Control method, system and device of wobble plate equipment and storage medium

Abstract

The invention discloses a control method, system and device for tray placing equipment and a storage medium, and aims to improve the applicability of the tray placing equipment to containers and improve the tray placing efficiency. The method comprises the following steps: acquiring acupuncture point information of all acupuncture points in a first container, wherein the acupuncture point information at least comprises an acupuncture point type of each acupuncture point; the material type of materials currently grabbed by a mechanical arm in the wobble plate equipment is obtained; the storage conditions of all the acupuncture points in the first container are monitored in real time, and whether the first container meets the placement conditions or not is judged according to the storage conditions and the material type; if the first container meets the placement condition, a target discharging acupoint is determined according to the material type and the acupoint information, and the acupoint type of the target discharging acupoint is matched with the material type; and the mechanical arm is controlled to place the materials into the target discharging hole.

Description

Technical Field

[0001] The present application relates to the field of automated control of mechanical equipment, and in particular to a control method, system, device and storage medium for a plating device. Background Art

[0002] Automated production lines often involve the handling and distribution of materials, as well as the accurate placement of materials into containers during the unloading process. These steps often require the grabbing and placement of materials by a robotic arm. The container is provided with a plurality of points for placing materials, and the robotic arm is controlled by the plate-placing method to achieve precise positioning and accurate pick-up and placement of materials.

[0003] Fixed partitioning logic and material unloading logic limit the space of the robot arm, and it is impossible to cover every acupoint of the container. First, the acupoints of the container are divided into zones, and then the positions of the acupoints of the container are found. By writing a fixed partitioning logic, the found acupoints are assigned to the robot arm. Finally, the material picking and unloading positions of the robot arm are calculated based on parameters such as row and column spacing to realize the control of the robot arm.

[0004] However, when the container specifications change, such as the number of acupoints, arrangement or size adjustment, the original partitioning logic is no longer applicable. It is necessary to re-analyze the container structure, write new partitioning logic, and perform testing and verification. This is not only time-consuming and labor-intensive, increasing labor costs, but also not applicable to containers of various specifications.

[0005] In addition, the existing partitioning logic usually simply divides the container into several fixed areas, such as the common binary method, which divides the container into two and processes them separately. When faced with the need to arrange the plate according to material type, priority or processing order, the existing partitioning logic cannot dynamically adjust the partitioning scheme according to actual needs, thus limiting the precision and efficiency of the plate arrangement control. Summary of the invention

[0006] In order to solve the above technical problems, the present application provides a control method, system, device and storage medium for a plating device, which can improve the plating efficiency and improve the applicability of the plating device to containers of various specifications.

[0007] The technical solution provided in this application is described below:

[0008] The first aspect of the present application provides a control method for a plate-stirring device, comprising:

[0009] Acquire acupoint information of all acupoints in the first container, wherein the acupoint information at least includes an acupoint type of each acupoint;

[0010] Get the material type of the material currently grabbed by the robot arm in the plate-staging device;

[0011] monitoring the storage conditions of all acupuncture points in the first container in real time, and judging whether the first container meets the placement conditions according to the storage conditions and the material type;

[0012] If the first container meets the placement condition, a target material unloading acupoint is determined according to the material type and the acupoint information, and the acupoint type of the target material unloading acupoint matches the material type;

[0013] The robotic arm is controlled to place the material into the target material placement point.

[0014] Optionally, determining a target material discharge acupoint according to the material type and the acupoint information includes:

[0015] Determine a target group according to the material type and the acupoint information, wherein the acupoint type of each acupoint in the target group matches the material type;

[0016] determining initial positions of initial acupuncture points in the target group;

[0017] Determine the position of the position pointer in the target group according to a preset order of placing the plates, wherein the position pointer always points to the empty hole position at the front of the order in the target group;

[0018] Determine the number of rows and columns corresponding to each acupoint in the target group and the spacing between adjacent acupoints according to the acupoint information, wherein the spacing includes row spacing and column spacing;

[0019] The target material discharge point is determined according to the position of the position pointer, the initial position, the number of rows, the number of columns and the spacing.

[0020] Optionally, determining the target material placement point according to the initial position, the number of rows, the number of columns and the spacing includes:

[0021] Get the pointer column number and pointer row number where the position pointer is located;

[0022] The position of the target material placement point is calculated according to the following formula:

[0023] X=X1+(number of pointer columns-1)*column spacing formula①

[0024] Y=Y1+(number of pointer rows-1)*row spacing formula②

[0025] Among them, X represents the column coordinate of the position of the target material discharge point in the first container, Y represents the row coordinate of the position of the target material discharge point in the first container, X1 is the column number of the position of the initial point in the first container, and Y1 is the row number of the position of the initial point in the first container.

[0026] Optionally, obtaining the pointer column number and the pointer row number where the position pointer is located includes:

[0027] Attach a grid number to each acupuncture point in the target group according to the arrangement order;

[0028] Determine the target grid number corresponding to the empty hole position at the front of the sorting list where no material is placed in the target group;

[0029] The pointer column number and the pointer row number of the position pointer are calculated according to the target grid number label and the total number of columns in the first container.

[0030] Optionally, the calculating the number of pointer columns and the number of pointer rows of the position pointer according to the target grid number label and the total number of columns in the first container includes:

[0031] Calculate the quotient and remainder value obtained by dividing the target grid number by the total number of columns;

[0032] When the remainder is not equal to 0, the number of pointer rows is equal to the quotient value+1, and the number of pointer columns is equal to the remainder value;

[0033] When the remainder is equal to 0, the number of pointer rows is equal to the quotient value, and the number of pointer columns is equal to the total number of columns.

[0034] Optionally, judging whether the first container meets the placement condition according to the storage condition and the material type includes:

[0035] If the first container does not meet the placement condition, the first container is replaced by a second container in the material unloading area, wherein the second container has empty holes and the hole type of the empty holes matches the material type.

[0036] Optionally, obtaining acupoint information of all acupoints in the first container includes:

[0037] The acupoint information is acquired by scanning the barcode on the first container with a scanning device.

[0038] A second aspect of the present application provides a control system for a plate-stirring device, comprising:

[0039] A first acquisition unit, used to acquire acupoint information of all acupoints in the first container, wherein the acupoint information at least includes an acupoint type of each acupoint;

[0040] A second acquisition unit is used to acquire the material type of the material currently grasped by the robot arm in the plate-stirring device;

[0041] A judgment unit, used for monitoring the storage conditions of all acupuncture points in the first container in real time, and judging whether the first container meets the placement conditions according to the storage conditions and the material type;

[0042] a determination unit, configured to determine a target material discharge point according to the material type and the point information if the first container satisfies the placement condition, wherein the point type of the target material discharge point matches the material type;

[0043] A control unit is used to control the robotic arm to place the material into the target material placement point.

[0044] Optionally, the determining unit includes:

[0045] A first determination subunit is used to determine a target group according to the material type and the acupoint information, wherein the acupoint type of each acupoint in the target group matches the material type;

[0046] a second determination subunit, configured to determine an initial position of an initial acupuncture point in the target group;

[0047] A third determining subunit is used to determine the position of the position pointer in the target group according to the order of the plate placement, and the position pointer always points to the empty hole position that is ranked first in the target group;

[0048] a fourth determination subunit, configured to determine the number of rows and columns corresponding to each acupoint in the target group and the spacing between adjacent acupoints according to the acupoint information, wherein the spacing includes a row spacing and a column spacing;

[0049] The fifth determination subunit is used to determine the target material discharge point according to the position of the position pointer, the initial position, the number of rows, the number of columns and the spacing.

[0050] Optionally, the fifth determining subunit is specifically used to obtain the pointer column number and pointer row number where the position pointer is located;

[0051] The position of the target material placement point is calculated according to the following formula:

[0052] X=X1+(number of pointer columns-1)*column spacing formula①

[0053] Y=Y1+(number of pointer rows-1)*row spacing formula②

[0054] Among them, X represents the column coordinate of the position of the target material discharge point in the first container, Y represents the row coordinate of the position of the target material discharge point in the first container, X1 is the column number of the position of the initial point in the first container, and Y1 is the row number of the position of the initial point in the first container.

[0055] Optionally, the fifth subunit includes:

[0056] A labeling module, used for attaching a grid number to each acupuncture point in the target group according to the arrangement order;

[0057] A determination module, used to determine the target grid number corresponding to the empty hole position at the front of the target group where no material is placed;

[0058] A calculation module is used to calculate the number of pointer columns and the number of pointer rows of the position pointer according to the target grid number label and the total number of columns in the first container.

[0059] Optionally, the calculation module includes:

[0060] A calculation submodule, used for calculating a quotient and a remainder value obtained by dividing the target grid number by the total number of columns;

[0061] When the remainder is not equal to 0, the number of pointer rows is equal to the quotient value+1, and the number of pointer columns is equal to the remainder value;

[0062] When the remainder is equal to 0, the number of pointer rows is equal to the quotient value, and the number of pointer columns is equal to the total number of columns.

[0063] Optionally, the judging unit includes:

[0064] The replacement subunit is used to replace the first container with a second container in the unloading area if the first container does not meet the placement condition, wherein the second container is a container with empty holes and the hole type of the empty holes matches the material type.

[0065] Optionally, the first acquiring unit includes:

[0066] The scanning subunit is used to obtain the acupoint information by scanning the barcode on the first container through a scanning device.

[0067] The third aspect of the present application provides a control device for a plate-stirring device, comprising:

[0068] Processor, memory, input-output unit, and bus;

[0069] The processor is connected to the memory, the input and output unit, and the bus;

[0070] The memory stores a program, and the processor calls the program to execute the first aspect and the control method optionally included in any one of the first aspects.

[0071] A fourth aspect of the present application provides a computer-readable storage medium, on which a program is stored. When the program is executed on a computer, the program executes the first aspect and any optional control method in the first aspect.

[0072] It can be seen from the above technical solutions that this application has the following advantages:

[0073] By obtaining all the acupoint information of the first container each time the empty first container is placed in the material unloading area, compared with the fixed partition logic of the traditional plating equipment, the present application can reduce the problem of mismatch between materials and acupoints during the plating process and improve the plating efficiency;

[0074] By real-time monitoring of the storage conditions of all points in the first container and judging whether the container meets the placement conditions according to the storage conditions and the type of material currently grabbed, the flexibility and accuracy of the plating process can be ensured, avoiding plating errors or delays caused by unclear status of container points;

[0075] Determine the target group based on the material type and acupoint information to ensure that the acupoint type of the target group is the same as the material type, achieving precise matching. This fundamentally solves the problem of mismatch between materials and acupoints in traditional plating equipment and improves the accuracy and efficiency of plating. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0077] Figure 1 A schematic flow chart of an embodiment of a control method for a plating device of the present application;

[0078] Figure 2 A flow chart of another embodiment of a control method for a plating device according to the present application;

[0079] Figure 3 A flow chart of another embodiment of a control method for a plating device according to the present application;

[0080] Figure 4 A schematic diagram of an embodiment of a control system for a plate-stirring device of the present application;

[0081] Figure 5 A schematic diagram of another embodiment of a control system for a plate-stirring device according to the present application;

[0082] Figure 6This is a schematic diagram of an embodiment of a control device for a plating device of the present application. DETAILED DESCRIPTION

[0083] It should be noted that the control method of the plating device provided in the present application can be applied to a terminal, a system, or a server. For the convenience of explanation, the present application uses the system as an example for explanation.

[0084] See also Figure 1 The present application provides an embodiment of a control method for a plate-stirring device, the embodiment comprising:

[0085] 101. Acquire acupoint information of all acupoints in a first container, where the acupoint information at least includes an acupoint type of each acupoint.

[0086] The first container is a container for receiving materials. The first container has a plurality of preset acupoints, each of which is used to place a specific type of material. Each acupoint corresponds to a type, and the types of each acupoint can be the same or different. The type here can represent size information (such as a size type of 10 cm long and 15 cm wide), or the type of material to be placed (such as a tempered film, a display screen, etc.).

[0087] The acupoint information generally includes the type of each acupoint (i.e., what type of material should be placed in the acupoint, or the size information of each acupoint), the position (the position or coordinates in the container), the state (whether it is occupied), etc.

[0088] The acupoint information can be obtained by reading it through a sensor or by obtaining it from internal records pre-stored in the system.

[0089] In one practicable manner, the acupoint information is obtained by scanning a barcode on the first container through a scanning device; wherein the barcode is set on the first container, and the barcode encodes the acupoint information of the first container, such as the type, position layout and possible initial state of the acupoints. The barcode scanner is set in the unloading area, and is used to scan the barcode on the container each time a new container is placed to obtain the acupoint information corresponding to the container.

[0090] Obtaining acupoint information by scanning barcodes can improve the accuracy and reliability of the obtained acupoint information. The scanning process is fast and automated, which improves the efficiency and convenience of operation.

[0091] Continuous register addresses are used to store the type of each hole in the container, and each address stores the type of each hole.

[0092] 102. Obtain the material type of the material currently grasped by the robot arm in the plate placing device.

[0093] The robotic arm is a key component of the tray placement equipment, responsible for grabbing materials from the material supply and placing the grabbed materials into designated points in the container.

[0094] The material type includes the material type, material size, etc., which matches the type of acupuncture points in the container; in terms of the method of obtaining the material type, it can be obtained at the material supply point, or by scanning the barcode during the grabbing process.

[0095] If the material types of all materials at the material supply location are the same, it is sufficient to obtain the material type of the grabbed material once, and the subsequent acquisition steps can be reduced to improve the efficiency of plating until the second container is replaced or there are no empty holes with the same material type in the first container.

[0096] 103. Monitor the storage conditions of all acupuncture points in the first container in real time, and determine whether the first container meets the placement conditions according to the storage conditions and material types.

[0097] Real-time monitoring can be performed by video monitoring, obtaining images of all the acupoints on the first container, analyzing the images, and thereby determining which acupoints are empty and which acupoints have materials stored in them.

[0098] Based on the type of the current material and the storage conditions of the acupoints in the container, the system needs to determine whether there is a suitable acupoint in the first container to place the current material. The suitable acupoint should meet the following conditions: first, the acupoint type matches the material type, and second, the acupoint is not occupied.

[0099] When the robot grabs a material, the system first obtains the type information of the material, and then compares the type information with the type information of each acupoint in the first container to find all acupoints that match the material type. After finding the acupoints that match the material type, the system further checks the occupancy of these acupoints. If the acupoint is not occupied, it is considered to meet the placement conditions.

[0100] When all the acupoints in the first container are filled, there are no empty acupoints in the first container, and the placement condition is not met; for the acupoints that meet the material type, after all the acupoints that meet the material type are filled, there are no empty acupoints that meet the material type, and the placement condition is not met.

[0101] In this step, if there are acupuncture points satisfying the placement conditions in the first container, step 104 is executed; if there are no acupuncture points satisfying the placement conditions, step 107 is executed.

[0102] 104. Determine the target material unloading point according to the material type and the point information, and the point type of the target material unloading point matches the material type.

[0103] The system first preliminarily screens all the acupoints in the container according to the matching principle between material type and acupoint information, and selects all acupoints that match the material type in terms of size, shape, load-bearing capacity, etc. The matching principle includes matching material size with acupoint size, matching material shape with acupoint shape, matching material weight with acupoint load-bearing capacity, etc.

[0104] The system performs matching analysis based on the material type and acupoint information, preliminarily screens all the acupoints in the container, and determines an unoccupied acupoint whose type matches the material as the target unloading acupoint.

[0105] The target material discharge point can be determined from a large number of points by manually setting the order of the plate arrangement. For example, if point 1, point 2, and point 3 are currently full, point 4 is determined as the target material discharge point.

[0106] 105. Control the robotic arm to place the material into the target material placement point.

[0107] After determining the target material discharge point, the system sends a control instruction to the plate-staggering device, so that the plate-staggering device controls the robot arm to move to the top of the target material discharge point based on the control instruction and discharge the material. After the material discharge is completed, the robot arm goes back to the material supply location to grab the material again.

[0108] 106. In the material unloading area, the first container is replaced by a second container, wherein the second container has empty holes and the hole types of the empty holes match the material type.

[0109] The second container is a container with empty holes and the type of the empty holes matches the current material type. When all suitable holes in the first container are occupied or cannot meet the placement conditions of the current material, the system replaces the first container with the second container, moves the first container out of the unloading area, and moves the second container into the unloading area.

[0110] In addition, multiple containers are placed in the material unloading area. After there is no empty hole matching the current material type in the first container, the hole information of other containers can be retrieved to determine whether the other containers meet the placement conditions.

[0111] When the types of all the acupoints in the first container are the same, materials matching the acupoint types are continuously grabbed and discharged until all the acupoints in the first container are filled with materials.

[0112] In this embodiment, by obtaining all the acupoint information of the first container each time the empty first container is placed in the material unloading area, compared with the fixed partition logic of the traditional plating equipment, the present application can reduce the problem of mismatch between materials and acupoints during the plating process and improve the plating efficiency;

[0113] By real-time monitoring of the storage conditions of all points in the first container and judging whether the container meets the placement conditions according to the storage conditions and the type of material currently grabbed, the flexibility and accuracy of the plating process can be ensured, avoiding plating errors or delays caused by unclear status of container points;

[0114] Determine the target group based on the material type and acupoint information to ensure that the acupoint type of the target group is the same as the material type, achieving precise matching. This fundamentally solves the problem of mismatch between materials and acupoints in traditional plating equipment and improves the accuracy and efficiency of plating.

[0115] See also Figure 2 The present application provides another embodiment of a control method for a plate-stirring device, the embodiment comprising:

[0116] 201. Determine a target group according to the material type and acupoint information, and the acupoint type of each acupoint in the target group matches the material type.

[0117] The target group refers to a set of all acupoints matching the current material type in the first container. The system selects all eligible acupoints from the first container according to the material type and acupoint information to form a target group. In addition, it is understandable that the system can also select other types of acupoint groups from the first container, and the acupoints in each acupoint group are of the same type.

[0118] The system first preliminarily screens all the acupoints in the container according to the matching principle between material type and acupoint information, and selects all acupoints that match the material type in terms of size, shape, load-bearing capacity, etc. The matching principle includes matching material size with acupoint size, matching material shape with acupoint shape, matching material weight with acupoint load-bearing capacity, etc.

[0119] The system sorts the acupoints in the target group according to the order of plating, and the target acupoints for material delivery are designated in sequence according to the sorted serial numbers. For example, if all the acupoints in the target group are empty, the first acupoint is designated as the target acupoint according to the sorting. After the first acupoint is loaded, the second acupoint is designated as the target acupoint, and so on.

[0120] In order to facilitate operators to monitor the operating status of the plating equipment and make necessary adjustments, the system is equipped with a human-computer interaction interface, which can display the current acupoint status of the first container, target group information, etc. for the operator's reference and decision-making. The operator can also specify the plating order and initial acupoint on the human-computer interaction interface.

[0121] 202. Determine the initial position of the initial acupuncture point in the target group.

[0122] The initial acupoint is also called the first acupoint, which is the first acupoint in the target group to be fed. The initial position refers to the exact position of the first acupoint (or starting acupoint) in the first container, and the position can be expressed by coordinates.

[0123] 203. Determine the position of the position pointer in the target group according to the order of the plates, and the position pointer always points to the empty hole position that is ranked first in the target group.

[0124] The preset plating order is manually specified, such as the order from left to right, from top to bottom, etc.; the plating order determines the arrangement method and order of the materials in the container.

[0125] Before the plating starts, the system first reads the preset plating order and the current acupoint status of the first container. Based on this information, the system initializes the position pointer and points the position pointer to the first acupoint of the target group (the first acupoint is an empty acupoint at this time);

[0126] As the plating process proceeds, each time an acupoint is occupied, the system dynamically updates the position of the position pointer based on the preset plating order and the current acupoint status, ensuring that the position pointer always points to the next available empty acupoint.

[0127] 204. Determine the number of rows and columns corresponding to each acupoint in the target group and the spacing between adjacent acupoints according to the acupoint information, where the spacing includes row spacing and column spacing.

[0128] Based on the acupoint information obtained in step 101, the specific information of each acupoint in the target group is obtained, including the physical location (such as the number of rows and columns), size, shape, etc. of the acupoint. The spacing between adjacent acupoints is then calculated based on the acupoint information. This includes the row spacing (the distance between two adjacent rows of acupoints) and the column spacing (the distance between two adjacent columns of acupoints).

[0129] 205. Determine the target material placement point according to the position, initial position, number of rows, number of columns and spacing of the position pointer.

[0130] The initial position is the first-ranked acupoint in the target group, which is generally the first position for placing materials. When the material has been placed at the initial position, it is necessary to determine the position of the next acupoint for placing materials. Therefore, in this step, read the current position information of the position pointer, including the acupoint number, row number, column number, etc. it points to; based on the information of the position pointer and the preset plating order, calculate the specific position of the target material discharge acupoint, compare the current position of the position pointer with the initial position, and calculate the position of the target material discharge acupoint based on information such as the number of rows, columns and spacing.

[0131] In the specific calculation process, firstly, the pointer column number and pointer row number of the position pointer need to be obtained;

[0132] Then calculate the location of the target material placement point according to the following formula:

[0133] X=X1+(number of pointer columns-1)*column spacing formula①

[0134] Y=Y1+(number of pointer rows-1)*row spacing formula②

[0135] Among them, X represents the position column coordinate of the target material discharge point in the first container, Y represents the position row coordinate of the target material discharge point in the first container, X1 is the position column number of the initial point in the first container, and Y1 is the position row number of the initial point in the first container.

[0136] For example, when the row number of the initial acupoint is 1 and the column number is 1, the pointer initially points to the initial acupoint. At this time, the pointer column number of the pointer is 1, the pointer row number is 1, the row spacing is 10cm, and the column spacing is 10cm. At this time, X=1+(1-1)*10, Y=1+(1-1)*10 are calculated, and the coordinates of the target acupoint for material placement are calculated to be (1,1), that is, the initial position. After the initial acupoint is placed, the pointer points to the second acupoint. The row number of the second acupoint is 1 and the column number is 2. At this time, X=1+(2-1)*10, Y=1+(1-1)*10 are calculated, and the coordinates of the target acupoint for material placement are calculated to be (11,1).

[0137] See also Figure 3 The present application provides another embodiment of a control method for a plate-stirring device, the embodiment comprising:

[0138] 301. Attach a grid number to each acupuncture point in the target group according to the order of arrangement.

[0139] The grid numbers are labeled according to the order of the arrangement of the plates. The first acupoint in the target group (the initial acupoint) is labeled with 1, the second acupoint is labeled with 2, and so on, until all the acupoints are labeled with grid numbers.

[0140] For example, if there is a 3x4 matrix (3 rows and 4 columns), and the acupuncture points are arranged from left to right and from top to bottom, then the grid numbers are 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12.

[0141] 302. Determine the target grid number corresponding to the empty hole at the front of the sorting list in the target group where no material is placed.

[0142] In the first round of placement, the initial holes are generally empty holes. However, from the second round of placement and subsequent placement processes, empty holes are required when placing materials in the second round. Therefore, empty holes that have not yet been placed with materials are determined in the target group, and the empty holes need to be sorted first.

[0143] For example, in the above matrix, materials have been placed in acupoints 1, 2, 4, and 5, but materials have not been placed in acupoints 3, 6, 7, ..., 12. Then, the acupoint with the first unplaced material is acupoint 3, and its grid number is 3.

[0144] 303. Calculate the quotient and remainder obtained by dividing the target cell number by the total number of columns.

[0145] Divide the target grid number by the total number of columns in the matrix, where the total number of columns is the total number of columns in the first container.

[0146] The quotient obtained represents the row number where the acupoint is located, and the remainder represents the column number of the acupoint in that row.

[0147] For example, the total number of columns is 4 and the target cell number is 3.

[0148] 3÷4=0(quotient)…3(remainder).

[0149] 304. When the remainder is not equal to 0, the number of pointer rows is equal to the quotient value + 1, and the number of pointer columns is equal to the remainder value.

[0150] If the remainder is not 0, it means that the target acupuncture point is not in the last column. The pointer row number is the quotient plus 1 (because the quotient starts from 0, and the row number usually starts from 1). The pointer column number is the remainder.

[0151] For example, the quotient is 0 and the remainder is 3. The number of pointer rows = 0 + 1 = 1.

[0152] Number of pointer columns = 3.

[0153] 305. When the remainder is equal to 0, the number of pointer rows is equal to the quotient, and the number of pointer columns is equal to the total number of columns.

[0154] If the remainder is 0, it means the target acupuncture point is in the last column. The number of pointer rows is the quotient (because the acupuncture point is in the last column of a row). The number of pointer columns is the total number of columns.

[0155] For example, if the target grid number is labeled 4 (4÷4=1 (quotient value)...0 (remainder value)).

[0156] Pointer row number = 1.

[0157] Number of pointer columns = 4.

[0158] The mechanical arms on the plate-staging device used in the present application may be single or double.

[0159] See also Figure 4 The present application also provides a control system for a plate-stirring device, comprising:

[0160] A first acquisition unit 401 is used to acquire acupoint information of all acupoints in the first container, where the acupoint information at least includes an acupoint type of each acupoint;

[0161] The second acquisition unit 402 is used to acquire the material type of the material currently grasped by the robot arm in the plate-stirring device;

[0162] The judgment unit 403 is used to monitor the storage conditions of all acupuncture points in the first container in real time, and judge whether the first container meets the placement conditions according to the storage conditions and material types;

[0163] The determination unit 404 is used to determine the target material discharge point according to the material type and the point information if the first container meets the placement condition, and the point type of the target material discharge point matches the material type;

[0164] The control unit 405 is used to control the robot arm to place the material into the target material placement point.

[0165] In this embodiment, the acupoint information of all acupoints in the first container is obtained by the first acquisition unit 401, and the acupoint information includes at least the acupoint type of each acupoint. Then, the material type of the material currently grabbed by the robot arm in the plate-staging device is obtained by the second acquisition unit 402. Then, the storage conditions of all acupoints in the first container are monitored in real time. The judgment unit 403 judges whether the first container meets the placement conditions according to the storage conditions and the material type. If the first container meets the placement conditions, the first determination unit 404 determines the target material discharge acupoint according to the material type and the acupoint information. The acupoint type of the target material discharge acupoint matches the material type. Finally, the control unit 405 controls the robot arm to discharge the material into the target material discharge acupoint. Therefore, by obtaining all the acupoint information of the first container each time the empty first container is placed in the discharge area, compared with the fixed partition logic of the traditional plate-staging device, the present application can reduce the problem of mismatch between materials and acupoints during the plate-staging process and improve the plate-staging efficiency.

[0166] By real-time monitoring of the storage conditions of all points in the first container and judging whether the container meets the placement conditions according to the storage conditions and the type of material currently grabbed, the flexibility and accuracy of the plating process can be ensured, avoiding plating errors or delays caused by unclear status of container points;

[0167] Determine the target group based on the material type and acupoint information to ensure that the acupoint type of the target group is the same as the material type, achieving precise matching. This fundamentally solves the problem of mismatch between materials and acupoints in traditional plating equipment and improves the accuracy and efficiency of plating.

[0168] See also Figure 5 The present application also provides a control system for a plate-stirring device, comprising:

[0169] A first acquisition unit 501 is used to acquire acupoint information of all acupoints in the first container, where the acupoint information at least includes an acupoint type of each acupoint;

[0170] The first acquisition unit 501 includes:

[0171] The scanning subunit 5011 is used to obtain the acupoint information by scanning the barcode on the first container through a scanning device;

[0172] The second acquisition unit 502 is used to acquire the material type of the material currently grasped by the robot arm in the plate-staging device;

[0173] The judgment unit 503 is used to monitor the storage conditions of all acupuncture points in the first container in real time, and judge whether the first container meets the placement conditions according to the storage conditions and material types;

[0174] The judging unit 503 includes:

[0175] The replacement subunit 5031 is used to replace the first container with a second container in the material unloading area if the first container does not meet the placement conditions, wherein the second container is a container having empty holes and the hole type of the empty holes matches the material type;

[0176] The determination unit 504 is used to determine the target material discharge point according to the material type and the point information if the first container meets the placement condition, and the point type of the target material discharge point matches the material type;

[0177] The determining unit 504 includes:

[0178] The first determination subunit 5051 is used to determine the target group according to the material type and acupoint information, and the acupoint type of each acupoint in the target group matches the material type;

[0179] The second determining subunit 5052 is used to determine the initial position of the initial acupuncture point in the target group;

[0180] The third determining subunit 5053 is used to determine the position of the position pointer in the target group according to the order of the plates, and the position pointer always points to the empty hole position at the front of the order in the target group;

[0181] The fourth determining subunit 5054 is used to determine the number of rows and columns corresponding to each acupoint in the target group and the spacing between adjacent acupoints according to the acupoint information, wherein the spacing includes the row spacing and the column spacing;

[0182] The fifth determination subunit 5055 is used to determine the target material placement points according to the position, initial position, number of rows, number of columns and spacing of the position pointer;

[0183] The fifth determining subunit 5055 is specifically used to obtain the pointer column number and the pointer row number where the position pointer is located;

[0184] The position of the target material placement point is calculated according to the following formula:

[0185] X=X1+(number of pointer columns-1)*column spacing formula①

[0186] Y=Y1+(number of pointer rows-1)*row spacing formula②

[0187] Wherein, X represents the position column number of the target material discharge acupoint in the first container, Y represents the position row number of the target material discharge acupoint in the first container, X1 is the position column number of the initial acupoint in the first container, and Y1 is the position row number of the initial acupoint in the first container;

[0188] The fifth determining subunit 5055 includes:

[0189] The labeling module 50551 is used to attach a grid number to each acupuncture point in the target group according to the order of the arrangement;

[0190] The determination module 50552 is used to determine the target grid number corresponding to the empty hole position at the front of the target group where no material is placed;

[0191] A calculation module 50553, used for calculating the number of pointer columns and the number of pointer rows of the position pointer according to the target grid number label and the total number of columns in the first container;

[0192] The computing module includes:

[0193] The calculation submodule 505531 is used to calculate the quotient and remainder value obtained by dividing the target grid number by the total number of columns;

[0194] When the remainder is not equal to 0, the number of pointer rows is equal to the quotient value + 1, and the number of pointer columns is equal to the remainder value;

[0195] When the remainder is equal to 0, the number of pointer rows is equal to the quotient, and the number of pointer columns is equal to the total number of columns;

[0196] The control unit 505 is used to control the robot arm to place the material into the target material placement point.

[0197] See also Figure 6 The present application also provides a control device for a plate-staging device, comprising:

[0198] Processor 601, memory 602, input and output unit 603, bus 604;

[0199] The processor 601 is connected to the memory 602, the input and output unit 603 and the bus 604;

[0200] The memory 602 stores a program, and the processor 601 calls the program to execute any of the above control methods.

[0201] The present application also relates to a computer-readable storage medium, on which a program is stored. When the program is run on a computer, the computer executes any of the above control methods.

[0202] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0203] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0204] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0205] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0206] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A control method for a plating device, characterized in that: include: Acquire acupoint information of all acupoints in the first container, wherein the acupoint information at least includes an acupoint type of each acupoint; Get the material type of the material currently grabbed by the robot arm in the plate-staging device; monitoring the storage conditions of all acupuncture points in the first container in real time, and judging whether the first container meets the placement conditions according to the storage conditions and the material type; If the first container meets the placement condition, a target material unloading acupoint is determined according to the material type and the acupoint information, and the acupoint type of the target material unloading acupoint matches the material type; The robotic arm is controlled to place the material into the target material placement point.

2. The control method according to claim 1, characterized in that: The step of determining a target material discharge acupoint according to the material type and the acupoint information includes: Determine a target group according to the material type and the acupoint information, wherein the acupoint type of each acupoint in the target group matches the material type; determining initial positions of initial acupuncture points in the target group; Determine the position of the position pointer in the target group according to a preset order of placing the plates, wherein the position pointer always points to the empty hole position at the front of the order in the target group; Determine the number of rows and columns corresponding to each acupoint in the target group and the spacing between adjacent acupoints according to the acupoint information, wherein the spacing includes row spacing and column spacing; The target material discharge point is determined according to the position of the position pointer, the initial position, the number of rows, the number of columns and the spacing.

3. The control method according to claim 2, characterized in that: The step of determining the target material placement point according to the initial position, the number of rows, the number of columns and the spacing includes: Get the pointer column number and pointer row number where the position pointer is located; The position of the target material placement point is calculated according to the following formula: X=X1+(number of pointer columns-1)*column spacing formula① Y=Y1+(number of pointer rows-1)*row spacing formula② Among them, X represents the column coordinate of the position of the target material discharge point in the first container, Y represents the row coordinate of the position of the target material discharge point in the first container, X1 is the column number of the position of the initial point in the first container, and Y1 is the row number of the position of the initial point in the first container.

4. The control method according to claim 3, characterized in that: The obtaining of the pointer column number and the pointer row number of the position pointer includes: Attach a grid number to each acupuncture point in the target group according to the arrangement order; Determine the target grid number corresponding to the empty hole position at the front of the sorting list where no material is placed in the target group; The pointer column number and the pointer row number of the position pointer are calculated according to the target grid number label and the total number of columns in the first container.

5. The control method according to claim 4, characterized in that: The step of calculating the number of pointer columns and the number of pointer rows of the position pointer according to the target grid number label and the total number of columns in the first container includes: Calculate the quotient and remainder value obtained by dividing the target grid number by the total number of columns; When the remainder is not equal to 0, the number of pointer rows is equal to the quotient value+1, and the number of pointer columns is equal to the remainder value; When the remainder is equal to 0, the number of pointer rows is equal to the quotient value, and the number of pointer columns is equal to the total number of columns.

6. The control method according to any one of claims 1 to 5, characterized in that: The determining, according to the storage condition and the material type, whether the first container meets the placement condition includes: If the first container does not meet the placement condition, the first container is replaced by a second container in the material unloading area, wherein the second container has empty holes and the hole type of the empty holes matches the material type.

7. The control method according to any one of claims 1 to 5, characterized in that: The step of obtaining acupoint information of all acupoints in the first container includes: The acupoint information is acquired by scanning the barcode on the first container with a scanning device.

8. A control system for a plate-stirring device, characterized in that: include: A first acquisition unit, used to acquire acupoint information of all acupoints in the first container, wherein the acupoint information at least includes an acupoint type of each acupoint; A second acquisition unit is used to acquire the material type of the material currently grasped by the robot arm in the plate-stirring device; A judgment unit, used for monitoring the storage conditions of all acupuncture points in the first container in real time, and judging whether the first container meets the placement conditions according to the storage conditions and the material type; a determination unit, configured to determine a target material discharge point according to the material type and the point information if the first container satisfies the placement condition, wherein the point type of the target material discharge point matches the material type; A control unit is used to control the robotic arm to place the material into the target material placement point.

9. A control device for a plating device, characterized in that: include: Processor, memory, input-output unit, and bus; The processor is connected to the memory, the input and output unit, and the bus; The memory stores a program, and the processor calls the program to execute the control method according to any one of claims 1 to 7. 10 . A computer-readable storage medium having a program stored thereon, wherein the program, when executed on a computer, performs the control method according to claim 1 .

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