Visual positioning data processing method and system for ceramic chip processing

Abstract

The invention provides a visual positioning data processing method and platform for ceramic chip processing. The method comprises the following steps: placing a required ceramic chip in a planning area, and carrying out primary visual positioning detection on the required ceramic chip based on an initial frame diagram; determining the primary state as a normal state, and determining each air suction hole position occupied by the required ceramic chip as an air suction set; an air suction unit is triggered to execute air suction operation on the corresponding bottom surface on each air suction hole site in the air suction set, and an air blowing unit is triggered to execute air blowing operation on the corresponding side surface on the required ceramic chip; comparing the current frame diagram of the corresponding placement frame acquired after the blowing operation with the initial frame diagram, and performing secondary visual positioning detection on the required ceramic chip based on a comparison result; and determining the secondary state as a normal state based on the detection result, triggering the screen printing unit to perform printing operation on the required ceramic chip, and triggering the ejector pin unit to perform ejector pin operation on each air suction hole position in the air suction group in response to completion of the printing operation. The printing quality is at least improved.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a visual positioning data processing method and platform for tile processing. Background Art

[0002] As one of the core processes for surface pattern processing, screen printing technology is widely used in the field of high-precision printing of hard materials such as ceramics and glass. Traditional semi-automatic screen printers usually rely on mechanical fixtures or vacuum adsorption devices to fix the substrate, but there are still significant defects when processing ceramic workpieces with smooth surfaces and easy deviation.

[0003] The inventors found in their research that a single adsorption hole or fixed fixture is difficult to adapt to ceramic tiles of different sizes and shapes, and is prone to positioning deviations due to uneven distribution of adsorption force. In addition, existing semi-automatic screen printing machines rely heavily on single static recognition for positioning detection before printing, which affects the alignment accuracy of the printed pattern.

[0004] In response to the above problems, there is an urgent need for a semi-automatic silk-screen printing system that integrates dynamic adsorption control, multi-stage positioning verification and collaborative actuators to achieve accurate and stable printing of ceramic workpieces. Summary of the invention

[0005] Based on the above problems, the present invention is proposed to provide a visual positioning data processing method and platform for tile processing that overcomes the above problems or at least partially solves the above problems.

[0006] According to one aspect of the present invention, a method for processing visual positioning data for tile processing is provided, comprising the following steps: The required tile is placed in the planned area in the placement frame, and a visual positioning detection is performed on the required tile based on the collected initial frame diagram of the corresponding placement frame; Based on the detection result, it is determined that the state is normal, and each air suction hole position opened on the bottom surface of the placement frame occupied by the required tile is determined as an air suction set; The suction unit is triggered to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction set, and the blowing unit is triggered to perform a blowing operation on the corresponding side surface of the required tile for a preset time; Compare the current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation with the initial frame diagram, and perform secondary visual positioning detection on the required tile based on the comparison result; Based on the detection result, it is determined that the secondary state is a normal state, the screen printing unit is triggered to perform a printing operation on the required tile, and in response to the completion of the printing operation, the ejector unit is triggered to perform an ejector operation on each suction hole position in the suction group.

[0007] Optionally, in the method according to the present invention, placing the required tile in a planned area in a placement frame comprises: Performing image recognition on the frame top view corresponding to the placement frame, and determining the hole position areas corresponding to the air suction hole positions located in the placement frame based on the recognition result; Acquire each frame contour line segment corresponding to the placement frame based on the frame top view, and in response to any frame contour line segment not being connected to any hole area, determine the frame contour line segment as a planning contour line segment; In response to any frame contour line segment being connected to any hole location area, the frame contour line segment is moved toward a frame center point corresponding to the frame top view until it is no longer connected to any hole location area, and the frame contour line segment is determined as a planned contour line segment; The required tiles are placed in the planning area formed based on the planning contour line segments.

[0008] Optionally, in the method according to the present invention, placing the required tile in a planning area formed based on each of the planning contour line segments comprises: Based on the tile size of the corresponding required tile and the area size corresponding to the planned area, each placement area showing an array distribution and having a spacing distance greater than or equal to the aperture size of the corresponding air intake hole position is generated in the framework top view; Acquire each placement contour line segment corresponding to each placement area, and aggregate two placement contour line segments corresponding to the same placement area and extending along the same extension direction into the same placement line segment group; Determine two placement contour line segments in the same placement line segment group as a first placement line segment and a second placement line segment, respectively, and in response to at least one of the first placement line segment and the second placement line segment being connected to the hole position area, adjust the position of the placement area of ​​the corresponding placement line segment group; Obtain the required tiles with the same number as the placement areas, and perform placement operations on the required tiles based on the placement areas.

[0009] Optionally, in the method according to the present invention, in response to at least one of the first placement line segment and the second placement line segment being connected to the hole area, the placement area of ​​the corresponding placement line segment group is adjusted in position, including: In response to the first placement line segment and the second placement line segment both being connected to different hole location areas, the hole location area connected to the first placement line segment is determined as the first target area, and the hole location area connected to the second placement line segment is determined as the second target area; Based on the positional relationship between the first target area and the second target area, the placement area is moved to a position where it is not connected to any target area.

[0010] Optionally, in the method according to the present invention, based on the positional relationship between the first target area and the second target area, moving the placement area to a position where there is no connection relationship with any target area includes: Divide the first target area into regions based on the first placement line segment to obtain a first inner region located within the placement area and a first outer region located outside the placement area; Divide the second target area into regions based on the second placement line segment to obtain a second inner region located within the placement area and a second outer region located outside the placement area; Obtaining the point-line distances between each image pixel constituting the first outer region and the first placement line segment, and selecting the largest point-line distance as the first target distance; Obtaining the point-line distances between each image pixel constituting the second outer area and the second placement line segment, and selecting the largest point-line distance as the second target distance; In response to the first target distance being smaller than the second target distance, the placement area is moved forward away from the first target area until the second placement line segment is not connected to the second target area; In response to the first target distance being greater than or equal to the second target distance, the placement area is moved in the opposite direction away from the second target area until the first placement line segment is no longer connected to the first target area.

[0011] Optionally, in the method according to the present invention, in response to at least one of the first placement line segment and the second placement line segment being connected to the hole area, the placement area of ​​the corresponding placement line segment group is adjusted in position, including: In response to the first placement line segment being connected to any hole location area and the second placement line segment being not connected to any hole location area, the hole location area connected to the first placement line segment is determined as a third target area and the hole location area close to the second placement line segment is determined as a fourth target area; Based on the positional relationship between the third target area and the fourth target area, the placement area is moved to a position where there is no connection relationship with the third target area.

[0012] Optionally, in the method according to the present invention, based on the positional relationship between the third target area and the fourth target area, moving the placement area to a position where there is no connection relationship with the third target area includes: Dividing the first target area into regions based on the first placement line segment to obtain a third inner region located within the placement area and a third outer region located outside the placement area; Obtaining the point-line distances between each image pixel constituting the third inner area and the first placement line segment, and selecting the largest point-line distance as the third target distance; Obtaining the point-line distances between each image pixel constituting the fourth target area and the second placement line segment, and selecting the smallest point-line distance to be determined as the fourth target distance; In response to the fourth target distance being greater than or equal to the third target distance, the placement area is moved forward away from the third target area until the second first placement line segment is not connected to the third target area.

[0013] Optionally, in the method according to the present invention, a visual positioning detection is performed on the required tile based on the collected initial frame diagram of the corresponding placement frame, including: Dividing the planned area into an area portion corresponding to an upper left area, an area portion corresponding to a lower left area, an area portion corresponding to an upper right area, and an area portion corresponding to a lower right area based on an area center point corresponding to the planned area, and obtaining area contour line segments corresponding to each area portion based on the planned contour line segments; Based on the frame top view, each placement area is mapped to a region contour line segment corresponding to the region portion, and each initial mapping line corresponding to each region portion is obtained; In response to completing the placement operation of each required tile based on each placement area, acquiring an initial frame diagram corresponding to the placement frame; Based on the initial framework diagram, the tile areas of the corresponding required tiles located in different regional parts are respectively mapped to the regional contour line segments corresponding to the regional parts, and the current mapping lines corresponding to the regional parts are obtained, and the initial mapping lines and the current mapping lines corresponding to the same placement area are compared for coincidence; In response to all initial mapping lines corresponding to the same placement area completely overlapping the current mapping line, determining that a detection state is a normal state; In response to any initial mapping line corresponding to the same placement area not completely overlapping the current mapping line, the placement area is determined as an abnormal area, and a detection state is determined as an abnormal state.

[0014] Optionally, in the method according to the present invention, the method further comprises: In response to a detection state being an abnormal state, an initial abnormal display image is created by superimposing the frame upper view and the initial frame image, and all initial mapping lines, all current mapping lines, and all tile areas located in the frame upper view and the initial frame image are hidden; Based on the initial abnormal display diagram, each placement contour line segment corresponding to the same abnormal area is processed with a dotted line, and the obtained current abnormal display diagram is sent to the management end; In response to the management end interacting with any abnormal area in the current abnormal display diagram, the initial mapping line and the current mapping line corresponding to the abnormal area are displayed, and the initial mapping line and the current mapping line are pixel rendered based on the first pixel value and the second pixel value respectively.

[0015] Optionally, in the method according to the present invention, determining that a state is a normal state based on the detection result, determining each suction hole position occupied by the required tile and opened on the bottom surface of the placement frame as a suction set includes: Determine that the primary state is a normal state based on the detection result, compare the difference set of the corresponding hole position area between the frame top view and the initial frame view, and determine the hole position areas that only exist in the frame top view as the prepared hole positions based on the comparison result; A frame coordinate system and an initial coordinate system are established based on the frame top view and the initial frame view, and the coordinates of each hole position corresponding to each prepared hole position are determined based on the frame coordinate system, and the coordinate groups of each region constituting each tile region are determined based on the initial coordinate system; The coordinates of each hole position are compared with those of each regional coordinate group, and each preparation hole position corresponding to the coordinates of each hole position located in the same regional coordinate group is divided into the same suction set.

[0016] Optionally, in the method according to the present invention, triggering the suction unit to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction set includes: Determine the center points of each tile corresponding to each tile area, and in response to the tile center point being located at any prepared hole position in the corresponding air intake set, divide the prepared hole positions radially arranged around the prepared hole position with the prepared hole position as the center to obtain air intake groups corresponding to different circle levels and layers; In response to the center point of the tile not being located at any of the prepared hole positions in the corresponding air intake set, the prepared hole positions radially arranged around the center point of the tile are divided into hole positions with the center point of the tile as the center, so as to obtain air intake groups corresponding to different circle levels and layers; The suction unit is triggered to perform suction operation on each suction hole position in the suction group corresponding to the maximum number of circle levels.

[0017] Optionally, in the method according to the present invention, the current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation is compared with the initial frame diagram, and a secondary visual positioning detection is performed on the required tile based on the comparison result, including: In response to completing the blowing operation, a current frame image corresponding to the placed frame is obtained, and the current frame image and the initial frame image are binarized to obtain a current image and an initial image, wherein the current image includes first pixel points corresponding to the first pixel value, and the initial image includes second pixel points corresponding to the second pixel value; Create a transparent fusion layer, and stack the current image and the initial image on the transparent fusion layer in sequence; In response to the transparent fusion layer including any first pixel point and / or any second pixel point, determining that the secondary detection state is an abnormal state, otherwise determining that the secondary detection state is a normal state; In response to the secondary detection state being an abnormal state, the suction unit is triggered to perform suction operation on each suction hole position in the suction group corresponding to the number of secondary circle layers. According to another aspect of the present invention, a visual positioning data processing platform for tile processing is provided, comprising: A primary positioning module is configured to place the required tile in a planned area in the placement frame, and perform a visual positioning detection on the required tile based on the collected initial frame diagram of the corresponding placement frame; A set determination module is configured to determine that a state is a normal state based on the detection result, and determine each suction hole position opened on the bottom surface of the placement frame occupied by the required tile as a suction set; The operation execution module is configured to trigger the suction unit to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction set, and trigger the blowing unit to perform a blowing operation on the corresponding side surface of the required tile for a preset time; The secondary positioning module is configured to compare the current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation with the initial frame diagram, and perform secondary visual positioning detection on the required tile based on the comparison result; The printing operation module is configured to determine that the secondary state is a normal state based on the detection result, trigger the screen printing unit to perform a printing operation on the required tile, and trigger the ejector unit to perform an ejector operation on each suction hole position in the suction group in response to completing the printing operation.

[0018] According to the solution of the present invention, after placing the required tile in the planned area in the placement frame, a visual positioning detection can be performed on the required tile according to the collected initial frame diagram of the corresponding placement frame, so as to determine whether the required tile is correctly located in the placement area in the placement frame. When the server determines that a state is normal based on the detection result, it can intelligently identify and determine the set of suction holes occupied by the required tile. This step not only optimizes the pertinence of the suction operation, but also effectively avoids unnecessary consumption of resources. Subsequently, the server will trigger the suction unit and the blowing unit in sequence to perform suction operations on the bottom suction holes and blowing operations on the sides of the required tile, respectively, so as to effectively detect the stability of the required tile in the placement frame. After completing the blowing operation, the server can perform a secondary visual positioning detection on the required tile by comparing the current frame diagram with the initial frame diagram, so as to determine whether the required tile is firmly located in the placement area. After determining that the secondary state is normal, the server triggers the screen printing unit to accurately print the required tile, and after the printing operation is completed, triggers the ejector unit to perform an ejector operation on the suction hole position, so as to facilitate the removal of the required tile that has completed the printing operation. The present invention can not only significantly improve the positioning accuracy and operation efficiency of the required tile in the screen printing process, but also effectively improve the corresponding production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flow chart of a method for processing visual positioning data for tile processing according to an embodiment of the present invention is shown; Figure 2 A schematic diagram showing a first target distance and a second target distance according to an embodiment of the present invention is shown; Figure 3 A schematic diagram showing an initial mapping line according to an embodiment of the present invention is shown; Figure 4 A structural block diagram of a visual positioning data processing platform for tile processing according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0020] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0021] As one of the core processes for surface pattern processing, screen printing technology is widely used in the field of high-precision printing of hard materials such as ceramics and glass. Traditional semi-automatic screen printers usually rely on mechanical fixtures or vacuum adsorption devices to fix the substrate, but there are still significant defects when processing ceramic workpieces with smooth surfaces and easy deviation.

[0022] The inventors found in their research that a single adsorption hole or fixed fixture is difficult to adapt to ceramic tiles of different sizes and shapes, and is prone to positioning deviations due to uneven distribution of adsorption force. In addition, existing semi-automatic screen printing machines rely heavily on single static recognition for positioning detection before printing, which affects the alignment accuracy of the printed pattern.

[0023] In response to the above problems, there is an urgent need for a semi-automatic silk-screen printing system that integrates dynamic adsorption control, multi-stage positioning verification and collaborative actuators to achieve accurate and stable printing of ceramic workpieces.

[0024] In order to solve the problems existing in the above-mentioned prior art, the inventor proposes the solution of the present invention. An embodiment of the present invention provides a visual positioning data processing method for tile processing, which can be executed in a computing device.

[0025] Figure 1 A flow chart of a method for processing visual positioning data for tile processing according to an embodiment of the present invention is shown, and the method is suitable for execution in a computing device.

[0026] like Figure 1 As shown, the visual positioning data processing method for tile processing proposed in this embodiment begins with step S102. In step S102, the following contents are included: The required tile is placed in the planned area in the placement frame, and a visual positioning detection is performed on the required tile based on the collected initial frame diagram of the corresponding placement frame.

[0027] For example, in this embodiment, since a plurality of suction holes are provided on the bottom surface of the placement frame for placing the required tiles, in order to ensure the suction effect of the subsequent suction holes on the required tiles, the server will first plan the placement frame to obtain the planned area, and then control the robotic arm to place the required tiles in the planned area.

[0028] When the robotic arm completes the placement operation of the required tile, the server will trigger the acquisition unit to collect images of the placement frame where the required tile is placed, and obtain an initial frame map, and then perform a visual positioning detection on the required tile based on the initial frame map to accurately determine the placement position of the required tile.

[0029] Furthermore, the above-mentioned “placing the required tile in the planned area in the placement frame” further includes the following steps: Performing image recognition on the frame top view corresponding to the placement frame, and determining the hole position areas corresponding to the air suction hole positions located in the placement frame based on the recognition result; Acquire each frame contour line segment corresponding to the placement frame based on the frame top view, and in response to any frame contour line segment not being connected to any hole area, determine the frame contour line segment as a planning contour line segment; In response to any frame contour line segment being connected to any hole location area, the frame contour line segment is moved toward a frame center point corresponding to the frame top view until it is no longer connected to any hole location area, and the frame contour line segment is determined as a planned contour line segment; The required tiles are placed in the planning area formed based on the planning contour line segments.

[0030] For example, in this embodiment, the server triggers the acquisition unit to acquire images of the placement frame before placing the required tile to obtain a top view of the frame. The server then performs image recognition on the top view of the frame to determine the hole positions corresponding to the air intake holes in the placement frame according to the recognition results.

[0031] Next, the server will obtain the corresponding frame contour segments that constitute the placement frame based on the frame top view. When each frame contour segment has no connection with any hole area, that is, each frame contour segment has no connection with the incomplete hole area, the server will determine the frame contour segment as a planned contour segment.

[0032] When a frame contour segment is connected to a hole area, the server will move the frame contour segment toward the frame center point corresponding to the frame top view until the frame contour segment is no longer connected to any hole area. At this time, the server will determine the frame contour segment as a planning contour segment, and the area surrounded by each planning contour segment as a planning area. Finally, the server will control the robot arm to place the required tile in the planning area.

[0033] When the required tiles are placed in the planned area, the outermost required tiles are placed overlapping with the contour lines of the planned area. If the planned contour line segments that constitute the planned area are connected to the hole area, the suction force will be weakened when the required tiles are subsequently suctioned through the hole area, affecting the stability of the required tiles.

[0034] This embodiment can determine the planning area in the frame top view by judging whether the frame contour line segments are connected to the hole area, so that the planning contour line segments constituting the planning area are not connected to any hole area, thereby ensuring the stability of the subsequent required tiles.

[0035] Furthermore, the above-mentioned “placing the required tile in the planning area formed based on each of the planning contour segments” further includes the following steps: Based on the tile size of the corresponding required tile and the area size corresponding to the planned area, each placement area showing an array distribution and having a spacing distance greater than or equal to the aperture size of the corresponding air intake hole position is generated in the framework top view; Acquire each placement contour line segment corresponding to each placement area, and aggregate two placement contour line segments corresponding to the same placement area and extending along the same extension direction into the same placement line segment group; Determine two placement contour line segments in the same placement line segment group as a first placement line segment and a second placement line segment, respectively, and in response to at least one of the first placement line segment and the second placement line segment being connected to the hole position area, adjust the position of the placement area of ​​the corresponding placement line segment group; Obtain the required tiles with the same number as the placement areas, and perform placement operations on the required tiles based on the placement areas.

[0036] For example, in this embodiment, the server first generates placement areas distributed in an array on the frame top view according to the tile size of the required tile and the area size of the planned area. The spacing between these placement areas must be greater than or equal to the aperture size of the air intake hole position, so as to facilitate the subsequent position adjustment of the placement area.

[0037] Then, the server will identify and obtain the placement contour segments that constitute each placement area, and group these placement contour segments according to their extension directions, that is, two placement contour segments that constitute the same placement area and extend along the same extension direction are aggregated into the same placement contour segment group. For example, two placement contour segments of a placement contour segment group both extend along the horizontal extension direction.

[0038] Next, the server will determine the two contour segments in each placement segment group as the first placement segment and the second placement segment. If a placement segment is connected to any suction hole area, the server will adjust the position of the corresponding placement area so that the placement contour segment of the placement area to be adjusted is not connected to any suction hole area, so as to ensure the suction effect of the subsequent suction operation on the required tile.

[0039] Finally, the server obtains the required tiles with a corresponding number according to the number of placement areas, thereby controlling the robot arm to place each required tile into the corresponding placement area.

[0040] Furthermore, the above-mentioned “in response to at least one of the first placement line segment and the second placement line segment being connected to the hole area, adjusting the position of the placement area corresponding to the placement line segment group” also includes the following steps: In response to the first placement line segment and the second placement line segment both being connected to different hole location areas, the hole location area connected to the first placement line segment is determined as the first target area, and the hole location area connected to the second placement line segment is determined as the second target area; Divide the first target area into regions based on the first placement line segment to obtain a first inner region located within the placement area and a first outer region located outside the placement area; Divide the second target area into regions based on the second placement line segment to obtain a second inner region located within the placement area and a second outer region located outside the placement area; Obtaining the point-line distances between each image pixel constituting the first outer region and the first placement line segment, and selecting the largest point-line distance as the first target distance; Obtaining the point-line distances between each image pixel constituting the second outer area and the second placement line segment, and selecting the largest point-line distance as the second target distance; In response to the first target distance being smaller than the second target distance, the placement area is moved forward away from the first target area until the second placement line segment is not connected to the second target area; In response to the first target distance being greater than or equal to the second target distance, the placement area is moved in the opposite direction away from the second target area until the first placement line segment is no longer connected to the first target area.

[0041] For example, in this embodiment, when the first placement line segment and the second placement line segment are respectively connected to different hole position areas, the server will determine any hole position area that is connected to the first placement line segment as the first target area, and determine any hole position area that is connected to the second placement line segment as the second target area.

[0042] Next, the server divides the first target area into two parts according to the first placement line segment: one part is a first inner area located inside the placement area, and the other part is a first outer area located outside the placement area. Similarly, the server divides the second target area according to the second placement line segment to obtain a second inner area located inside the placement area and a second outer area located outside the placement area.

[0043] In order to determine the best moving direction when adjusting the position of the placement area later, the server will first determine the distance relationship between the placement area and these external areas. Specifically, the server will calculate the point-line distance between each image pixel in the first external area and the first placement line segment, and determine the maximum value as the first target distance. Similarly, the server will calculate the point-line distance between each image pixel in the second external area and the second placement line segment, and determine the maximum value as the second target distance. Figure 2 shown.

[0044] If the first target distance is less than the second target distance, the server will move the placement area in a direction away from the first target area (i.e., in a positive direction) until the second placement line segment is no longer connected to the second target area. Conversely, if the first target distance is greater than or equal to the second target distance, the server will move the placement area in a direction away from the second target area (i.e., in a negative direction) until the first placement line segment is no longer connected to the first target area.

[0045] This embodiment can dynamically adjust the position of the placement area according to the point-line distance between the placement area and different external areas, so that the position adjustment of the placement area is completed based on the shortest adjustment path.

[0046] Furthermore, the above-mentioned “in response to at least one of the first placement line segment and the second placement line segment being connected to the hole area, adjusting the position of the placement area corresponding to the placement line segment group” also includes the following steps: In response to the first placement line segment being connected to any hole location area and the second placement line segment being not connected to any hole location area, the hole location area connected to the first placement line segment is determined as a third target area and the hole location area close to the second placement line segment is determined as a fourth target area; Dividing the first target area into regions based on the first placement line segment to obtain a third inner region located within the placement area and a third outer region located outside the placement area; Obtaining the point-line distances between each image pixel constituting the third inner area and the first placement line segment, and selecting the largest point-line distance as the third target distance; Obtaining the point-line distances between each image pixel constituting the fourth target area and the second placement line segment, and selecting the smallest point-line distance to be determined as the fourth target distance; In response to the fourth target distance being greater than or equal to the third target distance, the placement area is moved forward away from the third target area until the second first placement line segment is not connected to the third target area.

[0047] For example, in this embodiment, when the first placement line segment is connected to the hole area but the second placement line segment is not connected to any hole area, the server will determine any hole area connected to the first placement line segment as the third target area, and any hole area outside the placement area and close to the second placement line segment as the fourth target area.

[0048] Next, the server will use the first placement line segment to divide the first target area into regions, and obtain a third inner region located inside the placement area and a third outer region located outside the placement area. Then, the point-line distance from each image pixel constituting the third inner region to the first placement line segment is calculated, and the maximum value of the point-line distance is selected as the third target distance.

[0049] Similarly, the server calculates the distance from each image pixel constituting the fourth target area to the second placement line segment, and selects the minimum value of the point-line distance as the fourth target distance.

[0050] Finally, the server will compare the fourth target distance with the third target distance. When the fourth target distance is greater than or equal to the third target distance, the server will move the placement area away from the third target area until the first placement line segment is no longer connected to the third target area. At this time, the placement area will not overlap with the fourth target area, thereby ensuring the independence of each placement area.

[0051] Furthermore, the above-mentioned "performing a visual positioning detection on the required tile based on the collected initial frame diagram of the corresponding placement frame" further includes the following steps: Dividing the planned area into an area portion corresponding to an upper left area, an area portion corresponding to a lower left area, an area portion corresponding to an upper right area, and an area portion corresponding to a lower right area based on an area center point corresponding to the planned area, and obtaining area contour line segments corresponding to each area portion based on the planned contour line segments; Based on the frame top view, each placement area is mapped to a region contour line segment corresponding to the region portion, and each initial mapping line corresponding to each region portion is obtained; In response to completing the placement operation of each required tile based on each placement area, acquiring an initial frame diagram corresponding to the placement frame; Based on the initial framework diagram, the tile areas of the corresponding required tiles located in different regional parts are respectively mapped to the regional contour line segments corresponding to the regional parts, and the current mapping lines corresponding to the regional parts are obtained, and the initial mapping lines and the current mapping lines corresponding to the same placement area are compared for coincidence; In response to all initial mapping lines corresponding to the same placement area completely overlapping the current mapping line, determining that a detection state is a normal state; In response to any initial mapping line corresponding to the same placement area not completely overlapping the current mapping line, the placement area is determined as an abnormal area, and a detection state is determined as an abnormal state.

[0052] For example, in this embodiment, the server divides the planning area into four area parts according to the center point of the planning area, namely, the area part corresponding to the upper left, the area part corresponding to the lower left, the area part corresponding to the upper right, and the area part corresponding to the lower right. Then, the server determines the planning contour line segments constituting each area part as the area contour line segments corresponding to the area part.

[0053] Then, the server will map each placement area to the area contour line segments of their respective area parts in the frame upper view, so as to obtain the initial mapping lines corresponding to each area part, such as Figure 3 shown.

[0054] When the robot arm completes the placement of the required tiles in the placement area, the server will collect images of the placement frame to obtain an initial frame map corresponding to the placement frame, and determine the tile areas corresponding to each required tile in the initial frame map.

[0055] At this time, the server will map the tile areas located in different areas to the area contour segments of their respective areas in the initial frame map, thereby obtaining the current mapping lines corresponding to each area. Afterwards, the server will compare the initial mapping lines corresponding to the same placement area with the current mapping lines for coincidence.

[0056] If all the initial mapping lines corresponding to the same placement area completely overlap with the current mapping line, the server will determine the detection status as a normal state; if any initial mapping line corresponding to the same placement area does not completely overlap with the current mapping line, it means that there is a deviation in the placement position of the required tile corresponding to the placement area, so the server will mark the placement area as an abnormal area and determine the detection status as an abnormal state, which is convenient for the management end to quickly locate the corresponding required tile, thereby improving work efficiency to a certain extent.

[0057] Furthermore, the above method further comprises the following steps: In response to a detection state being an abnormal state, an initial abnormal display image is created by superimposing the frame upper view and the initial frame image, and all initial mapping lines, all current mapping lines, and all tile areas located in the frame upper view and the initial frame image are hidden; Based on the initial abnormal display diagram, each placement contour line segment corresponding to the same abnormal area is processed with a dotted line, and the obtained current abnormal display diagram is sent to the management end; In response to the management end interacting with any abnormal area in the current abnormal display diagram, the initial mapping line and the current mapping line corresponding to the abnormal area are displayed, and the initial mapping line and the current mapping line are pixel rendered based on the first pixel value and the second pixel value respectively.

[0058] For example, in this embodiment, when a detection state is abnormal, the server will automatically generate an initial abnormal display image, which is obtained by superimposing the frame upper view and the initial frame image. In the initial abnormal display image, all initial mapping lines, current mapping lines, and tile areas originally located in the frame upper view and the initial frame image will be hidden to highlight the abnormal area more clearly.

[0059] Next, the server displays each placement contour line segment corresponding to the same abnormal area in the initial abnormal display diagram in the form of dotted lines, generates a current abnormal display diagram, and then sends it to the management end.

[0060] When the management terminal performs an interactive operation on any abnormal area in the current abnormal display diagram, the server will redisplay the initial mapping line and the current mapping line corresponding to the abnormal area. At the same time, the server will also perform pixel rendering processing on the initial mapping line and the current mapping line according to the preset first pixel value and the second pixel value, so that the management terminal can more intuitively compare the initial mapping line and the current mapping line.

[0061] In step S104, the following contents are included: Based on the detection result, it is determined that a state is a normal state, and each suction hole position opened on the bottom surface of the placement frame and occupied by the required tile is determined as a suction set.

[0062] For example, in this embodiment, when a state is determined to be normal according to the detection results, the server will determine the various suction holes occupied by the required tiles on the bottom surface of the placement frame as a suction set, so as to ensure the suction effect of subsequent suction operations on each required tile.

[0063] Furthermore, the above-mentioned "determining a state as a normal state based on the detection result, and determining each suction hole position occupied by the required tile and opened on the bottom surface of the placement frame as a suction set" also includes the following steps: Determine that a state is a normal state based on the detection result, compare the difference set of the corresponding hole position area between the frame top view and the initial frame view, and determine each hole position area that only exists in the frame top view as each preparatory hole position based on the comparison result; A frame coordinate system and an initial coordinate system are established based on the frame top view and the initial frame view, and the coordinates of each hole position corresponding to each prepared hole position are determined based on the frame coordinate system, and the coordinate groups of each region constituting each tile region are determined based on the initial coordinate system; The coordinates of each hole position are compared with those of each regional coordinate group, and each preparation hole position corresponding to the coordinates of each hole position located in the same regional coordinate group is divided into the same suction set.

[0064] For example, in this embodiment, when the server determines that a state is normal, it will compare the frame top view with the initial frame view, and perform difference analysis on each hole area to determine which hole areas only exist on the frame top view, and mark these hole areas as preparatory hole positions, that is, each air intake hole position occupied by the required tile will be determined as a preparatory hole position.

[0065] Next, in order to more accurately determine the prepared holes corresponding to each tile area, the server will establish a frame coordinate system and an initial coordinate system based on the current frame view and the initial frame view. At this time, the server can determine the specific coordinates of each prepared hole according to the frame coordinate system, that is, the coordinates of each hole, and then determine the coordinate groups that make up each tile area according to the initial coordinate system, that is, the coordinate groups of each area.

[0066] Finally, the server will compare these hole coordinates with the regional coordinate group. If the hole coordinates of a preparatory hole match the regional coordinate group of a tile area, then this preparatory hole corresponds to the tile area, because the server will classify the preparatory holes corresponding to the same regional coordinate group into the same suction set.

[0067] In step S106, the following contents are included: The suction unit is triggered to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction group, and the blowing unit is triggered to perform a blowing operation on the corresponding side surface of the required tile for a preset time.

[0068] For example, in this embodiment, the server triggers the suction unit to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction group.

[0069] Then, in order to detect the corresponding suction effect, the server triggers the blowing unit to perform a blowing operation on the corresponding side of the required tile for a preset time, thereby determining whether the position of each required tile has changed.

[0070] Furthermore, the above-mentioned “triggering the suction unit to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction group” further includes the following steps: Determine the center points of each tile corresponding to each tile area, and in response to the tile center point being located at any prepared hole position in the corresponding air intake set, divide the prepared hole positions radially arranged around the prepared hole position with the prepared hole position as the center to obtain air intake groups corresponding to different circle levels and layers; In response to the center point of the tile not being located at any of the prepared hole positions in the corresponding air intake set, the prepared hole positions radially arranged around the center point of the tile are divided into hole positions with the center point of the tile as the center, so as to obtain air intake groups corresponding to different circle levels and layers; The suction unit is triggered to perform suction operation on each suction hole position in the suction group corresponding to the maximum number of circle levels.

[0071] For example, in this embodiment, the server first determines the center point of each tile area, and then determines the positional relationship between the center point of the tile and each of the prepared hole positions in the air intake set.

[0072] If the center point of the tile is located on a preparatory hole in the air intake set, the server will divide the other preparatory holes arranged radially around this preparatory hole with this preparatory hole as the center. These preparatory holes will be classified into different circle levels according to their distance from the center hole to form various air intake groups.

[0073] If the center point of the tile is not located on any of the preparatory holes in the inhalation set, the server will divide the preparatory holes radially arranged around the center point of the tile. Similarly, these preparatory holes will be classified into different circle levels according to the distance to form various inhalation groups.

[0074] Finally, after the suction group is determined, the server will trigger the suction unit to perform the corresponding bottom suction operation on each suction hole position in the suction group corresponding to the maximum number of circle levels, so that each required tile can be tightly sucked on the placement frame.

[0075] In step S108, the following contents are included: The current frame diagram of the corresponding placement frame obtained based on the completion of the blowing operation is compared with the initial frame diagram, and the required tile is subjected to secondary visual positioning detection based on the comparison result.

[0076] For example, in this embodiment, after the blowing operation is completed, the server will collect images of the placement frame to obtain a current frame image corresponding to the placement frame.

[0077] Then, the server will compare the current frame image with the initial frame image, and perform secondary visual positioning detection on the required tile based on the comparison results.

[0078] Furthermore, the above-mentioned "comparing the current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation with the initial frame diagram, and performing a secondary visual positioning detection on the required tile based on the comparison result" also includes the following steps: In response to completing the blowing operation, a current frame image corresponding to the placed frame is obtained, and the current frame image and the initial frame image are binarized to obtain a current image and an initial image, wherein the current image includes first pixel points corresponding to the first pixel value, and the initial image includes second pixel points corresponding to the second pixel value; Create a transparent fusion layer, and stack the current image and the initial image on the transparent fusion layer in sequence; In response to the transparent fusion layer including any first pixel point and / or any second pixel point, determining that the secondary detection state is an abnormal state, otherwise determining that the secondary detection state is a normal state; In response to the secondary detection state being an abnormal state, the suction unit is triggered to perform a suction operation on each suction hole position in the suction group corresponding to the number of secondary circle layers.

[0079] For example, in this embodiment, after the blowing operation is completed, the server triggers the acquisition unit to acquire an image of the placement frame to obtain a current frame image. Then, the server performs binarization processing on both the current frame image and the initial frame image, and the processed images are the current image and the initial image, respectively. Each first pixel point in the current image has a first pixel value, and each second pixel point in the initial image has a second pixel value.

[0080] Then, the server creates a transparent fusion layer and overlays the current image and the initial image on the transparent layer in sequence to facilitate the difference comparison between the current image and the initial image.

[0081] If any first pixel or second pixel appears in the fused layer (which means that the two images do not match at some position), that is, the demand tile has a position shift due to weak suction, the server will determine the secondary detection status as an abnormal state.

[0082] If the first pixel or the second pixel does not appear in the fused layer, it means that the two images are completely matched, that is, each required tile is tightly attached to the placement frame. At this time, the server will determine the secondary detection status as normal.

[0083] If the secondary detection status is abnormal, the server will trigger the suction unit to perform suction operations on each suction hole position in the suction group corresponding to the secondary circle level number of layers to enhance the suction force on the required tile; it should be noted that after adding the corresponding suction operations on each suction hole position in the suction group corresponding to the secondary circle level number of layers, if the secondary detection status obtained by performing the secondary visual positioning detection again is still abnormal, it is necessary to increase the suction operation of the suction groups corresponding to other circle levels again to ensure that the suction force for the required tile can be maintained so that the required tile can be firmly placed on the placement frame.

[0084] In step S110, the following contents are included: Based on the detection result, it is determined that the secondary state is a normal state, the screen printing unit is triggered to perform a printing operation on the required tile, and in response to the completion of the printing operation, the ejector unit is triggered to perform an ejector operation on each suction hole position in the suction group.

[0085] For example, in this embodiment, when the secondary state is determined to be a normal state according to the detection result, it means that there is no positional deviation of the required tile, that is, each required tile is firmly located in the corresponding placement area based on the suction operation.

[0086] Then, the server will trigger the screen printing unit to print the required ceramic tile, and after the printing operation is completed, trigger the ejector unit to perform the ejector operation on each suction hole in the suction group, so as to facilitate the subsequent robotic arm to pick up the required ceramic tile that has completed the printing operation.

[0087] According to the solution of the present invention, after placing the required tile in the planned area in the placement frame, a visual positioning detection can be performed on the required tile according to the collected initial frame diagram of the corresponding placement frame, so as to determine whether the required tile is correctly located in the placement area in the placement frame. When the server determines that a state is normal based on the detection result, it can intelligently identify and determine the set of suction holes occupied by the required tile. This step not only optimizes the pertinence of the suction operation, but also effectively avoids unnecessary consumption of resources. Subsequently, the server will trigger the suction unit and the blowing unit in sequence to perform suction operations on the bottom suction holes and blowing operations on the sides of the required tile, respectively, so as to effectively detect the stability of the required tile in the placement frame. After completing the blowing operation, the server can perform a secondary visual positioning detection on the required tile by comparing the current frame diagram with the initial frame diagram, so as to determine whether the required tile is firmly located in the placement area. After determining that the secondary state is normal, the server triggers the screen printing unit to accurately print the required tile, and after the printing operation is completed, triggers the ejector unit to perform an ejector operation on the suction hole position, so as to facilitate the removal of the required tile that has completed the printing operation. The present invention can not only significantly improve the positioning accuracy and operation efficiency of the required tile in the screen printing process, but also effectively improve the corresponding production efficiency and product quality.

[0088] Another embodiment of the present invention provides a visual positioning data processing platform for tile processing. Figure 4 For its corresponding platform block diagram, the system includes: A primary positioning module is configured to place the required tile in a planned area in the placement frame, and perform a visual positioning detection on the required tile based on the collected initial frame diagram of the corresponding placement frame; A set determination module is configured to determine that a state is a normal state based on the detection result, and determine each suction hole position opened on the bottom surface of the placement frame occupied by the required tile as a suction set; The operation execution module is configured to trigger the suction unit to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction set, and trigger the blowing unit to perform a blowing operation on the corresponding side surface of the required tile for a preset time; The secondary positioning module is configured to compare the current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation with the initial frame diagram, and perform secondary visual positioning detection on the required tile based on the comparison result; The printing operation module is configured to determine that the secondary state is a normal state based on the detection result, trigger the screen printing unit to perform a printing operation on the required tile, and trigger the ejector unit to perform an ejector operation on each suction hole position in the suction group in response to completing the printing operation.

[0089] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the preferred embodiment of the present invention.

[0090] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0091] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0092] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0093] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of submodules or subunits or subcomponents.

[0094] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0095] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0096] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0097] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is primarily selected for readability and instructional purposes, rather than for explaining or limiting the subject matter of the present invention.

Claims

1. A visual positioning data processing method for tile processing, characterized in that: The following steps are involved: The required tile is placed in the planned area in the placement frame, and a visual positioning detection is performed on the required tile based on the collected initial frame diagram of the corresponding placement frame; Based on the detection result, it is determined that the state is normal, and each air suction hole position opened on the bottom surface of the placement frame occupied by the required tile is determined as an air suction set; The suction unit is triggered to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction set, and the blowing unit is triggered to perform a blowing operation on the corresponding side surface of the required tile for a preset time; Compare the current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation with the initial frame diagram, and perform secondary visual positioning detection on the required tile based on the comparison result; Based on the detection result, it is determined that the secondary state is a normal state, the screen printing unit is triggered to perform a printing operation on the required tile, and in response to the completion of the printing operation, the ejector unit is triggered to perform an ejector operation on each suction hole position in the suction group.

2. The visual positioning data processing method for tile processing according to claim 1, characterized in that: Place the required tiles in the planned area located in the placement frame, including: Performing image recognition on the frame top view corresponding to the placement frame, and determining the hole position areas corresponding to the air suction hole positions located in the placement frame based on the recognition result; Acquire each frame contour line segment corresponding to the placement frame based on the frame top view, and in response to any frame contour line segment not being connected to any hole area, determine the frame contour line segment as a planning contour line segment; In response to any frame contour line segment being connected to any hole location area, the frame contour line segment is moved toward a frame center point corresponding to the frame top view until it is no longer connected to any hole location area, and the frame contour line segment is determined as a planned contour line segment; The required tiles are placed in the planning area formed based on the planning contour line segments.

3. The visual positioning data processing method for tile processing according to claim 2 is characterized in that: Placing the required tiles in the planning area formed based on the planning contour segments includes: Based on the tile size of the corresponding required tile and the area size corresponding to the planned area, each placement area showing an array distribution and having a spacing distance greater than or equal to the aperture size of the corresponding air intake hole position is generated in the framework top view; Acquire each placement contour line segment corresponding to each placement area, and aggregate two placement contour line segments corresponding to the same placement area and extending along the same extension direction into the same placement line segment group; Determine two placement contour line segments in the same placement line segment group as a first placement line segment and a second placement line segment, respectively, and in response to at least one of the first placement line segment and the second placement line segment being connected to the hole position area, adjust the position of the placement area of ​​the corresponding placement line segment group; Obtain the required tiles with the same number as the placement areas, and perform placement operations on the required tiles based on the placement areas.

4. The visual positioning data processing method for tile processing according to claim 2 is characterized in that: In response to at least one of the first placement line segment and the second placement line segment being connected to the hole area, the placement area of ​​the corresponding placement line segment group is adjusted in position, including: In response to the first placement line segment and the second placement line segment both being connected to different hole location areas, the hole location area connected to the first placement line segment is determined as the first target area, and the hole location area connected to the second placement line segment is determined as the second target area; Based on the positional relationship between the first target area and the second target area, the placement area is moved to a position where it is not connected to any target area.

5. The visual positioning data processing method for tile processing according to claim 4 is characterized in that: Based on the positional relationship between the first target area and the second target area, moving the placement area to a position where there is no connection relationship with any target area includes: Divide the first target area into regions based on the first placement line segment to obtain a first inner region located within the placement area and a first outer region located outside the placement area; Divide the second target area into regions based on the second placement line segment to obtain a second inner region located within the placement area and a second outer region located outside the placement area; Obtaining the point-line distances between each image pixel constituting the first outer region and the first placement line segment, and selecting the largest point-line distance as the first target distance; Obtaining the point-line distances between each image pixel constituting the second outer area and the second placement line segment, and selecting the largest point-line distance as the second target distance; In response to the first target distance being smaller than the second target distance, the placement area is moved forward away from the first target area until the second placement line segment is not connected to the second target area; In response to the first target distance being greater than or equal to the second target distance, the placement area is moved in the opposite direction away from the second target area until the first placement line segment is no longer connected to the first target area.

6. The visual positioning data processing method for tile processing according to claim 3 or 4, characterized in that: In response to at least one of the first placement line segment and the second placement line segment being connected to the hole area, the placement area of ​​the corresponding placement line segment group is adjusted in position, including: In response to the first placement line segment being connected to any hole location area and the second placement line segment being not connected to any hole location area, the hole location area connected to the first placement line segment is determined as a third target area and the hole location area close to the second placement line segment is determined as a fourth target area; Based on the positional relationship between the third target area and the fourth target area, the placement area is moved to a position where there is no connection relationship with the third target area.

7. The visual positioning data processing method for tile processing according to claim 6 is characterized in that: Based on the positional relationship between the third target area and the fourth target area, moving the placement area to a position where there is no connection relationship with the third target area includes: Dividing the first target area into regions based on the first placement line segment to obtain a third inner region located within the placement area and a third outer region located outside the placement area; Obtaining the point-line distances between each image pixel constituting the third inner area and the first placement line segment, and selecting the largest point-line distance as the third target distance; Obtaining the point-line distances between each image pixel constituting the fourth target area and the second placement line segment, and selecting the smallest point-line distance to be determined as the fourth target distance; In response to the fourth target distance being greater than or equal to the third target distance, the placement area is moved forward away from the third target area until the second first placement line segment is not connected to the third target area.

8. The visual positioning data processing method for tile processing according to claim 3 is characterized in that: Based on the collected initial frame diagram of the corresponding placement frame, a visual positioning test is performed on the required tile, including: Dividing the planned area into an area portion corresponding to an upper left area, an area portion corresponding to a lower left area, an area portion corresponding to an upper right area, and an area portion corresponding to a lower right area based on an area center point corresponding to the planned area, and obtaining area contour line segments corresponding to each area portion based on the planned contour line segments; Based on the frame top view, each placement area is mapped to a region contour line segment corresponding to the region portion, and each initial mapping line corresponding to each region portion is obtained; In response to completing the placement operation of each required tile based on each placement area, acquiring an initial frame diagram corresponding to the placement frame; Based on the initial framework diagram, the tile areas of the corresponding required tiles located in different regional parts are respectively mapped to the regional contour line segments corresponding to the regional parts, and the current mapping lines corresponding to the regional parts are obtained, and the initial mapping lines and the current mapping lines corresponding to the same placement area are compared for coincidence; In response to all initial mapping lines corresponding to the same placement area completely overlapping the current mapping line, determining that a detection state is a normal state; In response to any initial mapping line corresponding to the same placement area not completely overlapping the current mapping line, the placement area is determined as an abnormal area, and a detection state is determined as an abnormal state.

9. The visual positioning data processing method for tile processing according to claim 8, characterized in that: The method further comprises: In response to a detection state being an abnormal state, an initial abnormal display image is created by superimposing the frame upper view and the initial frame image, and all initial mapping lines, all current mapping lines, and all tile areas located in the frame upper view and the initial frame image are hidden; Based on the initial abnormal display diagram, each placement contour line segment corresponding to the same abnormal area is processed with a dotted line, and the obtained current abnormal display diagram is sent to the management end; In response to the management end interacting with any abnormal area in the current abnormal display diagram, the initial mapping line and the current mapping line corresponding to the abnormal area are displayed, and the initial mapping line and the current mapping line are pixel rendered based on the first pixel value and the second pixel value respectively.

10. The visual positioning data processing method for tile processing according to claim 8, characterized in that: Based on the detection result, it is determined that the state is normal, and each suction hole position opened on the bottom surface of the placement frame occupied by the required tile is determined as a suction set, including: Determine that the primary state is a normal state based on the detection result, compare the difference set of the corresponding hole position area between the frame top view and the initial frame view, and determine the hole position areas that only exist in the frame top view as the prepared hole positions based on the comparison result; A frame coordinate system and an initial coordinate system are established based on the frame top view and the initial frame view, and the coordinates of each hole position corresponding to each prepared hole position are determined based on the frame coordinate system, and the coordinate groups of each region constituting each tile region are determined based on the initial coordinate system; The coordinates of each hole position are compared with those of each regional coordinate group, and each preparation hole position corresponding to the coordinates of each hole position located in the same regional coordinate group is divided into the same suction set.

11. The visual positioning data processing method for tile processing according to claim 10, characterized in that: The suction unit is triggered to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction set, including: Determine the center points of each tile corresponding to each tile area, and in response to the tile center point being located at any prepared hole position in the corresponding air intake set, divide the prepared hole positions radially arranged around the prepared hole position with the prepared hole position as the center to obtain air intake groups corresponding to different circle levels and layers; In response to the center point of the tile not being located at any of the prepared hole positions in the corresponding air intake set, the prepared hole positions radially arranged around the center point of the tile are divided into hole positions with the center point of the tile as the center, so as to obtain air intake groups corresponding to different circle levels and layers; The suction unit is triggered to perform suction operation on each suction hole position in the suction group corresponding to the maximum number of circle levels.

12. The visual positioning data processing method for tile processing according to claim 10, characterized in that: The current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation is compared with the initial frame diagram, and a secondary visual positioning detection is performed on the required tile based on the comparison result, including: In response to completing the blowing operation, a current frame image corresponding to the placed frame is obtained, and the current frame image and the initial frame image are binarized to obtain a current image and an initial image, wherein the current image includes first pixel points corresponding to the first pixel value, and the initial image includes second pixel points corresponding to the second pixel value; Create a transparent fusion layer, and stack the current image and the initial image on the transparent fusion layer in sequence; In response to the transparent fusion layer including any first pixel point and / or any second pixel point, determining that the secondary detection state is an abnormal state, otherwise determining that the secondary detection state is a normal state; In response to the secondary detection state being an abnormal state, the suction unit is triggered to perform a suction operation on each suction hole position in the suction group corresponding to the number of secondary circle layers.

13. A visual positioning data processing platform for tile processing, characterized in that: include: A primary positioning module is configured to place the required tile in a planned area in the placement frame, and perform a visual positioning detection on the required tile based on the collected initial frame diagram of the corresponding placement frame; A set determination module is configured to determine that a state is a normal state based on the detection result, and determine each suction hole position opened on the bottom surface of the placement frame occupied by the required tile as a suction set; The operation execution module is configured to trigger the suction unit to perform a suction operation on the corresponding bottom surface of each suction hole position in the suction set, and trigger the blowing unit to perform a blowing operation on the corresponding side surface of the required tile for a preset time; The secondary positioning module is configured to compare the current frame diagram of the corresponding placement frame acquired based on the completion of the blowing operation with the initial frame diagram, and perform secondary visual positioning detection on the required tile based on the comparison result; The printing operation module is configured to determine that the secondary state is a normal state based on the detection result, trigger the screen printing unit to perform a printing operation on the required tile, and trigger the ejector unit to perform an ejector operation on each suction hole position in the suction group in response to completing the printing operation.

Images