view of the product plane is obtained; According to the product plan view, a preset location is set; According to the preset location, a preset area is set to obtain a preset region; According to the preset area, the coverage area of ​​each center coordinate is obtained; Performing image processing according to the coverage area to obtain the product plane image data; The visual recognition module is a camera device, and in the process of obtaining the top view of the product plane, multiple cameras are used to obtain it, so as to realize the top view shooting of the product plane from multiple directions and obtain the top view of the product from multiple angles.

[0007] As an optional implementation manner, setting a preset position according to the product plan view includes: Calculate the center coordinates of each side length of the product according to the product plan view; According to the center coordinates of the lengths of the sides of the product, a scaling factor of the third side is obtained; According to the scale factor, the position of placing the preset marker piece is obtained; According to the position of the placed preset marker sheet, the preset location is obtained; The calculation method of the center coordinates of each side length of the product is: In the formula, represents the long side of the product plan view, Indicates the length of the side adjacent to the long side of the product plan view, represents the abscissa of the first preset position, Indicates the ordinate of the first preset position; wherein the two-dimensional coordinate system of the image takes the geometric center of the product as the origin, the direction of the long side of the product toward the processing equipment as the positive direction of the x-axis, and the direction of the short side of the product toward the processing equipment as the positive direction of the y-axis; The calculation method of the scaling factor of the third edge is: In the formula, and The length of the side adjacent to the side represented by Indicates the number of preset areas. Represents the scale factor of the third edge.

[0008] As an optional implementation manner, obtaining a collection trigger point according to the product plane image data includes: According to the product plane image data, the acquisition baseline is obtained by connecting with the optical center position coordinates of the camera device; A collection trigger point is obtained according to the intersection point between the collection baseline and the product plane.

[0009] As an optional implementation manner, obtaining the product plane identification points according to the product plane image data includes: Obtaining the area of ​​the product plane according to the product plane image data; According to the area of ​​the product plane, the range of the product that needs to be packaged is obtained; According to the range of product packaging required, obtain the product plane identification points; The product plane identification points are composed of a set of ten points, and the set of ten points equidistantly surrounds the range that needs to be packaged.

[0010] As an optional implementation manner, obtaining the displacement distance between the acquisition trigger point and the product plane identification point by comparing the product plane identification point with the acquisition trigger point includes: According to the product plane identification point and the acquisition trigger point, obtaining a horizontal coordinate difference and a vertical coordinate difference between position coordinates; According to the horizontal coordinate difference and the vertical coordinate difference, a displacement distance between the acquisition trigger point and the product plane identification point is obtained; The displacement distance is calculated by the following method: In the formula, It represents the horizontal coordinate of the product plane identification point. It represents the ordinate of the product plane identification point. It represents the horizontal coordinate of the acquisition trigger point. It represents the ordinate of the acquisition trigger point.

[0011] As an optional implementation manner, the generating of a product position adjustment instruction based on the displacement distance and a preset displacement threshold value includes: When the displacement distance is greater than a preset displacement threshold, the product position adjustment instruction is to move in the direction of the displacement distance; When the displacement distance is less than or equal to a preset displacement threshold, the product position adjustment instruction does not generate movement.

[0012] As an optional implementation manner, obtaining the working path of the transmission structure according to the product position adjustment instruction includes: According to the product position adjustment instruction, the angle information between the product plane identification point and the acquisition trigger point is obtained; The working path of the transmission structure is obtained according to the angle information and the distance information between the product plane identification point and the acquisition trigger point.

[0013] In a second aspect, the present invention provides a path control device for an automation device, characterized in that it includes: A data acquisition module, used to obtain product plane image data collected by a camera device; A first feature recognition module, used to obtain a collection trigger point according to the product plane image data; A second feature recognition module, used to obtain product plane identification points according to the product plane image data; A numerical calculation module, used for obtaining a displacement distance between the acquisition trigger point and the product plane identification point by comparing the product plane identification point with the acquisition trigger point; A data comparison module, used to compare the displacement distance with a preset displacement threshold value and generate a product position adjustment instruction; The motion control module is used to obtain the working path of the transmission structure according to the product position adjustment instruction.

[0014] In a third aspect, the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the path control methods for the automation equipment described above.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a path control method, device and storage medium for automation equipment. The method is executed by a controller and includes: obtaining product plane image data collected by a camera device; obtaining a collection trigger point according to the product plane image data; obtaining a product plane identification point according to the product plane image data; obtaining a displacement distance between the collection trigger point and the product plane identification point according to the comparison between the product plane identification point and the collection trigger point; generating a product position adjustment instruction according to the displacement distance and a preset displacement threshold; and obtaining a working path of a transmission structure according to the product position adjustment instruction. The camera device first collects the plane image data of the product, and obtains the collection trigger point and the product plane identification point therefrom. By comparing the two points, the displacement distance between them is calculated and compared with the preset displacement threshold. If the displacement exceeds the threshold, the system generates a position adjustment instruction, and then the transmission structure adjusts the position of the product according to the instruction, thereby realizing high-precision positioning of the product position, accelerating the production speed, improving the accuracy of production and processing, and ensuring the quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic flow chart of a path control method for an automation device provided by the first embodiment of the present invention; Figure 2 is a schematic diagram of a process of acquiring different regions of a product image according to grayscale information according to an embodiment of the present invention; Figure 3 It is a schematic structural diagram of a path control device for automation equipment provided by the second embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Smart packaging technology is a form of packaging that integrates a variety of high-tech means. It uses innovative thinking to add new technologies such as mechanical, electrical, electronic and chemical properties to packaging to meet the special requirements and environmental conditions of goods. Smart packaging not only has the protection, isolation, quantitative, decorative and instruction functions of traditional packaging, but also can realize advanced functions such as status monitoring, asset tracking, consumer participation, etc. It has become an indispensable link in product production and plays a very critical role in the production and sales of products.

[0019] In one prior art, after the sealing device completes the sealing process of the product, the clamping cylinder and the pressing cylinder are in the state of the first air pressure action, so that the labeling part is pulled out from the label material strip and then pressed and pressed on its corresponding product. Then, the sealing cylinder is pneumatically acted for the second time, and the clamping cylinder and the pressing cylinder are lifted up through the connecting block and the push-pull component at the same time, and at the same time, the clamping part is also driven to move backward, so that the labeling part already attached to the product is separated from the product and returns to the initial position, completing the pressing and bonding process of all the labeling parts. However, in the process of continuous labeling of a large number of products, since the position of the conveying clamp holding the product is constantly changing, and the width of the product is irregular, the relative position of the mechanical transmission mechanism and the characteristic identification point of the product to be processed will change, thereby affecting the accuracy of the processing. In addition, if the labeling part cannot be pressed accurately in the correct position, it will cause deviations in the labeling of the product, thereby affecting the accuracy of the labeling, and the accuracy and qualified rate of the product labeling cannot be completed.

[0020] In order to solve the above problems, a path control method of an automatic packaging machine provided in an embodiment of the present application will be introduced and explained in detail through the following specific embodiments.

[0021] Reference Figure 1 The first embodiment of the present invention provides a path control method for an automatic packaging machine, comprising the following steps: S11, obtaining product plane image data collected by a camera device; S12, obtaining a collection trigger point according to the product plane image data; S13, obtaining product plane identification points according to the product plane image data; S14, obtaining a displacement distance between the acquisition trigger point and the product plane identification point by comparing the product plane identification point with the acquisition trigger point; S15, comparing the displacement distance with a preset displacement threshold to generate a product position adjustment instruction; S16, obtaining a working path of the transmission structure according to the product position adjustment instruction.

[0022] It should be noted that the camera equipment is a key component in modern industrial automation and intelligent manufacturing. It captures and analyzes images through high-precision visual sensors to provide the necessary visual information for the automation system. This module usually includes different types of cameras, such as CCD (charge-coupled device) cameras, CMOS (complementary metal oxide semiconductor) cameras and line array cameras, each of which has unique advantages and application scenarios. CCD cameras are known for their high resolution, high sensitivity and excellent image quality, and are particularly suitable for applications that require high-quality image capture. CMOS cameras are favored for their fast imaging capabilities, low power consumption and cost-effectiveness, and are widely used in situations that require fast response. Line array cameras are used for continuous object detection and measurement tasks with their expertise in high-speed scanning and precise measurement. Exemplarily, in this embodiment, the machine vision module uses a CMOS camera. The image data of the product to be marked collected by the CMOS camera, and the generated digital image data contains detailed visual information of the product to be marked, which can be used for further image processing, analysis and decision making.

[0023] The present invention provides a path control method, device and storage medium for automation equipment. The method is executed by a controller and includes: obtaining product plane image data collected by a camera device; obtaining a collection trigger point according to the product plane image data; obtaining a product plane identification point according to the product plane image data; obtaining a displacement distance between the collection trigger point and the product plane identification point according to the comparison between the product plane identification point and the collection trigger point; generating a product position adjustment instruction according to the displacement distance and a preset displacement threshold; and obtaining a working path of a transmission structure according to the product position adjustment instruction. The camera device first collects the plane image data of the product, and obtains the collection trigger point and the product plane identification point therefrom. By comparing the two points, the displacement distance between them is calculated and compared with the preset displacement threshold. If the displacement exceeds the threshold, the system generates a position adjustment instruction, and then the transmission structure adjusts the position of the product according to the instruction, thereby realizing high-precision positioning of the product position, accelerating the production speed, improving the accuracy of production and processing, and ensuring the quality of the product.

[0024] In order to facilitate the understanding of the present invention, some preferred embodiments of the present invention are further described below.

[0025] In step S11, obtaining product plane image data collected by a camera device includes: Using the visual recognition module, a top view of the product plane is obtained; According to the product plan view, a preset location is set; According to the preset location, a preset area is set to obtain a preset region; According to the preset area, the coverage area of ​​each center coordinate is obtained; Performing image processing according to the coverage area to obtain the product plane image data; The visual recognition module is a camera device, and in the process of obtaining the top view of the product plane, multiple cameras are used to obtain it, so as to realize the top view shooting of the product plane from multiple directions and obtain the top view of the product from multiple angles.

[0026] It should be noted that the use of the machine recognition module to obtain the top view of the product requires a camera to take a top-down shot directly above the product to obtain a global view of the product in the top-down direction. After obtaining the global view of the product in the top-down direction, the view needs to be processed in grayscale. The grayscale processing steps include: S111, obtaining variable grayscale information according to the change of the grayscale information of the product image; S112, obtaining regions with different grayscale values ​​according to the variable grayscale information; S113, obtaining different information features of the product image according to the regions with different grayscale values.

[0027] It should be noted that the grayscale information is represented in numerical form, and the numerical range obtained after normalization is between 0 and 255.

[0028] In step S111, variable grayscale information is obtained according to the change of the grayscale information.

[0029] It should be noted that, according to the product image information, color separation is performed to obtain RGB three color channel information; according to the Three color channel information, calculate the gray value, and obtain the gray information of the reflected image; Wherein, the formula for calculating the gray value is: In the formula, represents the intensity of the red channel, Represent the intensity of the green channel, represents the intensity of the blue channel, Represents the grayscale information of the reflection image.

[0030] It should be further explained that, according to the change of the grayscale information, a series of numerical information is obtained, and each pixel of the product image is represented by a numerical value. According to the change of the numerical information, when the jump information of the numerical value is greater than 50, it indicates that the current position has changed significantly, and the current position information is marked as different information features of the image.

[0031] In step S112, regions with different grayscale values ​​are obtained according to the variable grayscale information.

[0032] It should be noted that the regions with different grayscale values ​​refer to regions with different grayscale values ​​when the difference between the grayscale information of the variables exceeds 100.

[0033] It should also be noted that the regions where the difference between the variable grayscale information of the regions is less than or equal to 100 are divided into the same region.

[0034] In step S113, different information features of the product image are obtained according to the regions with different grayscale values.

[0035] It should be further noted that the setting of the preset position according to the plan view of the product includes: Calculate the center coordinates of each side length of the product according to the product plan view; According to the center coordinates of the lengths of the sides of the product, a scaling factor of the third side is obtained; According to the scale factor, the position of placing the preset marker piece is obtained; According to the position of the placed preset marker sheet, the preset location is obtained; The calculation method of the center coordinates of each side length of the product is: In the formula, represents the long side of the product plan view, Indicates the length of the side adjacent to the long side of the product plan view, represents the abscissa of the first preset position, Indicates the ordinate of the first preset position; wherein the two-dimensional coordinate system of the image takes the geometric center of the product as the origin, the direction of the long side of the product toward the processing equipment as the positive direction of the x-axis, and the direction of the short side of the product toward the processing equipment as the positive direction of the y-axis; The calculation method of the scaling factor of the third edge is: In the formula, and The length of the side adjacent to the side represented by Indicates the number of preset areas. represents the scale factor of the third edge. The number of preset areas represented is set by the user and can be 9, which is not specifically described here.

[0036] In step S12, obtaining a collection trigger point according to the product plane image data includes: According to the product plane image data, the acquisition baseline is obtained by connecting with the optical center position coordinates of the camera device; A collection trigger point is obtained according to the intersection point between the collection baseline and the product plane.

[0037] It should be noted that, the optical center position of the camera device is the geometric center of the lens of the camera device, and the acquisition baseline is determined by the following equation: In the formula, represents the slope of the acquisition baseline equation, is the ordinate of the optical center position of the camera device, is the ordinate of the product plane image data, is the horizontal coordinate of the optical center position of the camera device, is the horizontal coordinate of the product plane image data; The equation solved using the horizontal and vertical coordinates of the optical center of the camera device is: In the formula, is the horizontal coordinate of the optical center position of the camera device, is the ordinate of the optical center position of the camera device, represents the slope of the acquisition baseline equation, Represents the horizontal coordinate in the two-dimensional coordinate system, It represents the vertical coordinate in the two-dimensional coordinate system. In the two-dimensional coordinate system, according to the acquisition baseline, the intersection between the product planes is represented as a two-dimensional coordinate in the established two-dimensional coordinate system.

[0038] In step S13, obtaining product plane identification points according to the product plane image data includes: Obtaining the area of ​​the product plane according to the product plane image data; According to the area of ​​the product plane, the range of the product that needs to be packaged is obtained; According to the range of product packaging required, obtain the product plane identification points; The product plane identification points are composed of a set of ten points, and the set of ten points equidistantly surrounds the range that needs to be packaged.

[0039] It should be noted that, according to the plane image data, a linear equation between the plane images is obtained, and according to the linear equation, the area of ​​the product plane is obtained by integral operation. The specific formula is as follows: Among them, the first linear equation for the area of ​​the component plane is: In the formula, It represents the ordinate value of the first linear equation. represents the abscissa of the first linear equation, represents the slope of the first linear equation, represents the ordinate intercept of the first linear equation; The second linear equation for the area of ​​the component plane is: In the formula, It represents the ordinate value of the second linear equation. It represents the horizontal axis of the linear equation. represents the slope of the second linear equation, represents the ordinate intercept of the second linear equation; According to the first linear equation and the second linear equation, the product plane area is expressed as: In the formula, It represents the ordinate value of the first linear equation. It represents the ordinate value of the second linear equation. It represents the plane area of ​​the product. It represents the horizontal coordinate of the edge of the product plane. It represents the horizontal coordinate of the other edge of the product plane. It represents the horizontal axis of the linear equation.

[0040] In step S14, the displacement distance between the acquisition trigger point and the product plane identification point is obtained by comparing the product plane identification point with the acquisition trigger point, including: According to the product plane identification point and the acquisition trigger point, obtaining a horizontal coordinate difference and a vertical coordinate difference between position coordinates; According to the horizontal coordinate difference and the vertical coordinate difference, a displacement distance between the acquisition trigger point and the product plane identification point is obtained; The displacement distance is calculated by the following method: In the formula, It represents the horizontal coordinate of the product plane identification point. It represents the ordinate of the product plane identification point. It represents the horizontal coordinate of the acquisition trigger point. It represents the ordinate of the acquisition trigger point.

[0041] It should be noted that the horizontal coordinate difference and the vertical coordinate difference between the position coordinates obtained based on the product plane identification point and the acquisition trigger point are mainly based on the position information between the identification point and the acquisition trigger point on the product plane, and the absolute value of the difference information between the coordinates of the two.

[0042] In step S15, the displacement distance is compared with a preset displacement threshold to generate a product position adjustment instruction, including: When the displacement distance is greater than a preset displacement threshold, the product position adjustment instruction is to move in the direction of the displacement distance; When the displacement distance is less than or equal to a preset displacement threshold, the product position adjustment instruction does not generate movement.

[0043] It should be noted that the product position adjustment instruction is generated by the comparison result to generate data, and the data information is determined by the absolute coordinate difference between the horizontal coordinate and the vertical coordinate of the displacement distance, thereby judging the movement direction of the product position adjustment instruction.

[0044] In step S16, obtaining the working path of the transmission structure according to the product position adjustment instruction includes: According to the product position adjustment instruction, the angle information between the product plane identification point and the acquisition trigger point is obtained; The working path of the transmission structure is obtained according to the angle information and the distance information between the product plane identification point and the acquisition trigger point.

[0045] It should be noted that the working path of the transmission structure is obtained according to the angle information and the distance information between the product plane identification point and the acquisition trigger point. The working path may be to first move in the horizontal coordinate direction to the horizontal coordinate value of the adjustment instruction, and then move in the vertical coordinate direction to the vertical coordinate value of the adjustment instruction; or, according to the product position adjustment instruction, a step of processing is performed to obtain the angle information and straight-line distance information between the product plane identification point and the acquisition trigger point, wherein the angle information is determined by the following formula: In the formula, It represents the horizontal coordinate of the product plane identification point. It represents the ordinate of the product plane identification point. It represents the horizontal coordinate of the acquisition trigger point. It represents the ordinate of the acquisition trigger point. It represents the angle between the product plane identification point and the acquisition trigger point and the horizontal axis.

[0046] In order to facilitate the understanding of the present invention, some preferred embodiments of the present invention are further described below.

[0047] In an embodiment of the present invention, a path control system for an automated device is proposed. The system is composed of the following key parts: an image acquisition module, a visual recognition module, a preset position calculation module, a collection trigger point recognition module, a displacement distance calculation module, a position adjustment instruction generation module, a transmission structure path planning module, and a control execution module. The image acquisition module is used to obtain product plane image data from a camera device, and realize a top-down shooting of the product plane from multiple directions to obtain images at multiple angles. The visual recognition module is used to use image processing technology to identify the characteristics of the product from the top view. The preset position calculation module is used to calculate the center coordinates of each side length of the product according to the top view of the product plane, calculate the scale factor of the third side, and determine the position of the preset marker. The collection trigger point recognition module is used to connect the optical center position coordinates of the camera device according to the product plane image data, determine the collection baseline, and determine the intersection between the collection baseline and the product plane as the collection trigger point. The displacement distance calculation module is used to calculate the horizontal coordinate difference and the vertical coordinate difference between the product plane identification point and the collection trigger point, and calculate the displacement distance according to the difference. The position adjustment instruction generation module is used to compare the calculated displacement distance with the preset displacement threshold. The product position adjustment instruction is generated according to the comparison result. The transmission structure path planning module is used to calculate the angle information between the product plane identification point and the acquisition trigger point according to the product position adjustment instruction. The control execution module is used to receive the instruction from the position adjustment instruction generation module, execute the working path of the transmission structure, and adjust the product position. The specific work is as follows: Step 1: Image acquisition: use camera equipment to obtain a top-view image of the product plane from multiple angles.

[0048] Step 2: Visual recognition: Process the top view through the visual recognition module to set the preset location and preset area.

[0049] Step 3: Calculate the preset position, calculate the center coordinates of each side of the product, and determine the location to place the preset logo piece.

[0050] Step 4: Identify the acquisition trigger point and determine the intersection of the optical center position of the camera device and the product plane image data as the acquisition trigger point.

[0051] Step 5: Identify product plane identification points, extract the area from the product plane image data, and determine the product plane identification points.

[0052] Step 6: Calculate the displacement distance. Calculate the horizontal and vertical coordinate differences between the product plane identification point and the acquisition trigger point to obtain the displacement distance.

[0053] Step 7: Generate position adjustment instructions, compare the displacement distance with the preset threshold, and generate product position adjustment instructions.

[0054] Step 8: Transmission structure path planning: plan the working path of the transmission structure according to the adjustment instructions and angle information.

[0055] Step nine: Control execution, execute the working path of the transmission structure to adjust the product position.

[0056] In summary, the present invention provides a path control method, device and storage medium for automated equipment. The method is executed by a controller, including: obtaining product plane image data collected by a camera device; obtaining a collection trigger point according to the product plane image data; obtaining a product plane identification point according to the product plane image data; obtaining a displacement distance between the collection trigger point and the product plane identification point according to the comparison between the product plane identification point and the collection trigger point; generating a product position adjustment instruction according to the displacement distance and a preset displacement threshold; and obtaining a working path of a transmission structure according to the product position adjustment instruction. The camera device first collects the plane image data of the product, and obtains the collection trigger point and the product plane identification point therefrom. By comparing the two points, the displacement distance between them is calculated and compared with the preset displacement threshold. If the displacement exceeds the threshold, the system generates a position adjustment instruction, and then the transmission structure adjusts the position of the product according to the instruction, thereby achieving high-precision positioning of the product position, accelerating the production speed, improving the accuracy of production and processing, and ensuring the quality of the product.

[0057] Reference Figure 3 A second embodiment of the present invention provides a path control device for an automation device, comprising: A data acquisition module, used to obtain product plane image data collected by a camera device; A first feature recognition module, used to obtain a collection trigger point according to the product plane image data; A second feature recognition module, used to obtain product plane identification points according to the product plane image data; A numerical calculation module, used for obtaining a displacement distance between the acquisition trigger point and the product plane identification point by comparing the product plane identification point with the acquisition trigger point; A data comparison module, used to compare the displacement distance with a preset displacement threshold value and generate a product position adjustment instruction; The motion control module is used to obtain the working path of the transmission structure according to the product position adjustment instruction.

[0058] In one implementation, the data acquisition module is used to acquire product plane image data acquired by a camera device, including: Using the visual recognition module, a top view of the product plane is obtained; According to the product plan view, a preset location is set; According to the preset location, a preset area is set to obtain a preset region; According to the preset area, the coverage area of ​​each center coordinate is obtained; Performing image processing according to the coverage area to obtain the product plane image data; The visual recognition module is a camera device, and in the process of obtaining the top view of the product plane, multiple cameras are used to obtain it, so as to realize the top view shooting of the product plane from multiple directions and obtain the top view of the product from multiple angles.

[0059] Wherein, setting the preset position according to the product plan view includes: calculating the center coordinates of each side length of the product according to the product plan view; According to the center coordinates of the lengths of the sides of the product, a scaling factor of the third side is obtained; According to the scale factor, the position of placing the preset marker piece is obtained; According to the position of the placed preset marker sheet, the preset location is obtained; The calculation method of the center coordinates of each side length of the product is: In the formula, represents the long side of the product plan view, Indicates the length of the side adjacent to the long side of the product plan view, represents the abscissa of the first preset position, Indicates the ordinate of the first preset position; wherein the two-dimensional coordinate system of the image takes the geometric center of the product as the origin, the direction of the long side of the product toward the processing equipment as the positive direction of the x-axis, and the direction of the short side of the product toward the processing equipment as the positive direction of the y-axis; The calculation method of the scaling factor of the third edge is: In the formula, and The length of the side adjacent to the side represented by Indicates the number of preset areas. Represents the scale factor of the third edge.

[0060] In one embodiment, the first feature recognition module is used to obtain a collection trigger point according to the product plane image data, including: According to the product plane image data, the acquisition baseline is obtained by connecting with the optical center position coordinates of the camera device; A collection trigger point is obtained according to the intersection point between the collection baseline and the product plane.

[0061] In one embodiment, the second feature recognition module is used to obtain product plane identification points according to the product plane image data, including: Obtaining the area of ​​the product plane according to the product plane image data; According to the area of ​​the product plane, the range of the product that needs to be packaged is obtained; According to the range of product packaging required, obtain the product plane identification points; The product plane identification points are composed of a set of ten points, and the set of ten points equidistantly surrounds the range that needs to be packaged.

[0062] In one implementation, the numerical calculation module is used to obtain the displacement distance between the acquisition trigger point and the product plane identification point by comparing the product plane identification point with the acquisition trigger point, including: According to the product plane identification point and the acquisition trigger point, obtaining a horizontal coordinate difference and a vertical coordinate difference between position coordinates; According to the horizontal coordinate difference and the vertical coordinate difference, a displacement distance between the acquisition trigger point and the product plane identification point is obtained; The displacement distance is calculated by the following method: In the formula, It represents the horizontal coordinate of the product plane identification point. It represents the ordinate of the product plane identification point. It represents the horizontal coordinate of the acquisition trigger point. It represents the ordinate of the acquisition trigger point.

[0063] In an optional implementation, the data comparison module is used to compare the displacement distance with a preset displacement threshold to generate a product position adjustment instruction, including: When the displacement distance is greater than a preset displacement threshold, the product position adjustment instruction is to move in the direction of the displacement distance; When the displacement distance is less than or equal to a preset displacement threshold, the product position adjustment instruction does not generate movement.

[0064] In an optional real-time mode, the motion control module is used to obtain a working path of the transmission structure according to the product position adjustment instruction, including: According to the product position adjustment instruction, the angle information between the product plane identification point and the acquisition trigger point is obtained; The working path of the transmission structure is obtained according to the angle information and the distance information between the product plane identification point and the acquisition trigger point.

[0065] It should be noted that the path control device of an automation equipment provided in an embodiment of the present invention is used to execute all process steps of the path control method of an automation equipment in the above embodiment. The working principles and beneficial effects of the two correspond one to one, and thus will not be described in detail.

[0066] In summary, the present invention provides a path control method, device and storage medium for automated equipment. The method is executed by a controller, including: obtaining product plane image data collected by a camera device; obtaining a collection trigger point according to the product plane image data; obtaining a product plane identification point according to the product plane image data; obtaining a displacement distance between the collection trigger point and the product plane identification point according to the comparison between the product plane identification point and the collection trigger point; generating a product position adjustment instruction according to the displacement distance and a preset displacement threshold; and obtaining a working path of a transmission structure according to the product position adjustment instruction. The camera device first collects the plane image data of the product, and obtains the collection trigger point and the product plane identification point therefrom. By comparing the two points, the displacement distance between them is calculated and compared with the preset displacement threshold. If the displacement exceeds the threshold, the system generates a position adjustment instruction, and then the transmission structure adjusts the position of the product according to the instruction, thereby achieving high-precision positioning of the product position, accelerating the production speed, improving the accuracy of production and processing, and ensuring the quality of the product.

[0067] The embodiment of the present invention further provides an electronic device. The electronic device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned path control method embodiments of each automation device are implemented, such as Figure 1 Alternatively, when the processor executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are realized, such as the data acquisition module.

[0068] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0069] The electronic device may be a computing device such as a desktop computer, a notebook, a PDA, and a smart tablet. The electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the above components are merely examples of electronic devices and do not constitute a limitation on the electronic device. The electronic device may include more or fewer components than the above components, or may combine certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0070] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0071] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the electronic device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0072] Wherein, if the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0073] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0074] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A path control method for an automation device, characterized in that: include: Acquire product plane image data collected by camera equipment; Obtaining a collection trigger point according to the product plane image data; Obtaining product plane identification points according to the product plane image data; According to the comparison between the product plane identification point and the acquisition trigger point, a displacement distance between the acquisition trigger point and the product plane identification point is obtained; According to the displacement distance, a comparison is made with a preset displacement threshold value to generate a product position adjustment instruction; According to the product position adjustment instruction, a working path of the transmission structure is obtained.

2. The path control method of automation equipment according to claim 1, characterized in that: The step of obtaining the product plane image data collected by the camera device includes: Using the visual recognition module, a top view of the product plane is obtained; According to the product plan view, a preset location is set; According to the preset location, a preset area is set to obtain a preset region; According to the preset area, the coverage area of ​​each center coordinate is obtained; Performing image processing according to the coverage area to obtain the product plane image data; The visual recognition module is a camera device, and in the process of obtaining the top view of the product plane, multiple cameras are used to obtain it, so as to realize the top view shooting of the product plane from multiple directions and obtain the top view of the product from multiple angles.

3. The path control method of automation equipment according to claim 2, characterized in that: The step of setting a preset position according to the product plan view includes: Calculate the center coordinates of each side length of the product according to the product plan view; According to the center coordinates of the lengths of the sides of the product, a scaling factor of the third side is obtained; According to the scale factor, the position of placing the preset marker piece is obtained; According to the position of the placed preset marker sheet, the preset location is obtained; The calculation method of the center coordinates of each side length of the product is: In the formula, represents the long side of the product plan view, Indicates the length of the side adjacent to the long side of the product plan view, represents the abscissa of the first preset position, Indicates the ordinate of the first preset position; wherein the two-dimensional coordinate system of the image takes the geometric center of the product as the origin, the direction of the long side of the product toward the processing equipment as the positive direction of the x-axis, and the direction of the short side of the product toward the processing equipment as the positive direction of the y-axis; The calculation method of the scaling factor of the third edge is: In the formula, and The length of the side adjacent to the side represented by Indicates the number of preset areas. Represents the scale factor of the third edge.

4. The path control method of automation equipment according to claim 1, characterized in that: The obtaining of a collection trigger point according to the product plane image data includes: According to the product plane image data, the acquisition baseline is obtained by connecting with the optical center position coordinates of the camera device; A collection trigger point is obtained according to the intersection point between the collection baseline and the product plane.

5. The path control method of automation equipment according to claim 1, characterized in that: The step of obtaining product plane identification points according to the product plane image data includes: Obtaining the area of ​​the product plane according to the product plane image data; According to the area of ​​the product plane, the range of the product that needs to be packaged is obtained; According to the range of product packaging required, obtain the product plane identification points; The product plane identification points are composed of a set of ten points, and the set of ten points equidistantly surrounds the range that needs to be packaged.

6. The path control method of automation equipment according to claim 1, characterized in that: The obtaining the displacement distance between the acquisition trigger point and the product plane identification point according to the comparison between the product plane identification point and the acquisition trigger point includes: According to the product plane identification point and the acquisition trigger point, obtaining a horizontal coordinate difference and a vertical coordinate difference between position coordinates; According to the horizontal coordinate difference and the vertical coordinate difference, a displacement distance between the acquisition trigger point and the product plane identification point is obtained; The displacement distance is calculated by the following method: In the formula, It represents the horizontal coordinate of the product plane identification point. It represents the ordinate of the product plane identification point. It represents the horizontal coordinate of the acquisition trigger point. It represents the ordinate of the acquisition trigger point.

7. The path control method of automation equipment according to claim 1, characterized in that: The step of comparing the displacement distance with a preset displacement threshold to generate a product position adjustment instruction includes: When the displacement distance is greater than a preset displacement threshold, the product position adjustment instruction is to move in the direction of the displacement distance; When the displacement distance is less than or equal to a preset displacement threshold, the product position adjustment instruction does not generate movement.

8. The path control method of automation equipment according to claim 1, characterized in that: The step of obtaining a working path of the transmission structure according to the product position adjustment instruction includes: According to the product position adjustment instruction, the angle information between the product plane identification point and the acquisition trigger point is obtained; The working path of the transmission structure is obtained according to the angle information and the distance information between the product plane identification point and the acquisition trigger point.

9. A path control device for an automation device, characterized in that: include: A data acquisition module, used to obtain product plane image data collected by a camera device; A first feature recognition module, used to obtain a collection trigger point according to the product plane image data; A second feature recognition module, used to obtain product plane identification points according to the product plane image data; A numerical calculation module, used for obtaining a displacement distance between the acquisition trigger point and the product plane identification point by comparing the product plane identification point with the acquisition trigger point; A data comparison module, used to compare the displacement distance with a preset displacement threshold value and generate a product position adjustment instruction; The motion control module is used to obtain the working path of the transmission structure according to the product position adjustment instruction.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the path control method for the automation device according to any one of claims 1 to 8.

Images