A material taking and placing method and auxiliary laminating equipment

Abstract

The present disclosure provides a material picking and placing method and auxiliary pasting equipment, the method comprising: obtaining a first quantity of materials at a picking position of a material dispenser, a second quantity of materials at a cache position of the material dispenser, a third quantity of a suction nozzle, and a state of the suction nozzle; and controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of production line technology, and more specifically, to a material loading and unloading method and auxiliary laminating equipment. Background Art

[0002] The material picker in the auxiliary equipment can pick up the material to the picking position, guide the camera to take pictures, and control the suction nozzle to pick up the material at the picking position by integrating the correction data of visual calculation, and place the picked material at the corresponding discharge position.

[0003] However, if there is material missing during the material picking process, or there is residual material on the suction nozzle before picking, then every material picking from then on will need to avoid the material picking guidance camera and take pictures after the material at the picking position is picked up. Only after the material picker has picked out the material again and taken the picture can the remaining suction nozzle be filled with material, which will reduce the beat of the auxiliary equipment and reduce the production capacity of the auxiliary equipment. Summary of the Invention

[0004] One purpose of the embodiments of the present disclosure is to provide a material taking and placing method and auxiliary pasting equipment.

[0005] According to a first aspect of an embodiment of the present disclosure, a material loading and unloading method is provided, comprising:

[0006] Obtaining a first quantity of materials at a material picking position of a material dispenser, a second quantity of materials at a cache position of the material dispenser, a third quantity of a suction nozzle, and a state of the suction nozzle;

[0007] The suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0008] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity, and the state of the suction nozzle includes:

[0009] When the first quantity is zero, the state of the suction nozzles indicates that at least one suction nozzle has not sucked up material, and the second quantity is zero, the suction nozzles that have sucked up material are controlled to place the sucked material on the cache position.

[0010] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0011] When the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up the material, and the sum of the second quantity and the fourth quantity of the material sucked up by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked up the material is controlled to suck up the material placed in the cache position.

[0012] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0013] When the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up material, and the sum of the second quantity and the fourth quantity of material sucked up by the suction nozzle is less than the third quantity, the suction nozzle that sucks up material is controlled to place the sucked material on the cache position.

[0014] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0015] When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position and the second quantity is zero, the suction nozzle with material is controlled to place the sucked material at the cache position.

[0016] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0017] When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is less than the third quantity, the suction nozzle that has the material sucked is controlled to place the sucked material at the cache position.

[0018] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0019] When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked the material is controlled to suck the material placed at the cache position.

[0020] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0021] When the states of the suction nozzles indicate that all the suction nozzles have sucked up materials, the suction nozzles are controlled to place the sucked materials at the discharge positions.

[0022] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0023] The state of the suction nozzle indicates that when all the suction nozzles place the sucked materials at the discharge position, the suction nozzles are controlled to suck the materials from the pick-up position.

[0024] According to a second aspect of the present disclosure, there is provided an auxiliary sticking device, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method described in the first aspect of the present disclosure under the control of the computer program.

[0025] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0026] Through the embodiments of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the state of the suction nozzle. When the number of materials picked up by the suction nozzle is inconsistent with or not in a multiple relationship with the number of remaining materials on the material plate of the material dispenser, the processing rhythm of the auxiliary equipment can be improved, and the production capacity and utilization rate of the auxiliary equipment can be improved.

[0027] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0029] Figure 1 is a block diagram showing a hardware configuration of a sticking assist device that can implement an embodiment of the present disclosure;

[0030] Figure 2 is a flow chart of a material loading and unloading method according to one embodiment of the present disclosure;

[0031] Figure 3 is a flow chart of an example of a material loading and unloading method according to an embodiment of the present disclosure;

[0032] Figure 4 It is a block diagram of an auxiliary device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0034] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0035] Technologies, methods and equipment known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] <Hardware Configuration>

[0039] Figure 1 2 is a block diagram illustrating a hardware configuration of an auxiliary device that can implement an embodiment of the present disclosure.

[0040] like Figure 1 As shown, the auxiliary device 1000 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a processor CPU, a microprocessor MCU, or the like. The memory 1200 may include, for example, ROM (read-only memory), RAM (random access memory), or a non-volatile memory such as a hard disk. The interface device 1300 may include, for example, a USB interface, a headphone jack, or the like. The communication device 1400 may be capable of wired or wireless communication, and may specifically include Wi-Fi communication, Bluetooth communication, 2G / 3G / 4G / 5G communication, or the like. The display device 1500 may be, for example, an LCD display or a touch screen display. The input device 1600 may include, for example, a touch screen, a keyboard, or somatosensory input. The user may input / output voice information through the speaker 1700 and the microphone 1800.

[0041] Figure 1The auxiliary device shown is merely illustrative and does not in any way limit the present disclosure, its application or use. In the embodiments of the present disclosure, the memory 1200 of the auxiliary device 1000 is used to store instructions, which are used to control the processor 1100 to operate to perform any of the methods provided in the embodiments of the present disclosure. It should be understood by those skilled in the art that although Figure 1 While multiple components are shown for the auxiliary device 1000, this disclosure may only cover a portion of these components. For example, the auxiliary device 1000 may only cover the processor 1100 and the memory 1200. A skilled person can design instructions based on the disclosed solutions. How instructions control processor operations is well known in the art and will not be described in detail here.

[0042] <Method Example>

[0043] The present disclosure provides a material taking and placing method, which can be implemented by auxiliary laminating equipment.

[0044] Figure 2 Flowchart of the material loading and unloading method according to an embodiment of the present disclosure.

[0045] like Figure 2 As shown, the method includes steps S2100 to S2200 as shown below:

[0046] Step S2100, obtaining a first quantity of materials at a material picking position of a material selector, a second quantity of materials at a buffer position of the material selector, a third quantity of suction nozzles, and a state of the suction nozzles.

[0047] In this embodiment, the material dispenser in the auxiliary laminating device may dispense the material to the material picking position, and the suction nozzle picks up the material at the material picking position and places it at the corresponding material discharging position.

[0048] Furthermore, the number of suction nozzles can be pre-set according to actual conditions.

[0049] In this embodiment, the non-stick plate of the material dispenser has multiple material picking positions, and the first quantity of materials located at the material picking position can be determined by taking pictures of the material picking position with a camera; or, the first quantity of materials located at the material picking position can be determined by a sensor for detecting whether there is material at the material picking position.

[0050] Furthermore, the non-stick plate of the material dispenser also has multiple cache positions, and the cache positions can be photographed by a camera to determine the second quantity of materials located at the cache positions; or, the second quantity of materials located at the cache positions can be determined by a sensor for detecting whether there are materials at the cache positions.

[0051] In this embodiment, the state of the suction nozzle may include at least one of the following: whether the suction nozzle has sucked up material, whether the suction nozzle has sucked up material from the material picking position, whether the suction nozzle has placed the material at the material discharging position, etc.

[0052] Step S2200: Control the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0053] In this embodiment, controlling the suction nozzle to process the material may include controlling the suction nozzle to suck the material, and / or controlling the suction nozzle to place the sucked material.

[0054] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that all the suction nozzles have sucked up materials, the suction nozzle is controlled to place the sucked materials on the discharge position.

[0055] After the suction nozzle is controlled to absorb the material at the material picking position, if the state of the suction nozzle indicates that all the suction nozzles have absorbed the material, the suction nozzle is controlled to place the absorbed material at the material discharging position.

[0056] In one embodiment, if the first quantity of material at the material picking position is zero, the material dispenser is controlled to re-dispense material to the material picking position, and the suction nozzle is controlled to suck the material at the material picking position. Based on this, the first quantity of material at the material picking position, the second quantity of material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-acquired. The suction nozzle is then controlled to process the material based on the first quantity, the second quantity, the third quantity, and the state of the suction nozzle.

[0057] In another embodiment, if the first quantity of material at the material picking position is not zero, the suction nozzle is controlled to pick up the material at the material picking position. Based on this, the first quantity of material at the material picking position, the second quantity of material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-acquired, and the suction nozzle is controlled to process the material based on the first quantity, the second quantity, the third quantity, and the state of the suction nozzle.

[0058] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up the material, and the second quantity is zero, the suction nozzle that has sucked up the material is controlled to place the sucked material in the cache position.

[0059] In this embodiment, the first number is zero and the state of the suction nozzle indicates that at least one suction nozzle has not sucked up the material, indicating that the material at the material taking position has been sucked up by the suction nozzle, but the suction nozzle has not been full.

[0060] If all materials at the material taking position are sucked by the suction nozzle, at least one suction nozzle does not suck materials, and there is no material at the buffer position, the materials sucked by the suction nozzle are placed at the buffer position.

[0061] When the suction nozzle is controlled to place the sucked material into the buffer position, the material distributor is controlled to re-displace the material to the material picking position, and the suction nozzle is controlled to pick up the material at the material picking position. Based on this, the first quantity of the material at the material picking position, the second quantity of the material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-acquired. Then, based on the first quantity, the second quantity, the third quantity, and the state of the suction nozzle, the suction nozzle is controlled to process the material.

[0062] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up the material, and the sum of the second quantity and the fourth quantity of the material sucked up by the suction nozzle is greater than or equal to the third quantity, controlling the suction nozzle that has not sucked up the material to suck up the material placed in the cache position.

[0063] If all materials at the material picking position are sucked up by the suction nozzle, at least one suction nozzle does not suck up materials, there are materials at the cache position, and the sum of the second quantity of materials at the cache position and the fourth quantity of materials sucked up by the suction nozzle is greater than or equal to the third quantity of the suction nozzle, by controlling the suction nozzle that does not suck up materials to take the materials placed at the cache position, all suction nozzles can be guaranteed to have materials sucked up.

[0064] When the suction nozzle without sucking any material is controlled to take the material placed at the buffer position, the suction nozzle can be controlled to place the sucked material at the discharge position.

[0065] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up the material, and the sum of the second quantity and the fourth quantity of the material sucked up by the suction nozzle is less than the third quantity, the suction nozzle that sucks up the material is controlled to place the sucked material in the cache position.

[0066] When the suction nozzle is controlled to place the sucked material into the buffer position, the material distributor is controlled to re-displace the material to the material picking position, and the suction nozzle is controlled to pick up the material at the material picking position. Based on this, the first quantity of the material at the material picking position, the second quantity of the material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-acquired. Then, based on the first quantity, the second quantity, the third quantity, and the state of the suction nozzle, the suction nozzle is controlled to process the material.

[0067] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that all the suction nozzles place the sucked material at the discharge position, the suction nozzle is controlled to suck the material from the material picking position.

[0068] After the suction nozzles are controlled to place the sucked materials at the discharge position, if the status of the suction nozzles indicates that all suction nozzles have placed the sucked materials at the discharge position, it means that there is no material remaining at the suction nozzles, and the suction nozzles can be controlled to pick up materials from the pick-up position. Based on this, the first quantity of materials at the pick-up position, the second quantity of materials at the buffer position, the third quantity of the suction nozzles, and the status of the suction nozzles are re-acquired. The suction nozzles are then controlled to process the materials based on the first quantity, the second quantity, the third quantity, and the status of the suction nozzles.

[0069] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position and the second quantity is zero, the suction nozzle with material is controlled to place the sucked material at the cache position.

[0070] After controlling the suction nozzle to place the sucked material on the discharge position, if the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed on the discharge position, it means that there is still material on the suction nozzle. Therefore, it is possible to detect whether there is still material at the cache position. If there is no material at the cache position, that is, the second quantity is zero, the suction nozzle can be controlled to place the remaining material that is not placed at the discharge position at the cache position.

[0071] On this basis, the suction nozzle can be controlled to suck the material at the material picking position, and re-obtain the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the status of the suction nozzle, and then control the suction nozzle to process the material according to the first quantity, second quantity, third quantity and the status of the suction nozzle.

[0072] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is less than the third quantity, the suction nozzle that has sucked the material is controlled to place the sucked material at the cache position.

[0073] After controlling the suction nozzle to place the sucked material on the discharge position, if the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed on the discharge position, it means that there is residual material on the suction nozzle, and it can be detected whether there is material at the cache position. If there is material at the cache position, that is, the second quantity is not zero, then it is determined whether the sum of the second quantity of the material at the cache position and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity. If the sum of the second quantity and the fourth quantity is less than the third quantity, the suction nozzle can be controlled to place the sucked material on the cache position.

[0074] On this basis, the suction nozzle can be controlled to suck the material at the material picking position, and re-obtain the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the status of the suction nozzle, and then control the suction nozzle to process the material according to the first quantity, second quantity, third quantity and the status of the suction nozzle.

[0075] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked the material is controlled to suck the material placed at the cache position.

[0076] After controlling the suction nozzle to place the sucked material on the discharge position, if the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed on the discharge position, it means that there is residual material on the suction nozzle, and it can be detected whether there is material at the cache position. If there is material at the cache position, that is, the second quantity is not zero, then it is determined whether the sum of the second quantity of the material at the cache position and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity. If the sum of the second quantity and the fourth quantity is greater than or equal to the third quantity, the suction nozzle that has not sucked the material can be controlled to suck the material placed at the cache position.

[0077] On this basis, the suction nozzle can be controlled to place the sucked material at the discharge position, and re-obtain the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the status of the suction nozzle, and then control the suction nozzle to process the material according to the first quantity, second quantity, third quantity and the status of the suction nozzle.

[0078] Through the embodiments of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the state of the suction nozzle. When the number of materials picked up by the suction nozzle is inconsistent with or not in a multiple relationship with the number of remaining materials on the material plate of the material dispenser, the processing rhythm of the auxiliary equipment can be improved, and the production capacity and utilization rate of the auxiliary equipment can be improved.

[0079] Specifically, this embodiment can reduce the number of avoidance and photo-taking actions of the auxiliary equipment in its action flow, thereby saving the time of one visually guided photo processing and one complete photo-taking and avoidance action, thereby improving the processing rhythm of the auxiliary equipment, and further improving the production capacity and utilization rate of the auxiliary equipment.

[0080] In this embodiment, the buffer position can be used to buffer the remaining material on the suction nozzle. Specifically, if there is no material in the buffer position, if the material at the material taking position has been taken but the suction nozzle is not full, or if the suction nozzle places the material on the material discharge position and assembles it, and there is still material left, the suction nozzle will be controlled to place the material in the buffer position first.

[0081] When there is material at the cache position, if the material at the material picking position is taken out but the suction nozzle is not full, and the sum of the second quantity of the material at the cache position and the fourth quantity of the remaining material on the suction nozzle is greater than or equal to the third quantity of the suction nozzle, or if there is remaining material after the suction nozzle places the material at the material discharge position and assembles it, and the sum of the second quantity of the material at the cache position and the fourth quantity of the remaining material on the suction nozzle is greater than or equal to the third quantity of the suction nozzle, then the suction nozzle is preferentially controlled to suck the material at the cache position.

[0082] When there is material at the cache position, if the material at the material picking position is taken out but the suction nozzle is not full, and the sum of the second quantity of the material at the cache position and the fourth quantity of the remaining material on the suction nozzle is less than the third quantity of the suction nozzle, or if there is remaining material after the suction nozzle places the material at the material discharge position and assembles it, and the sum of the second quantity of the material at the cache position and the fourth quantity of the remaining material on the suction nozzle is less than the third quantity of the suction nozzle, the suction nozzle is preferentially controlled to place the material at the cache position.

[0083] Figure 3 FIG. 1 is a flow chart of an example of a material handling method according to an embodiment of the present disclosure. Figure 3 As shown, the method may include:

[0084] Step S3001, controlling the suction nozzle to suck the material at the material picking position.

[0085] Step S3002, determine whether the first quantity of material at the material picking position is zero and the suction nozzle is full of material, if not, execute step S3003; if yes, execute step S3007.

[0086] Step S3003, determine whether there is material in the cache position, if yes, execute step S3004; if not, execute step S3006.

[0087] Step S3004, determine whether the sum of the second quantity of materials at the cache position and the fourth quantity of materials sucked by the suction nozzle is greater than or equal to the third quantity of the suction nozzle. If so, execute step S3005; if not, execute step S3006.

[0088] Step S3005: Control the suction nozzle that has not sucked up the material to suck up the material from the buffer position.

[0089] Step S3006: Control the suction nozzle that sucks the material to place the sucked material in the buffer position.

[0090] Step S3007, controlling the suction nozzle to place the sucked material at the discharge position.

[0091] Step S3008, determining whether the suction nozzles have placed the sucked materials at the discharge position, if not, executing step S3009; if yes, executing step S3001.

[0092] Step S3009, determine whether there is material in the cache position, if yes, execute step S3010; if not, execute step S3012.

[0093] Step S3010, determine whether the sum of the second quantity of materials at the cache position and the fourth quantity of materials sucked by the suction nozzle is greater than or equal to the third quantity of the suction nozzle. If so, execute step S3011; if not, execute step S3012.

[0094] Step S3011, controlling the suction nozzle that has not sucked up the material to suck up the material from the buffer position.

[0095] After executing step S3011, continue to execute step S3007.

[0096] Step S3012: Control the suction nozzle that has sucked the material to place the sucked material in the buffer position.

[0097] After executing step S3012, continue to execute step S3001.

[0098] <Attachment auxiliary equipment embodiment>

[0099] This embodiment provides a sticking auxiliary device, such as Figure 4 As shown, the auxiliary device 4000 may include a processor 4100 and a memory 4200, the memory 4200 is used to store computer programs, and the processor 4100 is used to control the auxiliary device to execute the method of any embodiment of the present disclosure under the control of the computer program.

[0100] <Readable Storage Medium Embodiment>

[0101] This embodiment provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method described in any method embodiment of the present disclosure is executed.

[0102] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0103] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0104] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0105] The computer program instructions for performing the operation of the present invention can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer readable program instructions can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), is personalized by utilizing the state information of the computer readable program instructions, and the electronic circuit can execute the computer readable program instructions, thereby realizing various aspects of the present invention.

[0106] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0107] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0108] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0109] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0110] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A material taking and placing method, characterized in that: include: Obtaining a first quantity of materials at a material picking position of a material dispenser, a second quantity of materials at a cache position of the material dispenser, a third quantity of a suction nozzle, and a state of the suction nozzle; controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity, and the state of the suction nozzle; The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes: When the first number is zero, the state of the suction nozzles indicates that at least one suction nozzle has not sucked up material, and the second number is zero, controlling the suction nozzles that have sucked up material to place the sucked material on the buffer position; When the first quantity is zero, the state of the suction nozzles indicates that at least one suction nozzle has not sucked up any material, and the sum of the second quantity and a fourth quantity of the material sucked up by the suction nozzles is greater than or equal to the third quantity, controlling the suction nozzles that have not sucked up any material to suck up the material placed at the buffer position; When the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up material, and the sum of the second quantity and the fourth quantity of material sucked up by the suction nozzle is less than the third quantity, the suction nozzle that sucks up material is controlled to place the sucked material on the cache position.

2. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes: When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position and the second quantity is zero, the suction nozzle with material is controlled to place the sucked material at the cache position.

3. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes: When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is less than the third quantity, the suction nozzle that has the material sucked is controlled to place the sucked material at the cache position.

4. The method according to claim 1, wherein The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes: When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked the material is controlled to suck the material placed at the cache position.

5. The method according to claim 1, wherein The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes: When the states of the suction nozzles indicate that all the suction nozzles have sucked up materials, the suction nozzles are controlled to place the sucked materials at the discharge positions.

6. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes: The state of the suction nozzle indicates that when all the suction nozzles place the sucked materials at the discharge position, the suction nozzles are controlled to suck the materials from the pick-up position.

7. A sticking auxiliary device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method according to any one of claims 1 to 6 under the control of the computer program.

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