Pin product placement control method fusing conveyor belt positioning

Abstract

The invention discloses a pin product placement control method fusing conveyor belt positioning, and relates to the technical field of material conveying, the method comprises the following steps: determining a visual monitoring position and configuring an image acquisition card according to transmission scene configuration; setting an offset calculation mode, and supervising and training the placement adjustment model; activating an image acquisition card through a motor encoder, and acquiring a product image of the first pin product; and in combination with the placement adjustment model, image definition compensation and offset correction target positioning are performed, the offset of the placement angle and the placement position is measured, an adjustment decision is made, and the placement of the conveyor belt is adjusted and controlled according to a placement adjustment strategy. The technical problems of product damage and inaccurate placement caused by inconsistent offset and speed in a traditional method in the prior art are solved, and the technical effects of improving the placement precision of the pin product on the high-speed conveyor belt and avoiding product damage are achieved through a dynamic adjustment strategy and real-time offset calculation.

Description

Technical Field

[0001] The invention relates to the technical field of material conveying, and in particular to a method for controlling the placement of pin products by integrating conveyor belt positioning. Background Art

[0002] With the popularization of automated production, conveyor belts are increasingly used in the electronics, automotive and other industries. Especially in the placement process of materials with high precision requirements such as pin products, accurate control of product position is crucial. However, in the traditional high-speed conveyor belt environment, due to the continuous movement of the conveyor belt and the complex shape of the product, image acquisition often faces blur problems, resulting in inaccurate placement and even pin damage. In addition, most existing placement control methods rely on fixed adjustment strategies and cannot adapt to the dynamic offset of the product in real time, affecting production efficiency and product quality. Summary of the invention

[0003] The present application provides a pin product placement control method integrating conveyor belt positioning, which is used to solve the technical problems of product damage and inaccurate placement caused by offset and speed inconsistency in traditional methods in the prior art.

[0004] The present application provides a pin product placement control method integrating conveyor belt positioning, the method comprising: determining a visual monitoring position and configuring an image acquisition card for a conveying scene configuration, wherein data processing time limit and conveyor belt speed are used as position setting constraints; setting an offset calculation method, and supervising the training of a placement adjustment model, wherein the offset calculation method builds a three-dimensional reference coordinate system based on the geometric distribution characteristics of a conveyor belt groove, and builds a displacement coordinate system based on the product placement position for collaborative calculation; activating the image acquisition card at the visual monitoring position through a motor encoder to capture a product image of a first pin product; transmitting back the product image, combining the placement adjustment model to perform image clarity compensation and offset correction target positioning, measuring the placement angle and the offset of the placement position and making an adjustment decision, and generating a placement adjustment strategy, wherein the placement adjustment is an adjustment for the current state of the product; and performing conveyor belt placement control on the first pin product according to the placement adjustment strategy.

[0005] One or more technical solutions provided in this application have at least the following technical effects or advantages: The pin product placement control method integrated with conveyor belt positioning provided in the present application relates to the field of material conveying technology. Through visual monitoring and image acquisition, combined with a three-dimensional reference coordinate system and a displacement coordinate system, the offset of the pin product is accurately calculated, and a motor encoder is used to trigger image acquisition and perform clarity compensation, generate a placement adjustment strategy, and dynamically adjust the conveyor belt position and angle to achieve precise product placement. This solves the technical problems of product damage and inaccurate placement caused by inconsistent offset and speed in traditional methods in the prior art, and achieves the technical effect of improving the placement accuracy of pin products on high-speed conveyor belts and avoiding product damage through dynamic adjustment strategies and real-time offset calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0007] Figure 1 A schematic flow chart of a pin product placement control method integrating conveyor belt positioning provided in an embodiment of the present application; Figure 2 A schematic diagram of the process of image acquisition management of the first pin product in the pin product placement control method integrating conveyor belt positioning provided in an embodiment of the present application. DETAILED DESCRIPTION

[0008] The present application provides a pin product placement control method integrating conveyor belt positioning, which is used to solve the technical problems of product damage and inaccurate placement caused by offset and speed inconsistency in traditional methods in the prior art.

[0009] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0010] It should be noted that the terms "first", "second", etc. in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices.

[0011] Embodiment 1, as Figure 1 As shown, the present application provides a method for controlling the placement of pin products by integrating conveyor belt positioning, the method comprising: P10: For the transmission scene configuration, determine the visual monitoring position and configure the image acquisition card, where the data processing time limit and conveyor belt speed are used as position setting constraints.

[0012] Furthermore, step P10 of the embodiment of the present application further includes: P11: Given the limited time for image acquisition and placement decision, the time tolerance interval is superimposed as the data processing time limit; P12: Interacting the conveyor belt speed, calculating the product of the data processing time limit and the conveyor belt speed as the interval distance, wherein the interval distance is the distance between the product placement position and the visual monitoring position.

[0013] It should be understood that the relevant information for the transmission scene configuration, such as the layout of the conveyor belt, the distribution of automated equipment (such as robotic arms), etc., is used to determine the location of visual monitoring and configure the image acquisition card for image acquisition. Since the conveyor belt runs continuously, the system needs to constrain the selection of monitoring locations based on the conveyor belt speed and image data processing time limit.

[0014] Specifically, we first need to set a time limit for the image acquisition and placement decision process, that is, the data processing time limit. This time limit needs to take into account not only the time required for image acquisition itself, but also the subsequent processing process, including image clarity compensation, offset correction, etc. In order to avoid data processing not being completed in time due to the conveyor belt speed being too fast, it is necessary to set a time tolerance interval, that is, between image acquisition and placement decision, a certain time deviation is allowed, to provide more flexibility for the system, and ensure that even if the conveyor belt speed fluctuates or other external factors affect it, the corresponding adjustment and control tasks can still be completed.

[0015] Next, considering that the movement of the conveyor belt is a dynamic process, the interval between data collection and processing needs to be adjusted according to its speed. The key to this step is the product of the data processing time limit and the conveyor belt speed. In this way, the interval distance of the product from the visual monitoring position to the placement position can be accurately calculated. Specifically, the interval distance refers to the distance between the visual monitoring position and the final product placement position during the operation of the conveyor belt. The calculation formula for the interval distance can be: interval distance = data processing time limit × conveyor belt speed.

[0016] This step is crucial to ensure that the product can be placed in the right place within a certain period of time without misalignment or collision due to too fast a conveyor or processing delays. By accurately calculating this spacing distance, accurate data support can be provided for subsequent placement adjustment strategies to ensure that the pin products are accurately positioned on the conveyor and avoid deformation or damage caused by product position deviation.

[0017] P20: Set the offset calculation method and supervise the training of the placement adjustment model, wherein the offset calculation method builds a three-dimensional reference coordinate system based on the geometric distribution characteristics of the conveyor belt grooves, and builds a displacement coordinate system based on the product placement position for collaborative calculation.

[0018] Specifically, by setting the offset calculation method, it is ensured that the pin product can be accurately placed in the corresponding groove of the conveyor belt to avoid collision or deformation. Specifically, this step accurately calculates the offset of the product by building different coordinate systems, thereby guiding the placement adjustment model to make decisions.

[0019] First, we need to set up an offset calculation method. The core of this method is to ensure that the pin products can be accurately placed in the predetermined position by accurately calculating the offset during the product placement process. To achieve this goal, a three-dimensional reference coordinate system based on the geometric distribution characteristics of the conveyor belt groove can be used, and a displacement coordinate system can be constructed in combination with the product placement position. These two coordinate systems will work together to help achieve accurate offset calculation.

[0020] The three-dimensional reference coordinate system can be constructed based on the geometric features of the grooves on the conveyor belt. As the basic structure for product placement, the geometric distribution of the conveyor belt groove plays a vital role in the positioning of the product. Therefore, by analyzing the shape, size and relative position of the groove, a three-dimensional reference coordinate system is constructed to provide accurate spatial positioning information for subsequent calculations. This reference coordinate system can provide real-time feedback on the position of the groove on the conveyor belt and serve as a reference during the product placement process.

[0021] Next, a displacement coordinate system is constructed based on the product placement position. This coordinate system is used to calculate the displacement of the product from the conveyor belt position to the placement target position, and is mainly used to track and measure the product's offset. In this coordinate system, the product's current position and target placement position are accurately calibrated. By calculating the difference between the two, the system can obtain the product's offset information in real time.

[0022] The collaborative calculation of these two coordinate systems enables accurate measurement of product positions. By combining the three-dimensional reference coordinate system with the displacement coordinate system, the system can comprehensively consider multiple factors such as the offset, angle, and position of the product on the conveyor belt to generate accurate offset information. Using this information, the placement strategy can be further adjusted to ensure that the pin products are accurately placed in the specified grooves on the conveyor belt to avoid damage and incorrect placement due to offset.

[0023] During the entire process, the system also uses supervised training of the placement adjustment model and uses a large amount of product placement data for training to optimize the accuracy of offset calculations, ensuring that the placement adjustment model can adapt to changes in different products and production environments, and achieve precise adjustment and dynamic optimization.

[0024] P30: Activate the image acquisition card at the visual monitoring position through the motor encoder to acquire the product image of the first pin product.

[0025] Further, such as Figure 2 As shown, step P30 of the embodiment of the present application also includes: P31: Introduce a motor encoder, wherein the motor encoder is pre-arranged at the visual monitoring position, and a communication connection is established between the motor encoder and the image acquisition card; P32: Perform transmission feature identification of the first pin product based on the motor encoder to generate a product identification signal; P33: Transmit the product identification signal to the image acquisition card to perform image acquisition management of the first pin product.

[0026] Optionally, in order to cope with the image acquisition delay problem that may occur in high-speed transmission scenarios, a motor encoder is introduced as a front-end device to improve the timeliness and accuracy of acquisition, ensuring that its image can be captured in a timely and accurate manner when the product reaches the visual monitoring position.

[0027] First, a motor encoder is placed in front of the visual monitoring position. This encoder is designed to detect the pin products passing on the conveyor belt in real time. When the product reaches the visual monitoring position, the motor encoder can detect the presence of the product in advance and provide an early warning signal for the subsequent image acquisition system. In order to ensure smooth information transmission, the motor encoder and the image acquisition card are connected through a communication connection to achieve synchronous signal transmission, such as serial communication, CAN bus or Ethernet. Once the motor encoder senses the passing of the product, it immediately triggers the image acquisition card to start the image acquisition process.

[0028] Before activating the image acquisition card, the transmission characteristics of the first pin product are identified based on the motor encoder, that is, the current position and motion state of the product on the conveyor belt are accurately determined by using the motion information fed back by the motor encoder. The motor encoder monitors the speed, acceleration and motion trajectory of the conveyor belt to identify the dynamic characteristics of the product, including the time and position of the product entering the visual monitoring range. This action generates a product identification signal and transmits a signal to the subsequent system, prompting that the product is about to reach the visual monitoring position.

[0029] Once the product recognition signal is generated, it is instantly transmitted to the image acquisition card. After receiving the signal, the image acquisition card immediately begins to prepare for image acquisition to ensure that the image of the product is accurately captured when it enters the monitoring range. At this point, the image acquisition card begins to manage the first pin product passing by and ensures the smooth progress of the image acquisition process.

[0030] In practical applications, especially in high-speed transmission scenarios, the movement speed of products on the conveyor belt may be very fast. Without a timely trigger mechanism, image acquisition may lag, resulting in unsatisfactory image effects and affecting subsequent offset correction and placement decisions. Therefore, the use of motor encoders to identify products in advance and ensure that image acquisition can accurately respond to the arrival of products is the key technical support for this step. This design not only effectively improves the response speed of image acquisition, but also provides more accurate data support for subsequent placement adjustment strategies.

[0031] P40: The product image is transmitted back, and combined with the placement adjustment model, image clarity compensation and offset correction target positioning are performed, the placement angle and the offset of the placement position are measured and an adjustment decision is made, and a placement adjustment strategy is generated, wherein the placement adjustment is an adjustment for the current state of the product.

[0032] Furthermore, step P40 of the embodiment of the present application also includes: P41: The placement adjustment model includes a three-layer fully connected image processing unit, an offset calculation unit and a placement decision unit; P42: Collect product images, combine with the image processing unit, and perform preprocessing to determine the effective image of the product; P43: Transfer the effective image of the product to the offset calculation unit, calculate the offset of the placement angle and the placement position in the coordinate system, and determine the product offset; P44: Transfer the product offset to the placement decision unit, and output the placement adjustment strategy.

[0033] It should be understood that the image acquisition card transmits the captured product image back to the placement adjustment model, and the placement adjustment model is used to accurately calibrate the placement angle and position of the product, thereby generating an accurate placement adjustment strategy. This process not only involves image clarity compensation and offset calculation, but also includes analysis of the current state of the product and adjustment decisions to ensure that the pin product can be accurately placed in the corresponding groove of the conveyor belt.

[0034] Among them, the placement adjustment model in this embodiment is composed of three main modules: image processing unit, offset calculation unit and placement decision unit. These units work together in a three-layer fully connected manner to form a highly integrated adjustment system. The image processing unit is responsible for preliminary image processing and clarity compensation; the offset calculation unit performs accurate offset calculation based on the image and coordinate system; and the placement decision unit outputs a specific placement adjustment strategy based on the calculation results.

[0035] After the product image is acquired, the acquired image needs to be preprocessed by the image processing unit. The purpose of this step is to determine the effective image of the product, that is, to filter out the clear part with accurate position information from the acquired original image. The preprocessing process may include operations such as image enhancement, noise removal, and contrast adjustment to ensure the quality and usability of the image. Through this processing, we can obtain high-quality effective images and provide reliable data support for subsequent offset calculations and decisions.

[0036] Once a valid image is acquired, the image stream is passed to the offset calculation unit. Here, the offset calculation unit calculates the placement angle and placement position offset based on the known reference coordinate system on the conveyor belt and the positioning information in the actual image of the product. The placement angle offset describes the rotation angle error of the product relative to the target placement position, while the placement position offset represents the distance difference between the product and the groove. In this way, the displacement state of the product can be accurately quantified and the necessary offset data can be provided for the next step of adjustment.

[0037] Finally, the calculated offset will be passed to the placement decision unit. The placement decision unit generates a placement adjustment strategy based on the current offset state of the product and the target placement requirements. The placement adjustment strategy contains specific adjustment instructions, such as conveyor speed adjustment, product rotation or movement direction and amplitude, etc. The adjustment strategy is formulated based on the current state of the product to ensure that the product can be accurately moved to the required groove position, thereby avoiding collision or damage due to offset.

[0038] Through the above steps, the system can dynamically adjust the product placement process based on real-time image data to ensure its accurate positioning on the conveyor belt.

[0039] Furthermore, step P41 of the embodiment of the present application further includes: P41-1: Interact with the conveyor belt speed to determine the image preprocessing standard, wherein image preprocessing constraints are performed based on the acquisition ambiguity and image recognition requirements of the conveyor belt speed; P41-2: Determine the offset correction target, wherein at least two random pins of the pin product and the product center are used as the offset correction targets; P41-3: Based on the image preprocessing standard and the offset correction target, supervise the training of the image processing unit.

[0040] Optionally, the construction process of the placement adjustment model is further refined, especially the determination of the standard and offset calibration targets for image processing, to improve the system's recognition and placement accuracy of pin products on a high-speed moving conveyor belt.

[0041] First, in the image acquisition process, the conveyor belt speed is an important factor affecting the image quality and processing efficiency. The image preprocessing standard can be determined according to the running speed of the conveyor belt. Specifically, when the conveyor belt is running at high speed, the clarity of the image acquisition may be affected, resulting in blurring. Therefore, the system evaluates the image acquisition blur and image recognition requirements according to the speed of the conveyor belt, thereby setting preprocessing constraints for image acquisition. Among them, the acquisition blur refers to the degree of image blur caused by high-speed movement, which directly affects the clarity and accuracy of image recognition. Therefore, the setting of the image preprocessing standard must take into account the blurring effect caused by the conveyor belt speed, and perform image preprocessing constraints according to the needs of image recognition, including adjusting the exposure time, resolution, shutter speed and other parameters of image acquisition to reduce the negative impact of the high-speed movement of the conveyor belt on the image clarity, thereby ensuring that the subsequent processing links can obtain accurate and clear images.

[0042] Next, for the product in the image, determine an effective offset calibration target, that is, select a key reference point in the image that can be used to calculate the offset. In this embodiment, at least two random pins of the pin product and the product center are selected as offset calibration targets. The purpose of this is to accurately measure the offset of the product through these feature points and ensure that the product is aligned with the predetermined position in the vertical and horizontal directions. The reason for selecting the pin as a reference point is that the positioning of the pin on the product is relatively fixed and easy to identify, and can be effectively used to calculate and correct the offset of the product.

[0043] Finally, based on the aforementioned image preprocessing standards and offset correction objectives, supervised training is performed on the image processing unit. Through a large number of training samples, the parameters of the image processing unit are adjusted so that it can accurately handle the image blur problem at different conveyor belt speeds and accurately identify the offset of the pin products. The goal of supervised training is to enable the image processing unit to effectively distinguish between valid images and noise under various dynamic conditions, while accurately locating the offset position of the product. This training process requires a large amount of annotated image data to ensure the reliability and accuracy of the model, continuously improve the system's adaptability and image processing efficiency in complex environments, and ensure that the final image analysis results are accurate enough to support subsequent placement adjustment decisions.

[0044] Furthermore, before locating the offset calibration target of the first pin product, the embodiment of the present application further includes step P41-2a, and step P41-2a further includes: P41-21a: Determine product pre-inspection elements, wherein the product pre-inspection elements include at least characters, pins, and appearance; P41-22a: Receive the product image, perform quality pre-inspection based on the product pre-inspection elements, and determine the pre-inspection result; P41-23a: If the pre-inspection result is qualified, locate the offset correction target; P41-24a: If the pre-inspection result is unqualified, mark the first pin product as a defective product.

[0045] In a possible embodiment of the present application, in order to further improve the accuracy of product positioning and the quality of placement decisions, a pre-inspection process can be introduced, through which the collected product images are subjected to preliminary quality screening to ensure that only products that meet quality standards enter the subsequent offset calibration and placement adjustment process, that is, to ensure that each pin product can complete quality confirmation before entering the precise positioning stage.

[0046] Specifically, before positioning the offset proofreading target, each pin product must first be pre-inspected. In order to conduct effective quality inspections, some key product pre-inspection elements must be defined. These elements are basic requirements for the appearance and form of the product, including at least characters, pins, and appearance. Among them, characters refer to identifiers on the product (such as QR codes, text, etc.), which can be used to verify the identity and category of the product. The pins of the product are key components of the pin product and must meet certain size, arrangement, and appearance requirements. The appearance status of the product includes whether there are defects, damage, contamination, and other problems. Through these pre-inspection elements, products that do not meet the requirements can be preliminarily screened out to prevent them from entering the subsequent offset proofreading link.

[0047] After receiving the product image, quality pre-inspection will be performed based on the pre-inspection elements defined above. The quality pre-inspection process mainly relies on image processing technology, combined with image recognition algorithms, to automatically detect whether the characters, pins and appearance in the image meet the preset standards. This process may include character recognition (OCR), pin defect detection, appearance defect analysis, etc., to ensure that each product meets the placement requirements in terms of physical state.

[0048] If the product quality is qualified after the pre-inspection, the offset calibration target can be positioned. At this time, the system will accurately locate the offset calibration target of the pin product based on the qualified image data, and make subsequent offset calculations and placement adjustment decisions to ensure that only qualified products enter the precise positioning and placement stage, thereby avoiding operational errors or damage caused by unqualified products.

[0049] If any unqualified products are found during the pre-inspection process (such as missing characters, damaged pins, appearance defects, etc.), the system will automatically mark the product as defective and carry out defective identification processing. At this time, unqualified products will be removed from the production line to avoid entering the subsequent processing links, ensuring production quality and efficiency. The automation of this process can greatly reduce human intervention and improve the overall work efficiency of the production line.

[0050] Furthermore, step P43 of the embodiment of the present application also includes: P43-1: Locate the offset calibration target of the first pin product, which includes at least the first calibration pin, the second calibration pin and the third calibration center; P43-2: In combination with the three-dimensional reference coordinate system, perform azimuth deviation analysis on the first calibration pin and the second calibration pin to determine the placement angle offset; P43-3: In combination with the displacement coordinate system, perform position deviation analysis on the third calibration center based on the expected placement position to determine the placement position offset; P43-4: Make placement adjustment decisions based on the placement angle offset and the placement position offset.

[0051] Specifically, through precise positioning and offset analysis, the placement angle offset and placement position offset of the pin product are calculated, thereby providing a basis for subsequent placement adjustment decisions.

[0052] First, after image acquisition and preprocessing, it is necessary to determine the offset calibration target, that is, to guide the subsequent offset calculation by identifying and locating the key points in the product image. The offset calibration target includes at least three key positions: the first calibration pin, the second calibration pin, and the third calibration center. Among them, the first calibration pin and the second calibration pin serve as reference points for locating the pin product position and are used to analyze the rotation angle and orientation of the product. The third calibration center serves as the center point of the product and is used to further calibrate the product's offset relative to the placement position.

[0053] Next, in combination with the three-dimensional reference coordinate system, the azimuth deviation analysis is performed on the first proofreading pin and the second proofreading pin to determine the placement angle offset of the pin product, that is, the rotation angle difference of the product relative to the standard position. The three-dimensional reference coordinate system is constructed based on the geometric features of the conveyor belt groove to provide an accurate spatial reference for product positioning. In this coordinate system, the system performs an azimuth deviation analysis on the relative position between the first proofreading pin and the second proofreading pin, for example, by comparing with the expected azimuth angle to calculate the azimuth deviation, and the expected azimuth angle can be the angle deviation threshold between the pin and the groove. The azimuth deviation reflects the rotation angle of the product in space and can determine the placement angle offset. Through this analysis, the system can measure and correct the rotation error of the product in real time to ensure that its placement angle is consistent with expectations and can be successfully placed in the groove.

[0054] Then, combined with the displacement coordinate system, the position deviation analysis of the third calibration center is performed. The displacement coordinate system uses the placement position of the pin product as a reference, and by comparing it with the expected placement position, calculates the position deviation of the product in the horizontal and vertical directions, that is, the deviation of the product from the predetermined placement point. This deviation quantifies the deviation of the actual position of the product relative to the target position, providing an accurate numerical basis for subsequent adjustments.

[0055] Finally, the placement adjustment decision is made based on the calculated placement angle offset and placement position offset. This decision will combine the two offsets to determine how to adjust the positioning of the conveyor belt and the placement of the product to ensure that the pin product can be placed at the correct position and angle. Through this process, the system can automatically correct the offset of the product in the dynamic conveyor belt scene to avoid product deformation or damage, while improving production efficiency.

[0056] Furthermore, step P43-2 of the embodiment of the present application also includes: P43-21: For the first calibration pin, in combination with the three-dimensional reference coordinate system, determine the first offset, wherein the relative offset between the calibration pin and the groove is used as a standard; P43-22: For the second calibration pin, in combination with the three-dimensional reference coordinate system, determine the second offset; P43-23: Calibrate the first offset and the second offset, calculate the offset difference, and if the preset tolerance range is met, use the average of the first offset and the second offset as the placement angle offset.

[0057] It should be understood that, through detailed analysis of the first calibration pin and the second calibration pin, the placement angle offset of the product is calculated, and the offset between the two is further calibrated to ensure accurate positioning and placement of the product.

[0058] First, the offset of the first calibration pin is calculated. In order to accurately calculate the offset of the pin, the system needs to combine the three-dimensional reference coordinate system, that is, based on the geometric features of the conveyor belt groove, analyze the relative offset angle between the pin and the groove edge or center line to obtain the first offset, which represents the angle difference between the first calibration pin and the groove.

[0059] The same process will be carried out for the second calibration pin. Combined with the three-dimensional reference coordinate system, the second offset of the second calibration pin relative to the conveyor belt groove is determined by detecting the azimuth of the second calibration pin and calculating the azimuth deviation with the corresponding groove. The second offset also reflects the angle difference between the second calibration pin and the groove. In this way, the system performs double detection of angle offset through two different calibration pins, thereby increasing the reliability and accuracy of positioning.

[0060] After calculating the first offset and the second offset, the system will calibrate the two offsets. Specifically, the offset difference between the two can be calculated, and it can be determined whether the difference meets the preset tolerance interval. The tolerance interval is set according to the system's fault tolerance standard, which indicates the maximum allowable range of the difference in angle deviations measured by the two calibration pins. If the difference is less than or equal to the tolerance interval, it means that the difference between the two offsets is within the allowable range and the measurement error is small. The average of the first offset and the second offset can be calculated as the final placement angle offset. This method can further improve the accuracy of the product's placement angle adjustment, reduce the number of adjustments, and reduce the risk of product damage or positional displacement due to angle deviation by limiting and controlling the offset difference between the two calibration points.

[0061] P50: According to the placement adjustment strategy, the conveyor belt placement of the first pin product is adjusted.

[0062] Specifically, according to the offset data in the placement adjustment strategy, the conveyor belt and automation equipment (such as robotic arms or other actuators) are guided to make precise motion adjustments. The strategy includes information such as the product placement angle, placement position and possible correction direction, which have been accurately determined after preliminary image analysis and offset calculation.

[0063] The placement adjustment strategy will guide the conveyor belt to make corresponding speed, direction and position adjustments during movement. After obtaining real-time feedback information on the conveyor belt, the automated equipment will adjust the placement of the pin product based on the offset data to ensure that the product can be accurately placed in the predetermined groove.

[0064] During the placement and adjustment process, the system will provide real-time feedback on the adjustment effect of the conveyor belt. If it is found that the pin product is not placed accurately or deviates, it will be recalculated and dynamically adjusted until the product is accurately placed at the target position. Through this process, the system can provide real-time feedback and adjustment on the status of the pin product to ensure that the placement position, angle, etc. of the product are fully aligned with the groove, thereby improving the placement accuracy of the product and reducing the risk of damage caused by position error. This adjustment process is highly responsive and flexible, and can adapt to the high-speed operation of the conveyor belt and the different states of the product, ensuring overall production efficiency and product quality.

[0065] In summary, the embodiments of the present application have at least the following technical effects: This application configures a visual monitoring position and an image acquisition card, combines the conveyor belt speed and data processing time limit to accurately locate the pin products, adopts an offset calculation method based on a three-dimensional reference coordinate system and a displacement coordinate system, trains a placement adjustment model, triggers image acquisition through a motor encoder, performs image clarity compensation and offset correction, calculates placement angles and position offsets, generates an adjustment strategy, and regulates the conveyor belt according to the strategy to achieve precise product placement and avoid damage and inaccurate placement.

[0066] The technical effect of improving the placement accuracy of pin products on high-speed conveyor belts and avoiding product damage is achieved through dynamic adjustment strategies and real-time offset calculations.

[0067] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0068] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0069] This specification and the drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. A method for controlling the placement of pin products integrated with conveyor belt positioning, characterized in that: The method comprises: For the transmission scene configuration, determine the visual monitoring position and configure the image acquisition card, where the data processing time limit and conveyor belt speed are used as position setting constraints; Setting an offset calculation method and supervising the training of a placement adjustment model, wherein the offset calculation method builds a three-dimensional reference coordinate system based on the geometric distribution characteristics of the conveyor belt grooves and builds a displacement coordinate system based on the product placement position for collaborative calculation; activating the image acquisition card at the visual monitoring position through a motor encoder to acquire a product image of the first pin product; The product image is transmitted back, and combined with the placement adjustment model, image clarity compensation and offset correction target positioning are performed, the placement angle and the offset of the placement position are measured and an adjustment decision is made, and a placement adjustment strategy is generated, wherein the placement adjustment is an adjustment for the current state of the product; According to the placement adjustment strategy, the conveyor belt placement of the first pin product is adjusted.

2. The method for controlling the placement of pin products with integrated conveyor belt positioning as claimed in claim 1, characterized in that: Identify visual monitoring locations, including: Given a limited time for image acquisition and placement decision, a time tolerance interval is superimposed as the data processing time limit; The conveyor belt speed is interactively used to calculate the product of the data processing time limit and the conveyor belt speed as the interval distance, wherein the interval distance is the distance between the product placement position and the visual monitoring position.

3. The method for controlling the placement of pin products with integrated conveyor belt positioning as claimed in claim 1, characterized in that: The method of activating the image acquisition card of the visual monitoring position by means of a motor encoder comprises: Introducing a motor encoder, wherein the motor encoder is pre-arranged at the visual monitoring position, and a communication connection is established between the motor encoder and the image acquisition card; Identify the transmission characteristics of the first pin product based on the motor encoder and generate a product identification signal; The product identification signal is transmitted to the image acquisition card to perform image acquisition management of the first pin product.

4. The method for controlling the placement of pin products with integrated conveyor belt positioning as claimed in claim 1, characterized in that: The generating of the placement adjustment strategy includes: The placement adjustment model includes a three-layer fully connected image processing unit, an offset calculation unit and a placement decision unit; Collect product images, and perform preprocessing in conjunction with the image processing unit to determine valid product images; The effective image of the product is transferred to the offset calculation unit, and the offset of the placement angle and the placement position is calculated in a coordinate system to determine the product offset; The product offset is transferred to the placement decision unit, and the placement adjustment strategy is output.

5. The method for controlling the placement of pin products with integrated conveyor belt positioning as claimed in claim 4, characterized in that: Build an image processing unit, including: Interacting the conveyor belt speed to determine an image preprocessing standard, wherein image preprocessing constraints are performed based on acquisition ambiguity and image recognition requirements based on the conveyor belt speed; Determine an offset calibration target, wherein at least two random pins of the pin product and the product center are used as the offset calibration targets; Based on the image preprocessing standard and the offset correction target, supervise the training of the image processing unit.

6. The method for controlling the placement of pin products with integrated conveyor belt positioning as claimed in claim 4, characterized in that: The determining of the product offset comprises: Locating the offset calibration target of the first pin product, which includes at least a first calibration pin, a second calibration pin and a third calibration center; In combination with the three-dimensional reference coordinate system, an azimuth deviation analysis is performed on the first calibration pin and the second calibration pin to determine a placement angle offset; In combination with the displacement coordinate system, a position deviation analysis is performed on the third calibration center based on the expected placement position to determine the placement position offset; A placement adjustment decision is made based on the placement angle offset and the placement position offset.

7. The method for controlling the placement of pin products with integrated conveyor belt positioning as claimed in claim 6, characterized in that: Performing azimuth deviation analysis on the first calibration pin and the second calibration pin includes: For the first calibration pin, determine a first offset in combination with the three-dimensional reference coordinate system, wherein the relative offset between the calibration pin and the groove is used as a standard; For the second calibration pin, determine a second offset in combination with the three-dimensional reference coordinate system; The first offset and the second offset are checked to calculate an offset difference. If a preset tolerance interval is satisfied, an average of the first offset and the second offset is used as the placement angle offset.

8. The method for controlling the placement of pin products with integrated conveyor belt positioning as claimed in claim 6, characterized in that: Before locating the offset calibration target of the first pin product, include: Determine product pre-inspection elements, wherein the product pre-inspection elements at least include characters, pins, and appearance; receiving the product image, performing quality pre-inspection based on the product pre-inspection elements, and determining a pre-inspection result; If the pre-check result is qualified, positioning the offset calibration target; If the pre-inspection result is unqualified, the first pin product is marked as defective.

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