A control method, system and device of a tray placing apparatus and a storage medium

Abstract

The application discloses a control method, system and device of a tray placing device and a storage medium, and is used for improving the applicability of the tray placing device to containers and improving tray placing efficiency. The method comprises the following steps: obtaining acupoint information of all acupoints in a first container, wherein the acupoint information at least comprises an acupoint type of each acupoint; obtaining a material type of a material currently gripped by a mechanical arm in the tray placing device; monitoring storage conditions of all acupoints in the first container in real time, and judging whether the first container satisfies a placing condition according to the storage conditions and the material type; if the first container satisfies the placing condition, determining a target unloading acupoint according to the material type and the acupoint information, wherein an acupoint type of the target unloading acupoint matches the material type; and controlling the mechanical arm to unload the material into the target unloading acupoint.

Description

Technical Field

[0001] This 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 tray-stacking device. Background Technology

[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 robotic arms to grasp and place the materials. The containers are equipped with multiple slots for placing materials, and the robotic arms are controlled by a tray control method to achieve precise positioning and accurate picking and placing of materials.

[0003] Fixed partitioning and unloading logic limit the robotic arm's spatial capabilities, potentially preventing it from covering every cavity in the container. To address this, the container's cavities are first divided into zones, then their locations are identified. By implementing fixed partitioning logic, the identified cavities are assigned to the robotic arm. Finally, parameters such as row and column spacing are used to calculate the robotic arm's material handling position, thus enabling its control.

[0004] However, when the container specifications change, such as the number of acupoints, their arrangement, or the size, the original partitioning logic no longer applies. It is necessary to re-analyze the container structure and write new partitioning logic, and then test and verify it. This is not only time-consuming and labor-intensive, increasing manpower costs, but also unsuitable for containers of various specifications.

[0005] Furthermore, existing partitioning logic typically divides containers into several fixed areas, such as the common binary search method, which splits the container in two and processes them separately. When faced with tray placement requirements based on material type, priority, or processing sequence, existing partitioning logic cannot dynamically adjust the partitioning scheme according to actual needs, thus limiting the precision and efficiency of tray placement control. Summary of the Invention

[0006] To address the aforementioned technical problems, this application provides a control method, system, device, and storage medium for a tray-stacking device, which can improve tray-stacking efficiency and enhance the applicability of the tray-stacking device to containers of various sizes.

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

[0008] The first aspect of this application provides a control method for a tray-stacking device, including:

[0009] Obtain acupoint information for all acupoints in the first container, wherein the acupoint information includes at least the acupoint type for each acupoint;

[0010] Obtain the material type of the material currently being grasped by the robotic arm in the tray-stacking device;

[0011] The storage status of all acupoints in the first container is monitored in real time, and the first container is judged to meet the placement conditions based on the storage status and the material type.

[0012] If the first container meets the placement conditions, then the target feeding point is determined according to the material type and the acupoint information, and the acupoint type of the target feeding point matches the material type;

[0013] The robotic arm is controlled to lower the material into the target feeding cavity.

[0014] Optionally, determining the target feeding acupoint based on the material type and the acupoint information includes:

[0015] A target group is determined based on the material type and the acupoint information, wherein the acupoint type of each acupoint in the target group is matched with the material type.

[0016] Determine the initial positions of the initial acupoints in the target group;

[0017] The position of the position pointer in the target group is determined according to the preset plating order, and the position pointer always points to the first empty hole in the target group.

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

[0019] The target feeding hole is determined based on 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 feeding cavity based on the initial position, the number of rows, the number of columns, and the spacing includes:

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

[0022] The location of the target feeding cavity is calculated according to the following formula:

[0023] X = X1 + (Number of pointer columns - 1) * Column spacing formula ①

[0024] Y = Y1 + (Number of pointer rows - 1) * Line spacing formula ②

[0025] Where X represents the column coordinate of the target feeding hole in the first container, Y represents the row coordinate of the target feeding hole in the first container, X1 is the column number of the initial hole in the first container, and Y1 is the row number of the initial hole in the first container.

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

[0027] Assign a grid number to each acupoint in the target group according to the plate arrangement order;

[0028] Determine the target cell number corresponding to the empty cell at the top of the sorted list in the target group where no material is placed.

[0029] The number of pointer columns and pointer rows of the position pointer are calculated based on the target grid number and the total number of columns in the first container.

[0030] Optionally, calculating the number of pointer columns and pointer rows of the position pointer based on the target cell number and the total number of columns in the first container includes:

[0031] Calculate the quotient and remainder obtained by dividing the target cell number label 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 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, determining whether the first container meets the placement conditions based on the storage situation and the material type includes:

[0035] If the first container does not meet the placement conditions, the first container is replaced by a second container in the unloading area. The second container is a container with cavities and the cavity type of the cavities matches the material type.

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

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

[0038] A second aspect of this application provides a control system for a tray-stacking device, comprising:

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

[0040] The second acquisition unit is used to acquire the material type of the material currently being grasped by the robotic arm in the tray-stacking device;

[0041] The judgment unit is used to monitor the storage status of all acupoints in the first container in real time, and to determine whether the first container meets the placement conditions based on the storage status and the material type.

[0042] The determining unit is configured to determine a target feeding acupoint based on the material type and the acupoint information if the first container meets the placement conditions, wherein the acupoint type of the target feeding acupoint matches the material type;

[0043] The control unit is used to control the robotic arm to lower the material into the target feeding cavity.

[0044] Optionally, the determining unit includes:

[0045] The first determining subunit is used to determine a target group based on the material type and the acupoint information, wherein the acupoint type of each acupoint in the target group is matched with the material type;

[0046] The second determining subunit is used to determine the initial position of the initial acupoints in the target group;

[0047] The third determining subunit is used to determine the position of the position pointer in the target group according to the plate arrangement order, wherein the position pointer always points to the first empty hole in the target group.

[0048] The fourth determining subunit is used to determine the number of rows and columns corresponding to each acupoint in the target group, and the spacing between adjacent acupoints, based on the acupoint information. The spacing includes row spacing and column spacing.

[0049] The fifth determining subunit is used to determine the target feeding hole based on 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 location of the target feeding cavity is calculated according to the following formula:

[0052] X = X1 + (Number of pointer columns - 1) * Column spacing formula ①

[0053] Y = Y1 + (Number of pointer rows - 1) * Line spacing formula ②

[0054] Where X represents the column coordinate of the target feeding hole in the first container, Y represents the row coordinate of the target feeding hole in the first container, X1 is the column number of the initial hole in the first container, and Y1 is the row number of the initial hole in the first container.

[0055] Optionally, the fifth subunit includes:

[0056] The labeling module is used to assign a grid number to each acupoint in the target group according to the arrangement order.

[0057] The determination module is used to determine the target cell number corresponding to the empty cell at the top of the sorted list in the target group where no material is placed.

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

[0059] Optionally, the computing module includes:

[0060] The calculation submodule is used to calculate the quotient and remainder obtained by dividing the target cell number label 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 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 determination unit includes:

[0064] A 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 conditions. The second container is a container with cavities and the cavity type of the cavities matches the material type.

[0065] Optionally, the first acquisition unit includes:

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

[0067] A third aspect of this application provides a control device for a tray-stacking device, comprising:

[0068] Processor, memory, input / output units, and bus;

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

[0070] The memory stores a program, which the processor invokes to execute the first aspect and any optional control method of the first aspect.

[0071] A fourth aspect of this application provides a computer-readable storage medium storing a program that, when executed on a computer, performs the control method of the first aspect and any one of the first aspects.

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

[0073] By acquiring all the acupoint information of the first empty container each time it is placed in the feeding area, compared with the fixed partitioning logic of traditional tray-setting equipment, this application can reduce the problem of material mismatch with acupoint during tray-setting and improve tray-setting efficiency.

[0074] By monitoring the storage status of all acupoints in the first container in real time, and judging whether the container meets the placement conditions based on the storage status and the type of material being grasped, the flexibility and accuracy of the plating process can be ensured, avoiding plating errors or delays caused by unclear acupoint status in the container.

[0075] The target group is determined based on the material type and acupoint information, ensuring that the acupoint type of the target group is the same as the material type, thus achieving precise matching. This fundamentally solves the problem of material mismatch with acupoint in traditional tray-setting equipment, improving the accuracy and efficiency of tray-setting. Attached Figure Description

[0076] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0077] Figure 1 This is a flowchart illustrating an embodiment of a control method for a tray-stacking device according to this application;

[0078] Figure 2 This is a flowchart illustrating another embodiment of the control method for a tray-stacking device according to this application;

[0079] Figure 3 This is a flowchart illustrating another embodiment of the control method for a tray-stacking device according to this application;

[0080] Figure 4 This is a schematic diagram of one embodiment of the control system of a tray-stacking device according to this application;

[0081] Figure 5 This is a schematic diagram of another embodiment of the control system of a tray-stacking device according to this application;

[0082] Figure 6This is a schematic diagram of one embodiment of a control device for a tray-stacking device according to this application. Detailed Implementation

[0083] It should be noted that the control method for a tray-loading device provided in this application can be applied to a terminal, a system, or a server. For ease of explanation, this application uses a system as the implementing entity for illustration.

[0084] Please see Figure 1 This application provides an embodiment of a control method for a tray-stacking device, the embodiment comprising:

[0085] 101. Obtain the acupoint information of all acupoints in the first container. The acupoint information shall include at least the acupoint type of each acupoint.

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

[0087] Acupoint information typically includes the type of each acupoint (i.e., what type of material should be placed at the acupoint, or the size information of each acupoint), location (position or coordinates in the container), and status (whether it is occupied).

[0088] Information about acupoints can be obtained either through sensor readings or from internal records pre-stored in the system.

[0089] In one feasible approach, acupoint information is obtained by scanning a barcode on a first container using a scanning device. The barcode, located on the first container, encodes acupoint information such as the type, location, and possible initial state of the acupoints. A barcode scanner is positioned in the unloading area and is used to scan the barcode on each new container to obtain the corresponding acupoint information.

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

[0091] A series of register addresses are used to store the type of each acupoint in the container, with each address storing the type of each acupoint.

[0092] 102. Obtain the material type of the material currently being grasped by the robotic arm in the tray-stacking device.

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

[0094] Material types include material categories and sizes, which match the types of acupoints in the container. Material types can be obtained from the material supply point or by scanning barcodes during the grabbing process.

[0095] If all materials at the material supply point have the same material type, then it is sufficient to obtain the material type of the already grabbed material once. Subsequent acquisition steps can be reduced to improve plating efficiency until a second container is replaced, or there are no empty slots with the same material type in the first container.

[0096] 103. Monitor the storage status of all acupoints in the first container in real time, and determine whether the first container meets the placement conditions based on the storage status and material type.

[0097] Real-time monitoring can be carried out using video surveillance to acquire images of all acupoints on the first container. The images are then analyzed to determine which acupoints are empty and which acupoints have been filled with materials.

[0098] Based on the current material type and the storage status 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. A suitable acupoint should meet the following conditions: first, the acupoint type matches the material type; second, the acupoint is not occupied.

[0099] When the robotic arm grasps a material, the system first obtains the material's type information. Then, the system compares this type information with the type information of each acupoint in the first container to identify all acupoints that match the material type. After finding acupoints that match the material type, the system further checks the occupancy status of these acupoints. If acupoints are unoccupied, they are considered to meet the placement requirements.

[0100] When all the acupoints in the first container have been filled with material, there are no empty acupoints left in the first container, and the placement conditions are not met. For acupoints that match the material type, after all acupoints that match the material type have been filled with material, there are no empty acupoints that match the material type, and the placement conditions are not met.

[0101] In this step, if there are acupoints in the first container that meet the placement conditions, then step 104 is executed; otherwise, step 107 is executed.

[0102] 104. Determine the target feeding acupoint based on the material type and acupoint information. The acupoint type of the target feeding acupoint should match the material type.

[0103] The system first performs a preliminary screening of all acupoints in the container based on the matching principles of material type and acupoint information, identifying acupoints that match the material type in terms of size, shape, and load-bearing capacity. The matching principles include matching material size with acupoint size, matching material shape with acupoint shape, and matching material weight with acupoint load-bearing capacity.

[0104] The system performs matching analysis based on material type and acupoint information, conducts preliminary screening of all acupoints in the container, and determines an unoccupied acupoint whose type matches the material as the target feeding acupoint.

[0105] The target material placement point can be determined from among many acupoints by setting a human-defined plating order. For example, if acupoints 1, 2, and 3 are already full, then acupoint 4 is determined as the target material placement point.

[0106] 105. Control the robotic arm to lower the material into the target feeding hole.

[0107] After identifying the target feeding cavity, the system sends a control command to the tray-stacking device, which then controls the robotic arm to move above the target feeding cavity and perform feeding. After feeding, the robotic arm returns to the material supply area to re-grab material.

[0108] 106. Replace the first container with the second container in the material feeding area. The second container is a container with cavities and the cavity type of the cavities matches the material type.

[0109] The second container is a container with empty slots whose slot type matches the current material type. When all suitable slots 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, removes the first container from the unloading area, and moves the second container into the unloading area.

[0110] In addition, multiple containers are placed in the material feeding area. If there is no empty space in the first container that matches the current material type, the space information of other containers can be retrieved to determine whether other containers meet the placement conditions.

[0111] When all acupoints in the first container are of the same type, continuously pick up materials that match that acupoint type and feed them in until all acupoints in the first container have been filled with materials.

[0112] In this embodiment, by acquiring all the acupoint information of the first container each time an empty first container is placed in the feeding area, compared with the fixed partitioning logic of traditional tray-setting equipment, this application can reduce the problem of material mismatch with acupoints during the tray-setting process and improve tray-setting efficiency.

[0113] By monitoring the storage status of all acupoints in the first container in real time, and judging whether the container meets the placement conditions based on the storage status and the type of material being grasped, the flexibility and accuracy of the plating process can be ensured, avoiding plating errors or delays caused by unclear acupoint status in the container.

[0114] The target group is determined based on the material type and acupoint information, ensuring that the acupoint type of the target group is the same as the material type, thus achieving precise matching. This fundamentally solves the problem of material mismatch with acupoint in traditional tray-setting equipment, improving the accuracy and efficiency of tray-setting.

[0115] Please see Figure 2 This application provides another embodiment of a control method for a tray-stacking device, which includes:

[0116] 201. Determine the target group based on the material type and acupoint information. The acupoint type of each acupoint in the target group is matched with the material type.

[0117] A target group refers to the set of all acupoints in the first container that match the current material type. The system filters out all acupoints that meet the criteria from the first container based on the material type and acupoint information to form a target group. Additionally, it can be understood that the system can also filter out other types of acupoint groups from the first container, with each acupoint group containing acupoints of the same type.

[0118] The system first performs a preliminary screening of all acupoints in the container based on the matching principles of material type and acupoint information, identifying acupoints that match the material type in terms of size, shape, and load-bearing capacity. The matching principles include matching material size with acupoint size, matching material shape with acupoint shape, and matching material weight with acupoint load-bearing capacity.

[0119] The system sorts the acupoints in the target group according to the plating order. The target acupoints are then assigned sequentially according to the sorted sequence. For example, if all acupoints in the target group are empty, the first acupoint is assigned as the target acupoint according to the sorting. After the first acupoint is assigned, the second acupoint is assigned as the target acupoint, and so on.

[0120] To facilitate operators' monitoring of the tray-setting equipment's operational status and make necessary adjustments, the system is equipped with a human-machine interface (HMI). This HMI displays the current acupoint status of the first container, target group information, and other data for operator reference and decision-making. Operators can also specify the tray-setting order and initial acupoints on this HMI.

[0121] 202. Determine the initial location of the initial acupoints in the target group.

[0122] The initial acupoint, also known as the first acupoint, is the first acupoint in the target group to be used for feeding. The initial position refers to the precise location of the first acupoint (or starting acupoint) in the first container, and the position can be represented by coordinates.

[0123] 203. Determine the position of the position pointer in the target group according to the order of plating. The position pointer always points to the empty space at the beginning of the target group.

[0124] The preset traying order is manually specified, such as from left to right, from top to bottom, etc.; the traying order determines the way and order in which the materials are placed in the container.

[0125] Before plating begins, 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 it to the first acupoint in the target group (at this time, the first acupoint is empty).

[0126] As the acupoint is placed, whenever an acupoint is occupied, the system dynamically updates the position pointer according to the preset placement order and the current acupoint status, ensuring that the position pointer always points to the next available empty acupoint.

[0127] 204. Based on the acupoint information, determine the number of rows and columns corresponding to each acupoint in the target group, and the spacing between adjacent acupoints. The spacing includes row spacing and column spacing.

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

[0129] 205. Determine the target material feeding location based on the position of the position pointer, the initial position, the number of rows, the number of columns, and the spacing.

[0130] The initial position is the first acupoint in the target group, which is generally the first place to put materials. After materials have been placed at the initial position, it is necessary to determine the position of the next acupoint to put materials. Therefore, in this step, the current position information of the position pointer is read, including the acupoint number it points to, the row number, the column number, etc. Based on the position pointer information and the preset tray order, the specific position of the target material feeding acupoint is calculated. The current position of the position pointer is compared with the initial position, and the position of the target material feeding acupoint is calculated according to the row number, column number, and spacing information.

[0131] In the specific calculation process, it is first necessary to obtain the pointer column number and pointer row number where the position pointer is located;

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

[0133] X = X1 + (Number of pointer columns - 1) * Column spacing formula ①

[0134] Y = Y1 + (Number of pointer rows - 1) * Line spacing formula ②

[0135] Where X represents the column coordinate of the target feeding hole in the first container, Y represents the row coordinate of the target feeding hole in the first container, X1 is the column number of the initial hole in the first container, and Y1 is the row number of the initial hole in the first container.

[0136] For example, when the initial acupoint is in row 1 and column 1, the pointer initially points to the initial acupoint. At this time, the pointer's column number is 1, the pointer's row number is 1, the row spacing is 10cm, and the column spacing is 10cm. Then, X = 1 + (1-1) * 10 and Y = 1 + (1-1) * 10, calculating the coordinates of the target acupoint as (1,1), which is the initial position. After the initial acupoint is filled, the pointer points to the second acupoint. The second acupoint is in row 1 and column 2. Then, X = 1 + (2-1) * 10 and Y = 1 + (1-1) * 10, calculating the coordinates of the target acupoint as (11,1).

[0137] Please see Figure 3 This application provides another embodiment of a control method for a tray-stacking device, which includes:

[0138] 301. Assign a grid number to each acupoint in the target group according to the order of plating.

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

[0140] For example, given a 3x4 matrix (3 rows and 4 columns), with acupoints arranged from left to right and top to bottom, the cell numbers would be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12.

[0141] 302. Determine the target cell number corresponding to the empty cell at the top of the target group where no material has been placed.

[0142] In the first round of placement, the initial cavity is usually an empty cavity. However, in the second round of placement and subsequent placement processes, when placing materials in the second round, the cavity must be empty. Therefore, the empty cavities that have not yet been placed in the target group must be identified, and these empty cavities must be sorted first.

[0143] For example, in the matrix above, acupoints 1, 2, 4, and 5 have already been filled with materials, while acupoints 3, 6, 7, ..., 12 have not yet been filled with materials. Therefore, the acupoint that has not been filled with materials at the beginning of the sequence is acupoint 3, and its cell number is 3.

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

[0145] Divide the target cell number label 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 represents the row number of the acupoint, 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 the target acupoint is not in the last column. The pointer row number is the quotient value plus 1 (because the quotient value starts from 0, while 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 pointer row number = 0 + 1 = 1.

[0152] Number of pointer columns = 3.

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

[0154] If the remainder is 0, it means the target acupoint is in the last column. The pointer row number is the quotient value (because the acupoint is exactly in the last column of a certain row at this time). The pointer column number is the total number of columns.

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

[0156] The number of pointer rows is 1.

[0157] Number of pointer columns = 4.

[0158] The robotic arm used in this application on the plate-stacking device can be a single arm or two arms.

[0159] Please see Figure 4 This application also provides a control system for a plating device, comprising:

[0160] The first acquisition unit 401 is used to acquire acupoint information of all acupoints in the first container, and the acupoint information includes at least the acupoint type of each acupoint.

[0161] The second acquisition unit 402 is used to acquire the material type of the material currently being grasped by the robotic arm in the tray-stacking device;

[0162] The judgment unit 403 is used to monitor the storage status of all acupoints in the first container in real time, and to determine whether the first container meets the placement conditions based on the storage status and material type.

[0163] The determining unit 404 is used to determine the target feeding acupoint based on the material type and acupoint information if the first container meets the placement conditions. The acupoint type of the target feeding acupoint matches the material type.

[0164] The control unit 405 is used to control the robotic arm to lower the material into the target feeding cavity.

[0165] In this embodiment, the first acquisition unit 401 acquires the acupoint information of all acupoints in the first container, including at least the acupoint type of each acupoint. Then, the second acquisition unit 402 acquires the material type of the material currently being grasped by the robotic arm in the tray-setting device. The storage status of all acupoints in the first container is monitored in real time. The judgment unit 403 determines whether the first container meets the placement conditions based on the storage status and material type. If the first container meets the placement conditions, the first determination unit 404 determines the target feeding acupoint based on the material type and acupoint information. The acupoint type of the target feeding acupoint matches the material type. Finally, the control unit 405 controls the robotic arm to feed the material into the target feeding acupoint. Therefore, by acquiring all acupoint information of the first container each time an empty first container is placed in the feeding area, compared to the fixed partitioning logic of traditional tray-setting devices, this application can reduce the problem of material-acupoint mismatch during tray-setting, thus improving tray-setting efficiency.

[0166] By monitoring the storage status of all acupoints in the first container in real time, and judging whether the container meets the placement conditions based on the storage status and the type of material being grasped, the flexibility and accuracy of the plating process can be ensured, avoiding plating errors or delays caused by unclear acupoint status in the container.

[0167] The target group is determined based on the material type and acupoint information, ensuring that the acupoint type of the target group is the same as the material type, thus achieving precise matching. This fundamentally solves the problem of material mismatch with acupoint in traditional tray-setting equipment, improving the accuracy and efficiency of tray-setting.

[0168] Please see Figure 5 This application also provides a control system for a plating device, comprising:

[0169] The first acquisition unit 501 is used to acquire acupoint information of all acupoints in the first container, and the acupoint information includes at least the acupoint type of each acupoint.

[0170] The first acquisition unit 501 includes:

[0171] The scanning subunit 5011 is used to obtain 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 being grasped by the robotic arm in the tray-stacking device;

[0173] The judgment unit 503 is used to monitor the storage status of all acupoints in the first container in real time, and to determine whether the first container meets the placement conditions based on the storage status and material type.

[0174] Judgment unit 503 includes:

[0175] Replacement subunit 5031 is used to replace the first container with a second container in the unloading area if the first container does not meet the placement conditions. The second container is a container with cavities and the cavity type of the cavities matches the material type.

[0176] The determining unit 504 is used to determine the target feeding acupoint based on the material type and acupoint information if the first container meets the placement conditions. The acupoint type of the target feeding acupoint matches the material type.

[0177] Determining unit 504 includes:

[0178] The first determining subunit 5051 is used to determine the target group based on the material type and acupoint information, wherein the acupoint type of each acupoint in the target group is matched with the material type.

[0179] The second determining subunit 5052 is used to determine the initial position of the initial acupoints 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 plating order. The position pointer always points to the empty hole at the beginning of the sorting 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, based on the acupoint information. The spacing includes row spacing and column spacing.

[0182] The fifth determining subunit 5055 is used to determine the target material feeding cavity based on the position of the position pointer, the initial position, the number of rows, the number of columns, and the spacing.

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

[0184] The location of the target material feeding cavity is calculated using the following formula:

[0185] X = X1 + (Number of pointer columns - 1) * Column spacing formula ①

[0186] Y = Y1 + (Number of pointer rows - 1) * Line spacing formula ②

[0187] Where X represents the column number of the target feeding hole in the first container, Y represents the row number of the target feeding hole in the first container, X1 is the column number of the initial hole in the first container, and Y1 is the row number of the initial hole in the first container;

[0188] The fifth defined subunit 5055 includes:

[0189] The labeling module 50551 is used to assign a grid number to each acupoint in the target group according to the arrangement order.

[0190] The determination module 50552 is used to determine the target cell number corresponding to the empty cell at the top of the sorting list in the target group where no material has been placed.

[0191] The calculation module 50553 is used to calculate the number of pointer columns and pointer rows of the position pointer based on the target cell number and the total number of columns in the first container;

[0192] The calculation module includes:

[0193] The calculation submodule 505531 is used to calculate the quotient and remainder value obtained by dividing the target cell number label 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 0, the number of pointer rows equals the quotient value, and the number of pointer columns equals the total number of columns;

[0196] Control unit 505 is used to control the robotic arm to lower the material into the target feeding cavity.

[0197] Please see Figure 6 This application also provides a control device for a plating apparatus, comprising:

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

[0199] The processor 601 is connected to the memory 602, the input / 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 control methods described above.

[0201] This application also relates to a computer-readable storage medium on which a program is stored, which, when run on a computer, causes the computer to perform any of the control methods described above.

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

[0203] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

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

[0205] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0206] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A control method for a tray-stacking device, characterized in that, include: Obtain acupoint information for all acupoints in the first container, wherein the acupoint information includes at least the acupoint type for each acupoint; Obtain the material type of the material currently being grasped by the robotic arm in the tray-stacking device; The storage status of all acupoints in the first container is monitored in real time, and the first container is judged to meet the placement conditions based on the storage status and the material type. If the first container meets the placement conditions, then the target feeding point is determined according to the material type and the acupoint information, and the acupoint type of the target feeding point matches the material type; The robotic arm is controlled to lower the material into the target feeding cavity; The step of determining the target feeding acupoint based on the material type and the acupoint information includes: A target group is determined based on the material type and the acupoint information, wherein the acupoint type of each acupoint in the target group is matched with the material type; Determine the initial positions of the initial acupoints in the target group; The position of the position pointer in the target group is determined according to the preset plating order, and the position pointer always points to the first empty hole in the target group. Based on the acupoint information, determine the number of rows and columns corresponding to each acupoint in the target group, and the spacing between adjacent acupoints, wherein the spacing includes row spacing and column spacing; The target feeding hole is determined based on the position of the position pointer, the initial position, the number of rows, the number of columns, and the spacing. Determining the target feeding cavity based on the initial position, the number of rows, the number of columns, and the spacing includes: Obtain the pointer column number and pointer row number where the position pointer is located; The location of the target feeding cavity is calculated according to the following formula: Where X represents the column coordinate of the target feeding hole in the first container, Y represents the row coordinate of the target feeding hole in the first container, X1 is the column number of the initial hole in the first container, and Y1 is the row number of the initial hole in the first container.

2. The control method according to claim 1, characterized in that, The step of obtaining the pointer column number and pointer row number where the position pointer is located includes: Assign a grid number to each acupoint in the target group according to the plate arrangement order; Determine the target cell number corresponding to the empty cell at the top of the sorted list in the target group where no material is placed. The number of pointer columns and pointer rows of the position pointer are calculated based on the target grid number and the total number of columns in the first container.

3. The control method according to claim 2, characterized in that, The step of calculating the number of pointer columns and pointer rows of the position pointer based on the target grid number and the total number of columns in the first container includes: Calculate the quotient and remainder obtained by dividing the target cell number label 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 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.

4. The control method according to any one of claims 1 to 3, characterized in that, The step of determining whether the first container meets the placement conditions based on the storage situation and the material type includes: If the first container does not meet the placement conditions, the second container is replaced by the first container in the unloading area. The second container is a container with cavities and the cavity type of the cavities matches the material type.

5. The control method according to any one of claims 1 to 3, characterized in that, The step of obtaining acupoint information for all acupoints in the first container includes: The acupoint information is obtained by scanning the barcode on the first container using a scanning device.

6. A control system for a tray-stacking device, applied to the control method according to any one of claims 1 to 5, characterized in that, include: The first acquisition unit is used to acquire acupoint information of all acupoints in the first container, wherein the acupoint information includes at least the acupoint type of each acupoint. The second acquisition unit is used to acquire the material type of the material currently being grasped by the robotic arm in the tray-stacking device; The judgment unit is used to monitor the storage status of all acupoints in the first container in real time, and to determine whether the first container meets the placement conditions based on the storage status and the material type. The determining unit is configured to determine a target feeding acupoint based on the material type and the acupoint information if the first container meets the placement conditions, wherein the acupoint type of the target feeding acupoint matches the material type; A control unit is used to control the robotic arm to lower the material into the target feeding cavity; The determining unit includes: The first determining subunit is used to determine a target group based on the material type and the acupoint information, wherein the acupoint type of each acupoint in the target group is matched with the material type; The second determining subunit is used to determine the initial position of the initial acupoints in the target group; The third determining subunit is used to determine the position of the position pointer in the target group according to the plate arrangement order, wherein the position pointer always points to the first empty hole in the target group. The fourth determining subunit is used to determine the number of rows and columns corresponding to each acupoint in the target group, and the spacing between adjacent acupoints, based on the acupoint information. The spacing includes row spacing and column spacing. The fifth determining subunit is used to determine the target material feeding hole based on the position of the position pointer, the initial position, the number of rows, the number of columns, and the spacing; The fifth determining subunit is specifically used to obtain the pointer column number and pointer row number where the position pointer is located; The location of the target feeding cavity is calculated according to the following formula: Where X represents the column coordinate of the target feeding hole in the first container, Y represents the row coordinate of the target feeding hole in the first container, X1 is the column number of the initial hole in the first container, and Y1 is the row number of the initial hole in the first container.

7. A control device for a tray-stacking device, characterized in that, include: Processor, memory, input / output units, and bus; The processor is connected to the memory, the input / output unit, and the bus; The memory stores a program, which the processor invokes to execute the control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a program stored thereon, the program performing the control method as described in any one of claims 1 to 5 when executed on a computer.

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