Electronic cam synchronous pick-and-place component control system and method based on fusion information

Abstract

The present application relates to the technical field of electronic cam pick-and-place control, and discloses an electronic cam synchronous pick-and-place part control system and method based on fusion information, which comprises a data module for data acquisition and processing, an algorithm control module for establishing a pick-and-place part monitoring model and fitting the error between a predicted value and an actual value, a control module for receiving control instructions and distributing control pick-and-place parts, a driving module for driving a servo motor to control pick-and-place part operation, a safety module for ensuring that the electronic cam synchronous pick-and-place part control system works normally, a feedback measurement module for collecting pick-and-place part data in real time and feeding back the pick-and-place part monitoring model, and a visualization module for displaying control parameters, wherein the present application realizes high-precision control of electronic cam pick-and-place through the combination of intelligent algorithms and a multi-sensing control network, and ensures the accuracy and stability of the cam synchronous pick-and-place part process.

Description

Technical Field

[0001] This invention relates to the field of electronic cam pick-and-place control technology, and discloses an electronic cam synchronous pick-and-place control system and method based on fused information. Background Technology

[0002] Electronic cam synchronous pick-and-place control systems based on fused information are a key technology in modern manufacturing. They combine multiple advanced technologies to achieve precise control and automation, with electronic control technology at its core. This encompasses digital control, PLC, and sensor technology, used for real-time monitoring and control of equipment motion, position, and speed. These technologies enable high-precision motion control and synchronous operation. Data fusion and big data analytics are used to process and analyze the vast amounts of data collected by sensors to gain insights and optimize the production process. Embedded systems play a crucial role, providing real-time computing and control functions. These systems typically integrate microprocessors, real-time operating systems, and related software to execute control algorithms, data processing, and communication functions. However, such control systems often involve the fusion of multiple advanced technologies, requiring specialized knowledge and skills for system design, integration, and maintenance. This results in high system complexity and cost, making it unaffordable for some small and medium-sized enterprises. The security and stability of the control system are critical to the production process, but due to the complex hardware and software architecture and network communication involved, there are security risks such as hacking and virus infection. Furthermore, system stability can be affected by external interference and electromagnetic interference.

[0003] For example, patent EP1693727A1 provides a motor controller with electronic cam functionality, which can operate smoothly even with a reduced number of operating modes. Electronic gears in a servo amplifier and divider are used to change the gear ratio of the electronic gears according to the external rotational position at a pre-provided ratio, thus realizing the electronic cam function. The motor controller includes a program execution unit, causing the electronic gears to operate according to the program. Because the electronic gear function and frequency divider are included in an inexpensive servo amplifier and used to implement the electronic cam function, an inexpensive and intelligent system can be achieved. The inclusion of a divider in the system reduces the amount of cam pattern data and the reading frequency, resulting in an inexpensive system. However, the aforementioned patent cannot achieve precise control of the cam-synchronized pick-and-place process, especially in cases of complex workpiece shapes or high-speed movement. It cannot handle large amounts of real-time sensor data and react quickly. During production, equipment parameters and workpiece characteristics may change, requiring real-time adjustments to control strategies and parameters to optimize production efficiency and quality.

[0004] The aforementioned patents cannot predict equipment failures or abnormal situations, and may fail to fully utilize equipment and resources, resulting in low production efficiency. Summary of the Invention

[0005] To address the aforementioned technical problems, the main objective of this invention is to provide a control system and method for synchronous pick-and-place of electronic cam components based on fused information. The control system includes:

[0006] The data module is used for data acquisition and processing;

[0007] The algorithm control module includes a pick-and-place monitoring model established based on the received and processed data, a loss calculation unit for fitting the error between the predicted value output by the pick-and-place monitoring model and the actual monitoring value, and an optimization unit for pruning the pick-and-place monitoring model.

[0008] The control module includes a receiving unit for receiving control commands and an instruction allocation unit for allocating control commands.

[0009] The drive module is used to drive the servo motor to control the picking and placing of parts according to control commands;

[0010] The safety module is used to ensure the normal operation of the electronic cam synchronous pick-and-place control system;

[0011] The feedback measurement module is used to collect data on picking and placing parts in real time and provide feedback to the picking and placing monitoring model.

[0012] The visualization module includes a visualization screen for displaying control parameters during the synchronous pick-and-place process of the electronic cam, and a remote control unit for remote user control.

[0013] As a preferred embodiment of the electronic cam synchronous pick-and-place control system based on fused information of the present invention, wherein:

[0014] The data module includes a data acquisition unit, a data integration unit, and a data processing unit;

[0015] The data acquisition unit is used to collect real-time data from various sensors and detectors;

[0016] The data integration unit is used to integrate and coordinate real-time data from sensors and detectors;

[0017] The data processing unit is used to analyze, process, and transform the integrated and coordinated real-time data.

[0018] As a preferred embodiment of the electronic cam synchronous pick-and-place control system based on fused information of the present invention, wherein:

[0019] The component handling monitoring model includes push-stroke monitoring and return-stroke monitoring;

[0020] The component handling monitoring model detects the displacement by collecting the motion patterns of different components and outputting different pulses, thereby calculating the displacement. The calculation expression for the displacement detection of the component handling monitoring model is as follows:

[0021] ;

[0022] in, This is the displacement value during the stroke. Let be the boundary thrust constant of the forward motion. This represents the m-th power of the push angle of the electronic cam during the push stroke, where m is a positive integer. Let be the i-th set of push stroke characteristic values, where i is the ordinal number and takes the values ​​1, 2, 3, ..., n, where n represents the number of sets of push stroke characteristic values, and b is the correction deviation;

[0023] The return stroke monitoring model of the component handling system calculates the return stroke displacement by calculating the electrical pulse frequency and pulse number. The calculation expression is as follows:

[0024] ;

[0025] in, This is the return displacement value. To control the system resolution, To control the electronic gear ratio of the system, M is the pitch. Let the ordinal numbers be 1, 2, 3, ..., g, where g represents the g-th return process. Let be the constant of the boundary support quantity during the j-th return stroke. Let be the return angle of the electronic cam during the j-th return stroke, and z be the return correction deviation.

[0026] As a preferred embodiment of the electronic cam synchronous pick-and-place control system based on fused information of the present invention, wherein:

[0027] The loss calculation unit fits the network error value through backpropagation and then calculates the loss value. The calculation expression is as follows:

[0028] ( s k + 1 ) T = ( s k ) T × l k × { ∑ a = 1 a 1 [max( S a ) - <m> S < / m> ] 2 a 1 } T ;

[0029] in, Transform the rank of the matrix containing the loss values ​​of layer k+1. Transform the matrix of loss values ​​at layer k. The maximum displacement value monitored by the monitoring model for the placement and removal of components in group a. To obtain the standard displacement value of the component, 'a' is an ordinal number, ranging from 1, 2, 3, ..., a1, where a1 represents the number of displacement values ​​monitored by the component placement monitoring model. The weights of the k-th hidden layer;

[0030] The k-th hidden layer is the k-th layer in a multi-layer hidden layer system.

[0031] As a preferred embodiment of the electronic cam synchronous pick-and-place control system based on fused information of the present invention, wherein:

[0032] The receiving unit is used to receive control commands from the component retrieval and placement monitoring model and the operator. The control commands include instructions for retrieval, placement, and movement distance.

[0033] The instruction allocation unit is used to allocate the received control instructions to the devices that perform the corresponding actions of the control instructions.

[0034] As a preferred embodiment of the electronic cam synchronous pick-and-place control system based on fused information of the present invention, wherein:

[0035] The drive module includes a motor driver, a control algorithm, and a communication interface;

[0036] The motor driver is used to provide current and voltage, and outputs control over the speed, position, and torque of the servo motor;

[0037] The control algorithm is used to feed back the actual position and speed data of the servo motor and adjust the output of the motor driver.

[0038] The communication interface is used for data exchange and command transmission with the servo motor and motor driver.

[0039] As a preferred embodiment of the electronic cam synchronous pick-and-place control system based on fused information of the present invention, wherein:

[0040] The safety module is used for emergency stop, collision detection and protection, safety limit and boundary detection, and fault diagnosis and feedback of the electronic cam synchronous pick-and-place control system.

[0041] The emergency stop refers to immediately cutting off the power to the motor and stopping all movement in the event of an emergency.

[0042] The collision detection and protection measures are used to detect whether accidental contact with the workpiece, the working environment, or the operator has occurred.

[0043] The safety limit and boundary detection are achieved by using position sensors and encoders to detect the movement range of the electronic cam synchronous pick-and-place control system.

[0044] The fault diagnosis and feedback system monitors the status and operation of each component of the control system. If a fault or abnormality with safety risks is detected, the safety module reports to the operator and the upper control system through alarms, displays, and communication interfaces.

[0045] As a preferred embodiment of the electronic cam synchronous pick-and-place control system based on fused information of the present invention, wherein:

[0046] The feedback measurement module is used for data acquisition and transmission of pick-up and place-up components, as well as measurement and feedback.

[0047] The data acquisition and transmission of the pick-and-place components is achieved by collecting key parameter data of the pick-and-place components in real time through built-in sensors;

[0048] The measurement and feedback are used to establish the connection and communication between the control system and the pick-and-place monitoring model;

[0049] The visualization module is used for parameter display and real-time monitoring, remote control, user customization services, and data recording.

[0050] This invention discloses a method for controlling synchronous pick-up and place of electronic cams based on fused information, comprising the following steps:

[0051] S1. Collect historical motion data of the electronic cam synchronous pick-up and place control system. The historical motion data includes electronic cam speed, acceleration, push stroke electrical pulse and return stroke electrical pulse. Preprocess and integrate the historical motion data.

[0052] S2. Based on the preprocessed and integrated historical motion data, establish a part-picking and placing monitoring model to monitor and predict the motion data and control parameters of the electronic cam synchronous part-picking and placing process.

[0053] S3. Receive control parameters and generate control commands to distribute to the servo motor;

[0054] S4. The servo motor receives control commands and performs synchronous pick-up and drop-off of parts.

[0055] S5. Real-time acquisition of control parameters of the synchronous pick-and-place control system during motion and feedback to the pick-and-place monitoring model to optimize the pick-and-place monitoring model;

[0056] S6. The control parameters during the synchronous picking and placing of parts by the electronic cam are displayed in real time on a visual screen.

[0057] The present invention discloses an electronic device, comprising: a memory for storing instructions; and a processor for executing the instructions, causing the device to perform the electronic cam synchronous pick-and-place control method based on fused information.

[0058] This invention discloses a computer-readable storage medium storing a computer program thereon, which, when executed, implements the electronic cam synchronous pick-and-place control method based on fused information.

[0059] The beneficial effects of this invention are:

[0060] This invention introduces an artificial intelligence-based control algorithm and a multi-sensor network to achieve high-precision control of equipment movement, ensuring the accuracy and stability of the electronic cam's synchronous pick-and-place process. By combining intelligent control algorithms with real-time sensor data, it adaptively adjusts control parameters and strategies, optimizes the production process, and continuously improves to adapt to the ever-changing production environment and demands. This enables refined management and optimization of the production process, improves equipment utilization and production efficiency, reduces production costs, and enhances competitiveness.

[0061] This invention enables rapid processing and analysis of large amounts of real-time data, ensuring that the control system can make timely and accurate decisions and responses. Attached Figure Description

[0062] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0063] Figure 1 This is a system composition diagram of the electronic cam synchronous pick-and-place control system based on fused information of the present invention;

[0064] Figure 2 This is a flowchart of the electronic cam synchronous pick-and-place control method based on fused information according to the present invention;

[0065] Figure 3 This is a simulation result diagram of the displacement monitoring during the push stroke of this invention;

[0066] Figure 4 The figure shows the simulation results of the return displacement monitoring of the present invention. Detailed Implementation

[0067] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0068] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0069] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0070] Example 1

[0071] like Figure 1 As shown, the electronic cam synchronous pick-and-place control system based on fused information includes:

[0072] The data module is used for data acquisition and processing;

[0073] The data module includes a data acquisition unit, a data integration unit, and a data processing unit.

[0074] The data acquisition unit collects real-time data from various sensors and detectors, which may include parameters such as motor position, speed, torque, and temperature. In the electronic cam synchronous pick-and-place control system, these data acquisition points are typically directly connected to the engine control unit to achieve precise control and feedback.

[0075] The data integration unit is used to integrate and coordinate data from sensors, detectors and data sources to ensure that the system can make comprehensive use of this information for accurate operation control, including integrating data from motor control, sensor feedback and environmental condition monitoring into a unified data stream;

[0076] The data processing unit analyzes, processes, and transforms the integrated and coordinated data to enable the system to precisely control and optimize the motor's operating status. The electronic cam synchronous pick-and-place control system includes components such as real-time control algorithms, filters, and state estimators. These components can process complex sensor data and provide accurate feedback and control signals.

[0077] The algorithm control module includes a pick-and-place monitoring model established based on the received and processed data, a loss calculation unit for fitting the error between the predicted value output by the pick-and-place monitoring model and the actual monitoring value, and an optimization unit for pruning the pick-and-place monitoring model.

[0078] The component handling monitoring model includes push-stroke monitoring and return-stroke monitoring;

[0079] The component pick-and-place monitoring model outputs different pulses by collecting the motion patterns corresponding to different components, and then calculates the displacement. The calculation expression for the component pick-and-place monitoring model's displacement is shown below:

[0080] ;

[0081] in, This is the displacement value during the stroke. Let be the boundary thrust constant of the forward motion. This represents the m-th power of the push angle of the electronic cam during the push stroke, where m is a positive integer. Let be the i-th set of push stroke characteristic values, where i is the ordinal number and takes the values ​​1, 2, 3, ..., n, where n represents the number of sets of push stroke characteristic values, and b is the correction deviation;

[0082] The return stroke monitoring model for picking up and placing parts calculates the return displacement by calculating the frequency and number of electrical pulses. The calculation expression is shown below:

[0083] ;

[0084] in, This is the return displacement value. To control the system resolution, To control the electronic gear ratio of the system, M is the pitch. Let the ordinal numbers be 1, 2, 3, ..., g, where g represents the g-th return process. Let be the constant of the boundary support quantity during the j-th return stroke. Let be the return angle of the electronic cam during the j-th return stroke, and z be the return correction deviation;

[0085] The control system resolution is the measurement angle of the encoder of the pick-and-place device;

[0086] For example, the expression for the displacement function of the push stroke monitoring in an electronic cam synchronous pick-and-place control system is set as follows: S 1 = oh [ 5 × ( i 1 i 0 ) 2 − 10 × ( i 2 i 0 ) 3 − 15 × ( i 3 i 0 ) 4 ] , For the electronic cam synchronous pick-and-place control system, control the push stroke and return stroke constants. For the initial propagation stage, the propagation angle, For the first stage of the thrust angle, For the second stage of the push stroke angle, The thrust angle is for the third thrust stage; the displacement simulation diagram is as follows. Figure 3 As shown, Figure 3 The horizontal axis represents the push stroke time t, and the vertical axis represents the push stroke displacement value S from the electronic cam's push stroke distance to the initial position. Since the placement time is set by the software program, the placement time is 8 seconds to 24 seconds, and the push stroke displacement is 0. The return stroke is arbitrarily set from 24 seconds to 33 seconds. Therefore, the push stroke displacement value decreases as time increases.

[0087] For example, the expression for the return stroke monitoring displacement function of an electronic cam synchronous pick-and-place control system is set as follows: S 2 = oh [ 1 − 5 × ( r 1 r 0 ) 2 + 10 × ( r 2 r 0 ) 3 + 15 × ( r 3 r 0 ) 4 ] The displacement simulation diagram is as follows: Figure 4 As shown, Figure 4 The horizontal axis represents the return time t1, and the vertical axis represents the return displacement value S1. For the initial return phase, the return angle, For the return angle of the first return stage, For the return angle of the second return stage, The return angle for the third return stage is 0. Since the software program sets a delay time to evaluate the accuracy of the pick-up and place monitoring model, the return displacement from 10s to 23s is 0.

[0088] The loss calculation unit fits the error value of the previous layer through backpropagation, and then calculates the loss value. The calculation expression is as follows:

[0089] ( s k + 1 ) T = ( s k ) T × l k × { ∑ a = 1 a 1 [max( S a ) - <m> S < / m> ] 2 a 1 } T ;

[0090] in, Transform the rank of the matrix containing the loss values ​​of layer k+1. Transform the matrix of loss values ​​at layer k. The maximum displacement value monitored by the monitoring model for the placement and removal of components in group a. To obtain the standard displacement value of the component, 'a' is an ordinal number, ranging from 1, 2, 3, ..., a1, where a1 represents the number of displacement values ​​monitored by the component placement monitoring model. The weights of the k-th hidden layer;

[0091] The k-th hidden layer is in the component handling monitoring model, and is the k-th layer among multiple hidden layers.

[0092] The optimization unit includes structural pruning and dynamic pruning;

[0093] Structural pruning reduces the number of parameters and computational complexity of the model by removing unimportant convolutional kernels and channels in convolutional layers, while maintaining the model's accuracy.

[0094] Dynamic pruning is a runtime optimization that dynamically selects to retain and discard connected nodes based on the characteristics of the input data in order to optimize the utilization of the model's computational resources.

[0095] The control module includes a receiving unit for receiving control commands and an instruction allocation unit for allocating control commands.

[0096] The receiving unit is used to receive control commands from the pick-up and drop-off monitoring model and operators. The control commands include instructions for picking up and dropping items, moving distance, and other actions. The receiving unit parses and verifies the received commands to ensure their integrity and legality for further processing and execution.

[0097] The instruction allocation unit is used to allocate the received control instructions to the devices that will perform the specific actions.

[0098] The instruction allocation unit integrates scheduling algorithms to allocate instructions to appropriate execution devices according to the system's scheduling strategy, and manages resource allocation and priority.

[0099] The drive module is used to drive the servo motor to control the picking and placing of parts according to control commands;

[0100] The drive module includes a motor driver, control algorithm, and communication interface;

[0101] Motor drivers are used to provide precise current and voltage, outputting control over the speed, position, and torque of servo motors to ensure that the servo motors can move at predetermined speeds and positions.

[0102] The control algorithm is used to provide feedback on the actual position and speed data of the servo motor, and adjust the output of the motor driver so that the servo motor can respond to control commands quickly and accurately, thereby achieving closed-loop control of the servo motor.

[0103] Communication interfaces include CAN bus, Ethernet, Modbus, etc., used for data exchange and command transmission with servo motors and motor drivers. Through these interfaces, the drive module can receive commands from the host system connected externally to the electronic cam synchronous pick-and-place control system, and simultaneously feed back the real-time status information of the servo motors and motor drivers to the control system.

[0104] Furthermore, the drive module has real-time performance, responding to control commands at the microsecond level and ensuring the stability and reliability of servo motor operation, especially in high-precision pick-and-place operations.

[0105] The safety module is used to ensure the normal operation of the electronic cam synchronous pick-and-place control system;

[0106] The safety module is used for emergency stop, collision detection and protection, safety limit and boundary detection, and fault diagnosis and feedback in the electronic cam synchronous pick-and-place control system.

[0107] Emergency stop includes an emergency stop button and related circuit logic, which is used to immediately cut off the power to the motor and stop all movement in the event of an emergency, ensuring that the equipment can be stopped quickly in the event of an accident or dangerous situation during operation, so as to prevent injury or equipment damage.

[0108] Collision detection and protection integrates collision detection sensors or systems to detect whether accidental contact with workpieces, the working environment, or operators has occurred. If a collision is detected, the safety module executes corresponding protective actions, such as stopping, reversing, or changing the movement path, through the drive module or direct control system, to avoid injury or damage.

[0109] Safety limit and boundary detection are achieved by using position sensors or encoders to detect the range of motion of the electronic cam synchronous pick-and-place control system, ensuring operation within the preset safety limits;

[0110] Fault diagnosis and feedback are used to monitor the status and operation of each component of the electronic cam synchronous pick-and-place control system. If a fault or abnormality with safety risk is detected, the safety module reports to the operator and the upper system through alarms, displays and communication interfaces.

[0111] The feedback measurement module is used to collect data on picking and placing parts in real time and to feed it back to the picking and placing monitoring model.

[0112] The feedback measurement module includes data acquisition and transmission for picking and placing components, as well as measurement and feedback.

[0113] Data acquisition and transmission involve real-time acquisition of key parameter data for the components being picked up and placed, such as position, velocity, acceleration, force, and torque, using built-in sensors (e.g., position sensors, force sensors, etc.). This data is typically transmitted and fed back into the component picking and placing monitoring model in the form of digital or analog signals.

[0114] Measurement and feedback are used for seamless connection and communication with the electronic cam synchronous pick-and-place control system and pick-and-place monitoring model. Therefore, measurement and feedback have good scalability and compatibility, integrate different types and brands of sensors, and support multiple communication protocols (such as CAN bus, Ethernet, etc.).

[0115] The visualization module includes a visualization screen for displaying parameters of the pick-and-place system, which is used for remote user control.

[0116] The visualization module includes parameter display and real-time monitoring, remote control, user customization services, and data logging;

[0117] Parameter display and real-time monitoring include operating status display and control parameter monitoring;

[0118] The operating status display shows the real-time operating status of the electronic cam synchronous pick-and-place control system. This status includes the current position, speed, acceleration, and actuator status. This information is presented through charts, numerical displays, or dynamic images to help operators understand the system's real-time operation.

[0119] Control parameter monitoring is used by users to view and monitor the changing trends of control parameters in the electronic cam synchronous pick-and-place control system, such as position changes over time and actuator load conditions.

[0120] Remote control includes the user interface and remote control functionality;

[0121] The user interface is used by users to set target positions, adjust motion parameters, and select action modes. The user interface is typically designed to be simple and clear so that users can quickly understand and operate it.

[0122] Remote control supports remote control functionality via network connection, allowing operators to remotely access and control the pick-and-place system. This feature is highly useful in production environments requiring remote monitoring and operation, improving response speed and flexibility.

[0123] User customization services are used to support user customization settings, adjusting the displayed content and interface layout according to specific application needs, so as to better suit the working habits and needs of operators;

[0124] Data logs are used to save historical operational data for subsequent analysis and report generation. The stored data is useful for performance evaluation, production efficiency analysis, and quality control.

[0125] Example 2

[0126] like Figure 2 As shown, the electronic cam synchronous pick-and-place control method based on fused information includes:

[0127] S1. Collect historical motion data of the electronic cam synchronous pick-up and place control system. The historical motion data includes electronic cam speed, acceleration, push stroke electrical pulse and return stroke electrical pulse. Preprocess and integrate the historical motion data.

[0128] S2. Based on the preprocessed and integrated historical motion data, establish a part-picking and placing monitoring model to monitor and predict the motion data and control parameters of the electronic cam synchronous part-picking and placing process.

[0129] S3. Receive control parameters and generate control commands to distribute to the servo motor;

[0130] S4. The servo motor receives control commands and performs synchronous pick-up and drop-off of parts.

[0131] S5. Real-time acquisition of control parameters of the synchronous pick-and-place control system during motion and feedback to the pick-and-place monitoring model to optimize the pick-and-place monitoring model;

[0132] S6. The control parameters during the synchronous picking and placing of parts by the electronic cam are displayed in real time on a visual screen.

[0133] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only two embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible without substantially departing from the novel teachings and advantages of the subject matter described in this application. For example, variations in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc. For instance, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. Any "device plus function" clause is intended to cover the structure performing the function described herein, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of this invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0134] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0135] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, the development effort will be a routine task in design, manufacturing, and production without requiring extensive experimentation.

[0136] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A synchronous pick-and-place control system for electronic cams based on fused information, characterized in that, include: The data module is used for data acquisition and processing; The algorithm control module includes a pick-and-place monitoring model established based on the received and processed data, a loss calculation unit for fitting the error between the predicted value output by the pick-and-place monitoring model and the actual monitoring value, and an optimization unit for pruning the pick-and-place monitoring model. The component handling monitoring model includes push-stroke monitoring and return-stroke monitoring; The component handling monitoring model detects the displacement by collecting the motion patterns of different components and outputting different pulses, thereby calculating the displacement. The calculation expression for the displacement detection of the component handling monitoring model is as follows: ； in, This is the displacement value during the stroke. Let be the boundary thrust constant of the forward motion. This represents the m-th power of the push angle of the electronic cam during the push stroke, where m is a positive integer. Let be the i-th set of push stroke characteristic values, where i is the ordinal number and takes the values ​​1, 2, 3, ..., n, where n represents the number of sets of push stroke characteristic values, and b is the correction deviation; The return stroke monitoring model of the component handling system calculates the return stroke displacement by calculating the electrical pulse frequency and pulse number. The calculation expression is as follows: ； in, This is the return displacement value. To control the system resolution, To control the electronic gear ratio of the system, M is the pitch. Let the ordinal numbers be 1, 2, 3, ..., g, where g represents the g-th return process. Let be the constant of the boundary support quantity during the j-th return stroke. Let be the return angle of the electronic cam during the j-th return stroke, and z be the return correction deviation; The loss calculation unit fits the network error value through backpropagation and then calculates the loss value. The calculation expression is as follows: ； in, To transform the rank of the matrix containing the loss values ​​of the k+1 hidden layer in the component placement monitoring model. Transform the matrix of loss values ​​at layer k. The maximum displacement value monitored by the monitoring model for the placement and removal of components in group a. To obtain the standard displacement value of the component, 'a' is an ordinal number, ranging from 1, 2, 3, ..., a1, where a1 represents the number of displacement values ​​monitored by the component placement monitoring model. The weights of the k-th hidden layer in the component handling monitoring model; The optimization unit includes structural pruning and dynamic pruning; Structural pruning reduces the number of parameters and computational complexity of the model by removing unimportant convolutional kernels and channels in convolutional layers, while maintaining the model's accuracy. Dynamic pruning is a runtime optimization that dynamically selects to retain and discard connected nodes based on the characteristics of the input data in order to optimize the utilization of the model's computational resources. The control module includes a receiving unit for receiving control commands and an instruction allocation unit for allocating control commands. The drive module is used to drive the servo motor to control the picking and placing of parts according to control commands; The drive module receives instructions from the host system connected to the electronic cam synchronous pick-and-place control system, and simultaneously feeds back the real-time status information of the servo motor and motor driver to the control system. The safety module is used to ensure the normal operation of the electronic cam synchronous pick-and-place control system; The feedback measurement module is used to collect data on picking and placing parts in real time and to feed back the picking and placing monitoring model. The visualization module includes a visualization screen for displaying control parameters during the synchronous pick-and-place process of the electronic cam, and a remote control unit for remote user control.

2. The electronic cam synchronous pick-and-place control system based on fused information according to claim 1, characterized in that: The data module includes a data acquisition unit, a data integration unit, and a data processing unit; The data acquisition unit is used to collect real-time data from various sensors and detectors; The data integration unit is used to integrate and coordinate real-time data from sensors and detectors; The data processing unit is used to analyze, process, and transform the integrated and coordinated real-time data.

3. The electronic cam synchronous pick-and-place control system based on fused information according to claim 1, characterized in that: The receiving unit is used to receive control commands from the component retrieval and placement monitoring model and the operator. The control commands include instructions for retrieval, placement, and movement distance. The instruction allocation unit is used to allocate the received control instructions to the devices that perform the corresponding actions of the control instructions.

4. The electronic cam synchronous pick-and-place control system based on fused information according to claim 3, characterized in that: The drive module includes a motor driver, a control algorithm, and a communication interface; The motor driver is used to provide current and voltage, and outputs control over the speed, position, and torque of the servo motor; The control algorithm is used to feed back the actual position and speed data of the servo motor and adjust the output of the motor driver. The communication interface is used for data exchange and command transmission with the servo motor and motor driver.

5. The electronic cam synchronous pick-and-place control system based on fused information according to claim 4, characterized in that: The safety module is used for emergency stop, collision detection and protection, safety limit and boundary detection, and fault diagnosis and feedback of the electronic cam synchronous pick-and-place control system. The emergency stop refers to immediately cutting off the power to the motor and stopping all movement in the event of an emergency. The collision detection and protection measures are used to detect whether accidental contact with the workpiece, the working environment, or the operator has occurred. The safety limit and boundary detection are achieved by using position sensors and encoders to detect the movement range of the electronic cam synchronous pick-and-place control system. The fault diagnosis and feedback system monitors the status and operation of each component of the electronic cam synchronous pick-and-place control system. If a fault or abnormality with safety risks is detected, the safety module reports to the operator and the upper control system through alarms, displays, and communication interfaces.

6. The electronic cam synchronous pick-and-place control system based on fused information according to claim 5, characterized in that: The feedback measurement module is used for data acquisition and transmission of pick-up and place-up components, as well as measurement and feedback. The data acquisition and transmission of the pick-and-place components is achieved by collecting key parameter data of the pick-and-place components in real time through built-in sensors; The measurement and feedback are used to establish the connection and communication between the control system and the pick-and-place monitoring model; The visualization module is used for parameter display and real-time monitoring, remote control, user customization services, and data recording.

7. A method for controlling synchronous pick-and-place of electronic cam components based on fused information, implemented based on the electronic cam synchronous pick-and-place control system based on fused information as described in any one of claims 1-6, characterized in that... include: S1. Collect historical motion data of the electronic cam synchronous pick-up and place control system. The historical motion data includes electronic cam speed, acceleration, push stroke electrical pulse and return stroke electrical pulse. Preprocess and integrate the historical motion data. S2. Based on the preprocessed and integrated historical motion data, establish a part-picking and placing monitoring model to monitor and predict the motion data and control parameters of the electronic cam synchronous part-picking and placing process; S3. Receive control parameters and generate control commands to distribute to the servo motor; S4. The servo motor receives control commands and performs synchronous pick-up and drop-off of parts. S5. Real-time acquisition of control parameters of the synchronous pick-and-place control system during motion and feedback to the pick-and-place monitoring model to optimize the pick-and-place monitoring model; S6. The control parameters during the synchronous picking and placing of parts by the electronic cam are displayed in real time on a visual screen.

8. An electronic device, characterized in that, include: Memory, used to store instructions; A processor is configured to execute the instructions, causing the device to perform the electronic cam synchronous pick-and-place control method based on fused information as described in claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, it implements the electronic cam synchronous pick-and-place control method based on fused information as described in claim 7.

Images