Dynamic PCB spraying system, method and device and storage medium

Abstract

The invention relates to the field of circuit board manufacturing, in particular to a dynamic PCB spraying system, method and device and a storage medium. The system is applied to a production line of PCBs, the production line comprises a conveyor belt and at least one PCB moving along with the conveyor belt, the system comprises a camera, a spraying device, a robot and a controller, the camera is fixedly arranged above the conveyor belt, the spraying device is fixedly connected to the robot tail end of the robot, and the controller is connected with the camera. The controller is electrically connected with the camera and the robot. The system can be nested on a production line of the PCBs, three-proofing paint spraying operation of the PCBs is completed under the condition that the PCBs are not moved, the PCBs do not need to be manually placed and taken away, the labor cost is saved, the system is positioned through vision, a carrier does not need to be designed, the PCBs can flow along with a conveying belt at any angle, and the production efficiency is improved. And different carriers do not need to be designed according to different PCBs, so that the cost is saved.

Description

Technical Field

[0001] The present application relates to the field of circuit board manufacturing, and specifically to a dynamic PCB board spraying system, method, device and storage medium. Background Art

[0002] With the rapid development of the electronics industry, PCB (printed circuit board) has become the core part of various electronic devices. In order to ensure the stability and reliability of PCB in harsh environments, the three-conformal paint spraying process came into being. Common methods of spraying three-conformal paint on PCB boards include manual action spraying. This method requires manual hand-held spray valves to perform corresponding spraying actions on the places on the PCB where three-conformal paint needs to be sprayed. All actions in this method are purely manual, which can easily cause uneven spraying. Another example is equipment teaching fixed-point spraying or equipment camera-assisted teaching spraying. These methods require manual placement of the PCB board on a fixed carrier, and then reproduce the taught points for spraying after teaching, which cannot save labor. Therefore, the existing three-conformal paint spraying methods for PCB boards require manual placement and removal of PCB boards, which is not simple and requires a fixed carrier to reproduce the taught trajectory. Summary of the invention

[0003] The implementation method of the present application mainly solves the technical problem that the existing PCB board spraying method requires manual movement of the PCB board to a fixed carrier and then spraying, which cannot avoid manual labor.

[0004] In order to solve the above technical problems, a technical solution adopted in the embodiment of the present application is: to provide a dynamic PCB board spraying system, which is applied to a production line of PCB boards, wherein the production line includes a conveyor belt and at least one PCB board moving with the conveyor belt, and the system includes: a camera, a spraying device, a robot and a controller, wherein the camera is fixedly arranged above the conveyor belt, the spraying device is fixedly connected to the robot end of the robot, and the controller is electrically connected to the camera and the robot;

[0005] The camera is used to obtain an image of the PCB board;

[0006] The controller is used to obtain the spraying track position of the PCB board according to the image, and plan the spraying track path of the PCB board based on the spraying track position, and is also used to generate a movement instruction based on the spraying track path, and provide the movement instruction to the robot;

[0007] The robot is used to control the spraying equipment to move and spray based on the spraying trajectory path according to the movement instruction;

[0008] The spraying equipment is used to spray the PCB board.

[0009] Optionally, the spraying equipment is provided with a spraying valve body, and the robot is used to open the spraying valve body when controlling the spraying equipment to move based on the spraying trajectory path, so as to spray the PCB board.

[0010] Optionally, the conveyor belt is also provided with an encoder, the controller is electrically connected to the encoder, and the encoder is used to provide the controller with movement information of the conveyor belt, so that the controller plans the spraying trajectory path of the PCB board based on the movement information.

[0011] Optionally, the controller is also used to obtain a PCB template image, and the PCB template image is pre-taught with a spraying trajectory segment.

[0012] In order to solve the above technical problems, another technical solution adopted in the embodiment of the present application is: to provide a dynamic PCB board spraying method, which is applied to the above-mentioned dynamic PCB board spraying system, and the method comprises:

[0013] Acquire an image of the PCB board;

[0014] Acquire the spraying track position of the PCB board based on the image, and plan the spraying track path of the PCB board based on the spraying track position;

[0015] A movement instruction is generated based on the spraying trajectory path, and according to the movement instruction, the spraying equipment is controlled to move based on the spraying trajectory path to spray the PCB board.

[0016] Optionally, acquiring the spraying track position of the PCB board based on the image includes:

[0017] Get the spraying trajectory segment corresponding to the PCB template image;

[0018] Determining pixel coordinate information corresponding to the spraying trajectory segment according to the image and the spraying trajectory segment;

[0019] The pixel coordinate information is converted into a coordinate information set in the robot base coordinate system to serve as the spraying trajectory position corresponding to the PCB board.

[0020] Optionally, the horizontal coordinate direction of the robot base coordinate system is the flow direction of the conveyor belt.

[0021] Optionally, planning the spraying trajectory path of the PCB board based on the spraying trajectory position includes:

[0022] Acquiring movement information of the conveyor belt;

[0023] Tracking the PCB board according to the movement information, and planning the movement between the endpoints of the spraying trajectory path;

[0024] According to the movement between the end points and the flow distance of the conveyor belt, the spraying trajectory path of the PCB board is planned.

[0025] Optionally, the method further includes setting a PCB template image, wherein setting the PCB template image includes:

[0026] Taking an image of the PCB board by the camera as a teaching image;

[0027] Determining spraying trajectory segments in the teaching image in the form of polylines;

[0028] A spraying time is set for each of the spraying trajectory segments to generate a PCB template image.

[0029] In order to solve the above technical problems, another technical solution adopted in the embodiment of the present application is: to provide a dynamic PCB board spraying device, comprising:

[0030] An image acquisition module, used to acquire an image of the PCB board;

[0031] A path planning module, used to obtain the spraying trajectory position of the PCB board based on the image, and plan the spraying trajectory path of the PCB board based on the spraying trajectory position;

[0032] The spraying control module is used to generate a movement instruction based on the spraying trajectory path, and control the spraying equipment to move based on the spraying trajectory path according to the movement instruction, so as to spray the PCB board.

[0033] In order to solve the above technical problems, another technical solution adopted in the implementation mode of the present application is: providing a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned dynamic PCB board spraying method.

[0034] Different from the related art, the embodiment of the present application provides a dynamic PCB board spraying system, method, device and storage medium. The system is applied to the production line of PCB boards, wherein the production line includes a conveyor belt and at least one PCB board moving with the conveyor belt. The system includes a camera, a spraying device, a robot and a controller, wherein the camera is fixedly arranged above the conveyor belt, the spraying device is fixedly connected to the robot end of the robot, and the controller is electrically connected to the camera and the robot. The system can be nested in the production line of PCB boards, and complete the three-proof paint spraying operation of the PCB board without moving the PCB board. There is no need to manually place and remove the PCB board, which saves labor costs. Moreover, the system uses visual positioning, does not need to design a carrier, the PCB board can flow with the conveyor belt at any angle, and does not need to design different carriers according to different PCB boards, which saves costs. It can also design multiple spraying areas or spraying trajectories of different shapes in combination with image editing methods, which can adapt to various spraying requirements such as fixed-point spraying, multi-segment line spraying, arc spraying, etc., and realize dynamic tracking spraying, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0036] Figure 1 is a schematic diagram of a dynamic PCB board spraying system provided in an embodiment of the present application;

[0037] Figure 2 It is an example of a teaching diagram of a spraying trajectory segment in a PCB template image provided in an embodiment of the present application;

[0038] Figure 3 It is a logic flow diagram of a dynamic PCB board spraying provided in an embodiment of the present application;

[0039] Figure 4 It is a method schematic diagram of a dynamic PCB board spraying method provided in an embodiment of the present application;

[0040] Figure 5 It is a structural schematic diagram of a dynamic PCB board spraying device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the protection scope of the present application. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device schematic diagram or the flow chart.

[0042] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0043] In order to ensure the stability and reliability of PCB in adverse environments, PCB boards are usually sprayed with conformal coating. After curing, a transparent protective film is formed on some parts of the PCB board to prevent moisture, dust and corrosion. Existing spraying methods can be roughly divided into two categories. One is pure manual spraying. This method requires the staff to hold the spray valve, aim at the place where the PCB board needs to be sprayed with conformal coating, and open the air valve to perform the corresponding spraying action. Since the spraying needs to be manually controlled, it is easy to cause uneven spraying. The other is to first teach the teaching PCB board on the carrier to spray, then convert the teaching coordinates into robot coordinates, and then move the PCB board to the carrier for spraying. Since it needs to be sprayed according to the teaching coordinates, the PCB board needs to be moved to the carrier for spraying. Generally, the PCB board is placed and removed manually, which is not easy, and the carrier needs to be fixed to reproduce the taught trajectory.

[0044] Based on this, the present application proposes a dynamic PCB board spraying system, which can be nested in the production line of PCB boards to spray conformal coating on PCB boards. First, the image and movement state of the PCB board are acquired through a camera, and the spraying trajectory position of the PCB board is determined according to the pre-taught spraying trajectory segment. Then, the spraying trajectory path of the PCB board is determined according to the spraying trajectory position and the robot base coordinate system. The robot controls the spraying valve body of the spraying equipment to move along the spraying trajectory path, and sprays conformal coating on the PCB board during the movement, so as to complete the conformal coating operation of the PCB board without additionally moving the PCB board. Since there is no need to manually place and remove the PCB board, labor costs are saved, and combined with visual positioning technology, there is no need to design a carrier. The PCB board can flow with the conveyor belt of the production line at any angle to achieve dynamic tracking spraying.

[0045] See also Figure 1 The embodiment of the present application provides a dynamic PCB board spraying system, which can be nested in a PCB board production line. As shown in the figure, the PCB board production line includes a conveyor belt 21 (only a part of the conveyor belt is shown in the figure), and at least one PCB board 22 moving with the conveyor belt. In the figure, a PCB board is taken as an example. It is assumed that the moving direction of the conveyor belt is from left to right, and the PCB board flows to the right following the conveyor belt.

[0046] like Figure 1 As shown, the dynamic PCB board spraying system includes a camera 11, a spraying device 12, a robot 13 and a controller (not shown in the figure), the camera 11 is fixedly arranged above the conveyor belt 21, the spraying device 12 is fixedly connected to the robot end of the robot 13, and the controller is electrically connected to the camera 11 and the robot 13. It can be understood that Figure 1 The example is close to a schematic diagram of a top view perspective. In the main view perspective, the camera 11 is located above the conveyor belt 21. Figure 1 The example of the position of the camera 11 is only for convenience of explanation.

[0047] Specifically, the PCB board flows on the conveyor belt. When the PCB board flows into the field of view of the camera 11, the camera 11 obtains images of the conveyor belt and the PCB board. The controller can identify the PCB board through these images, and then obtain the spraying trajectory position of the PCB board. In this embodiment, the controller can obtain the spraying trajectory position of the PCB board through the PCB template image. Specifically, the PCB template image pre-teaches the spraying trajectory segment of the PCB board on the current assembly line that will be sprayed with three-proof paint. The controller can perform feature matching between the identified PCB board and the PCB template image, determine the spraying trajectory position corresponding to the current PCB board according to the pre-taught spraying trajectory segment, and quickly extract the pixel coordinates corresponding to the spraying trajectory segment (especially the end point of the spraying trajectory segment) taught by the identified PCB template image, and then convert the pixel coordinates into the coordinate information set of the robot base coordinate system through the conversion relationship between the pixel coordinate system and the robot base coordinate system, thereby determining the spraying trajectory position of the PCB board.

[0048] After the spraying trajectory position is determined, the controller can plan the spraying trajectory path of the PCB board based on the spraying trajectory position in combination with the flow speed of the conveyor belt. In some embodiments, the conveyor belt of the PCB production line is also provided with an encoder 15, and the controller is electrically connected to the encoder 15. The controller can determine the movement information of the conveyor belt through the encoder to feedback the current flow distance of the PCB board in real time, and then convert it into the position of the current PCB board in the robot base coordinate system, thereby planning the spraying trajectory path of the PCB board. Among them, the end of the robot can be connected to the spraying equipment in the form of a spraying valve body of the spraying equipment. The robot can open the spraying valve body when the spraying equipment moves based on the spraying trajectory path, spray the PCB board with three-proof paint, and close the spraying valve body after the spraying action is completed.

[0049] Specifically, first, the spray valve body clamped by the robot is driven to move to the position corresponding to the starting point of the spray trajectory segment of the PCB board after the preset time Δt, and reaches a synchronous state with the PCB board. At the same time, the controller can generate a movement instruction based on the spray trajectory path, and control the movement of the robot end and the spray equipment to spray the PCB board through the movement instruction, wherein the movement of the spray trajectory path is planned and superimposed on the movement of the conveyor belt direction obtained according to the encoder, thereby determining the movement instruction. Specifically, after reaching the synchronous state, the spray valve body is controlled to open, and the relative movement between the robot end (especially the spray port of the spray equipment) and the PCB board is realized according to the movement instruction, so as to complete the spraying of the corresponding spray trajectory segment, and the spray valve body is controlled to close after the spraying of the spray trajectory segment is completed.

[0050] In the application scenarios corresponding to some embodiments, some PCB boards also have more than one place that needs to be sprayed with conformal coating. Figure 2 As shown, assuming that a PCB template image corresponds to Figure 2 As shown in the teaching diagram of the spraying trajectory segment, it can be seen from the figure that the spraying trajectory segment that needs to be sprayed with triple-proof paint for this type of PCB board includes spraying trajectory 1 and spraying trajectory 2. Based on the dynamic PCB board spraying system in the above embodiment, you can choose to complete the spraying action of spraying trajectory 1 first, and then move the spraying equipment to the starting point of spraying trajectory 2, and realize the synchronous motion state again. At the same time, plan the movement of spraying trajectory 2 and superimpose the movement in the direction of the conveyor belt, determine the movement instruction, and after reaching the synchronous state, control the opening of the spray valve body, and implement the spraying action corresponding to spraying trajectory 2 according to the movement instruction. After the spraying is completed, control the closing of the spray valve body. When all the spraying trajectories in the spraying trajectory segment are sprayed, control the robot terminal to slow down and stop, and then wait to receive the spraying control related instructions for the next PCB board sent by the controller. The logical flow of the system control is as follows Figure 3 shown.

[0051] The dynamic PCB board spraying system in the above embodiment includes a controller, which is used to control the entire dynamic PCB board spraying system to normally complete the spraying work. It should be noted that the controller described in the system is only for the convenience of explanation. In actual situations, the controller can be a controller that controls the entire system, or it can be a general term for multiple controllers that control different parts of the system. For example, in some embodiments, the system may include a camera controller and a robot controller, wherein the camera controller can control the camera to capture images, can perform feature matching, extract the spraying trajectory segment taught, can perform coordinate conversion, and convert the pixel coordinates corresponding to the endpoints of the spraying trajectory segment into the coordinate information of the robot base coordinate system, and then provide the relevant information to the robot controller through TCP / IP communication or other communication methods. The robot controller can plan the spraying trajectory path according to this information, and generate movement instructions, and control the spraying equipment according to the movement instructions to complete the spraying work. It can be understood that the above-mentioned camera controller and robot controller are only an example of controller configuration, and one or more controllers with different numbers or functions can also be configured in different application scenarios, which is not limited in the embodiments of the present application.

[0052] The dynamic PCB board spraying system provided by the embodiment of the present application is applied to the production line of PCB boards, wherein the production line includes a conveyor belt and at least one PCB board moving with the conveyor belt, and the system includes a camera, a spraying device, a robot and a controller, wherein the camera is fixedly arranged above the conveyor belt, the spraying device is fixedly connected to the robot end of the robot, and the controller is electrically connected to the camera and the robot. The system can be nested in the production line of the PCB board, and complete the three-proof paint spraying operation of the PCB board without moving the PCB board, and does not need to manually place and remove the PCB board, saving labor costs, and the system does not need to design a carrier through visual positioning, the PCB board can flow with the conveyor belt at any angle, and does not need to design different carriers according to different PCB boards, saving costs, and can also design multiple spraying areas or spraying trajectories of different shapes in combination with image editing methods, which can adapt to various spraying requirements such as fixed-point spraying, multi-segment line spraying, arc spraying, etc., and realize dynamic tracking spraying, and has a wide range of applications.

[0053] The present application embodiment provides a dynamic PCB board spraying method, which is applied to the dynamic PCB board spraying system in the above embodiment. Figure 4 , the method comprising:

[0054] S11, obtaining an image of the PCB board. The PCB board follows the conveyor belt of the assembly line, and when it enters the field of view of the camera, the camera is triggered to capture, thereby obtaining an image of the PCB board on the conveyor belt.

[0055] S12, acquiring the spraying track position of the PCB board based on the image, and planning the spraying track path of the PCB board based on the spraying track position. Wherein, acquiring the spraying track position of the PCB board based on the image includes:

[0056] S121, obtaining the spraying track segment corresponding to the PCB template image. Combined with the PCB template image, after processing such as feature matching or similar image processing methods, PCB board image information consistent with the template PCB board image is obtained, and the PCB template image has a pre-taught spraying track segment, thereby determining the spraying track segment.

[0057] S122, determining pixel coordinate information corresponding to the spraying trajectory segment according to the image and the spraying trajectory segment. According to the image of the PCB board and the matched PCB template image, determining pixel coordinate related information in the pixel coordinate system corresponding to the spraying trajectory segment in the image of the PCB board, such as a coordinate information set in the pixel coordinate system, and information such as a timestamp of the captured image.

[0058] S123, converting the pixel coordinate information into a coordinate information set in the robot base coordinate system to serve as the spraying track position corresponding to the PCB board. According to the conversion relationship of the coordinate system, the pixel coordinate information set is converted into a coordinate information set in the robot base coordinate system.

[0059] by Figure 2 For example, suppose the spray trajectory segment that has been taught in advance is Figure 2 As shown in the figure, in the process of setting the PCB template image, first trigger the industrial camera to capture the image, then select the PCB board in the image, and obtain the selected ROI (region of interest) as the PCB template image, and then draw the spraying trajectory segment on the PCB template image. The trajectory segment is determined by the actual spraying area. The staff only needs to draw the area to be sprayed on the PCB template image with multiple lines. At the same time, the staff will set the spraying time for each trajectory segment.

[0060] When taking an image of the PCB board, the timestamp of the capture is recorded and the timestamp is recorded as time1. The coordinate information set in the pixel coordinate system corresponding to the image includes: the first spraying trajectory: P1 (x1, y1, z1, u1), P2 (x2, y2, z2, u2), spraying time t1; the second spraying trajectory: P3 (x3, y3, z3, u3), P4 (x4, y4, z4, u4), P5 (x5, y5, z5, u5), P6 (x6, y6, z6, u6), spraying time t2.

[0061] The planning of the spraying trajectory path of the PCB board based on the spraying trajectory position includes:

[0062] S124, obtaining movement information of the conveyor belt, wherein the movement information includes the speed of the conveyor belt.

[0063] Still Figure 2 The corresponding embodiment is explained. After obtaining the spraying track position of the PCB board, the current system timestamp time2 is obtained in combination with the above information, and the difference Δtime between the current system timestamp and the photo timestamp is calculated:

[0064] Δtime=time2-time1

[0065] Get the conveyor belt encoder data encoder_pos1 before Δtime from the array of cached encoder data, and get the conveyor belt encoder data encoder_pos2 at the current moment, and calculate the difference Δencoder_pos between the current encoder data and the encoder data when taking the photo:

[0066] Δencoder_pos=encoder_pos2-encoder_pos1

[0067] According to the encoder data at the above two moments, the conveyor belt speed belt_v1 is calculated:

[0068]

[0069] S125, tracking the PCB board according to the movement information, and planning the movement between the endpoints of the spraying trajectory path.

[0070] Further, the current position of the robot end is read and set to P0 (x0, y0, z0, u0), the synchronization point between the robot end and the spraying trajectory segment is the starting point P1 (x1, y1, z1, u1) of the spraying trajectory segment, and the spraying valve body at the robot end and the current PCB board on the conveyor belt can reach the synchronization state after setting the time Δt, so the spraying valve body at the robot end needs to accelerate from zero speed to the same speed as the conveyor belt, that is, belt_v1, and the spraying port at the robot end reaches the starting point P1 of the first spraying trajectory, so as to achieve speed synchronization tracking. In some embodiments, in order to simplify the algorithm, the horizontal coordinate direction of the robot base coordinate system is set to the flow direction of the conveyor belt. Based on this, the speed of the robot after achieving synchronous tracking is belt_v1, and the position of the spraying port in the robot base coordinate system is P (x, y, z, u).

[0071] Among them, P(x, y, z, u) is calculated as follows:

[0072] x=x1+Δencoder_pos+belt_v1*Δt

[0073] y=y1

[0074] z=z1

[0075] u=u1

[0076] S126. According to the movement between the endpoints and the flow distance of the conveyor belt, a spraying trajectory path of the PCB board is planned.

[0077] S13, generating a movement instruction based on the spraying trajectory path, and according to the movement instruction, controlling the spraying equipment to move based on the spraying trajectory path to spray the PCB board.

[0078] In the first spraying area, the first straight line motion from point P1 to point P2 is planned within time t1, and the distance and tracking error of the conveyor flow are superimposed to realize the relative motion between the robot end and the spraying trajectory. The movement instruction is generated and provided based on the interpolation cycle, that is, a movement instruction is provided once per interpolation cycle to control the spraying equipment to move and spray. For the convenience of explanation, the movement from point P1 to point P2 is used here without considering speed planning. Specifically, the conveyor encoder position encoder_pos is read every interpolation cycle ts (the interpolation cycle is a fixed set value, and it can be assumed here that an interpolation cycle is 1 millisecond), and the tracking error value error_distance caused by the conveyor speed fluctuation is calculated.

[0079] Therefore, the position of each interpolation cycle at the end of the robot is calculated as follows:

[0080] error_distance=(encoder_pos-encoder_pos1)-(x-x1)

[0081]

[0082]

[0083]

[0084]

[0085] At the same time, during the relative movement in this stage, the spray valve body is opened, and as the robot moves, the conformal paint can be sprayed to the corresponding spray trajectory segment to complete the spraying task.

[0086] like Figure 2 As shown, after completing the first spraying area (i.e., spraying trajectory 1), the robot end drives the spray port to the PCB board position where point P2 is located. The robot end needs to run again and move to P32 shown in the figure. At this time, because P3 moves with the conveyor belt, the robot end is at point P2 of the PCB board, and the absolute distance relationship between P3 and the PCB board where P2 is located remains unchanged. Therefore, the spray valve port at the robot end only needs to superimpose the movement of the conveyor belt during the movement process to move to the position corresponding to P3.

[0087] After the end of the robot reaches point P3, multiple straight line planning is performed, and the uniform moving distance of the conveyor belt and the error caused by the speed fluctuation of the conveyor belt collected by the encoder are superimposed. The relative motion between the robot and the target corresponding to the spraying trajectory 2 can be realized, and the spraying action operation can be realized. The principle is the same as the steps corresponding to P1 to P2 above, and will not be repeated here.

[0088] After the robot completes all the spraying operations, the robot terminal is controlled to decelerate to a stop and wait for the relevant instructions corresponding to the next PCB board. Since the robot terminal only has the speed belt_v1 in the X-axis direction, its deceleration process only needs to plan the X direction to decelerate from belt_v1 to 0 to achieve deceleration to a stop.

[0089] The dynamic PCB board spraying method provided in the embodiment of the present application is applied to the above-mentioned dynamic PCB board spraying system, which can be nested in the production line of PCB boards. The method uses visual positioning and does not require the design of carriers. The PCB boards can flow with the conveyor belt at any angle, and there is no need to design different carriers according to different PCB boards, which saves costs. It can also combine image editing to design multiple spraying areas or spraying trajectories of different shapes. It can adapt to various spraying needs such as fixed-point spraying, multi-segment line spraying, arc spraying, etc., and realize dynamic tracking spraying, and has a wide range of applications.

[0090] The present application embodiment provides a dynamic PCB board spraying device, such as Figure 5 As shown, the dynamic PCB board spraying device 300 includes an image acquisition module 31, a path planning module 32 and a spraying control module 33.

[0091] Specifically, the image acquisition module 31 can acquire the image of the PCB board; the path planning module 32 can acquire the spraying trajectory position of the PCB board based on the image, and plan the spraying trajectory path of the PCB board based on the spraying trajectory position; the spraying control module 33 can generate a movement instruction based on the spraying trajectory path, and according to the movement instruction, control the spraying equipment to move based on the spraying trajectory path to spray the PCB board.

[0092] The above-mentioned dynamic PCB board spraying device can execute the dynamic PCB board spraying method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in the embodiment of the dynamic PCB board spraying device, please refer to the dynamic PCB board spraying method provided by the embodiment of the present invention. The device embodiment described above is merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0093] Furthermore, the embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more computer chips, so that the one or more computer chips can execute the dynamic PCB board spraying method in any of the above method embodiments, for example, executing the method steps S11, S12, S13, etc. described above, to achieve Figure 5 The functions of each module in.

[0094] The above product can execute the dynamic PCB board spraying method provided in the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in the above product embodiment, please refer to the dynamic PCB board spraying method provided in the embodiment of the present application.

[0095] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A dynamic PCB board spraying system, characterized in that: The system is applied to a production line of PCB boards, the production line comprising a conveyor belt and at least one PCB board moving with the conveyor belt, the system comprising: a camera, a spraying device, a robot and a controller, the camera is fixedly arranged above the conveyor belt, the spraying device is fixedly connected to the robot end of the robot, and the controller is electrically connected to the camera and the robot; The camera is used to obtain an image of the PCB board; The controller is used to obtain the spraying track position of the PCB board according to the image, and plan the spraying track path of the PCB board based on the spraying track position, and is also used to generate a movement instruction based on the spraying track path, and provide the movement instruction to the robot; The robot is used to control the spraying equipment to move and spray based on the spraying trajectory path according to the movement instruction; The spraying equipment is used to spray the PCB board.

2. The dynamic PCB board spraying system according to claim 1, characterized in that: The spraying equipment is provided with a spraying valve body, and the robot is used to open the spraying valve body when controlling the spraying equipment to move based on the spraying trajectory path, so as to spray the PCB board.

3. The dynamic PCB board spraying system according to claim 1, characterized in that: The conveyor belt is also provided with an encoder, and the controller is electrically connected to the encoder. The encoder is used to provide the controller with movement information of the conveyor belt, so that the controller plans the spraying trajectory path of the PCB board in combination with the movement information.

4. The dynamic PCB board spraying system according to any one of claims 1 to 3, characterized in that: The controller is also used to obtain a PCB template image, and the PCB template image is pre-taught with a spraying trajectory segment.

5. A dynamic PCB board spraying method, applied to the dynamic PCB board spraying system as claimed in any one of claims 1 to 4, characterized in that: The method comprises: Acquire an image of the PCB board; Acquire the spraying track position of the PCB board based on the image, and plan the spraying track path of the PCB board based on the spraying track position; A movement instruction is generated based on the spraying trajectory path, and according to the movement instruction, the spraying equipment is controlled to move based on the spraying trajectory path to spray the PCB board.

6. The method according to claim 5, characterized in that The step of acquiring the spraying track position of the PCB board based on the image comprises: Get the spraying trajectory segment corresponding to the PCB template image; Determining pixel coordinate information corresponding to the spraying trajectory segment according to the image and the spraying trajectory segment; The pixel coordinate information is converted into a coordinate information set in the robot base coordinate system to serve as the spraying trajectory position corresponding to the PCB board.

7. The method according to claim 6, characterized in that The horizontal coordinate direction of the robot base coordinate system is the flow direction of the conveyor belt.

8. The method according to claim 6, characterized in that The planning of the spraying trajectory path of the PCB board based on the spraying trajectory position includes: Acquiring movement information of the conveyor belt; Tracking the PCB board according to the movement information, and planning the movement between the endpoints of the spraying trajectory path; According to the movement between the end points and the flow distance of the conveyor belt, the spraying trajectory path of the PCB board is planned.

9. The method according to claim 6, characterized in that The method further includes setting a PCB template image, wherein setting the PCB template image includes: Taking an image of the PCB board by the camera as a teaching image; Determining spraying trajectory segments in the teaching image in the form of polylines; A spraying time is set for each of the spraying trajectory segments to generate a PCB template image.

10. A dynamic PCB board spraying device, characterized in that: include: An image acquisition module, used to acquire an image of the PCB board; A path planning module, used to obtain the spraying trajectory position of the PCB board based on the image, and plan the spraying trajectory path of the PCB board based on the spraying trajectory position; The spraying control module is used to generate a movement instruction based on the spraying trajectory path, and control the spraying equipment to move based on the spraying trajectory path according to the movement instruction, so as to spray the PCB board.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the dynamic PCB board spraying method as described in any one of claims 5-9.

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