Pin product placement control method integrating conveyor belt positioning

Abstract

The present invention discloses a method for controlling the placement of pin products integrated with conveyor belt positioning, which relates to the field of material conveying technology. The method includes: determining a visual monitoring position and configuring an image acquisition card for conveying scene configuration; setting an offset calculation method and supervising the training of a placement adjustment model; activating the image acquisition card through a motor encoder to capture a product image of a first pin product; combining the placement adjustment model to perform image clarity compensation and offset calibration target positioning, measure the offset of the placement angle and the placement position and make an adjustment decision, and perform conveyor belt placement control according to the placement adjustment strategy. The present invention 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 calculations.

Description

Technical Field

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

[0002] With the rise of automated production, conveyor belts are increasingly being used in industries such as electronics and automotive. Precisely controlling product position is crucial, especially when placing high-precision materials like lead pins. However, in traditional high-speed conveyor belt environments, image acquisition often suffers from blurring due to the continuous motion of the conveyor belt and the complex shape of the product, leading to inaccurate placement and even lead damage. Furthermore, existing placement control methods mostly rely on fixed adjustment strategies that are unable to adapt to the dynamic offset of the product in real time, impacting production efficiency and product quality. Summary of the Invention

[0003] The present application provides a pin product placement control method that integrates 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 that integrates conveyor belt positioning, the method comprising: determining a visual monitoring position and configuring an image acquisition card for 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 uses a three-dimensional reference coordinate system based on the geometric distribution characteristics of the conveyor belt grooves to build 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 the product image back, combining it with 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:

[0006] 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. The motor encoder is used to trigger image acquisition and perform clarity compensation, generate a placement adjustment strategy, and dynamically adjust the position and angle of the conveyor belt 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

[0007] 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.

[0008] Figure 1 A flowchart of a pin product placement control method integrating conveyor belt positioning provided in an embodiment of the present application;

[0009] Figure 2 A schematic flow chart of image acquisition management of a first pin product in a pin product placement control method integrating conveyor belt positioning provided in an embodiment of the present application. DETAILED DESCRIPTION

[0010] The present application provides a pin product placement control method that integrates 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.

[0011] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0012] 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 clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products or devices.

[0013] Example 1, as Figure 1 As shown, the present application provides a pin product placement control method integrating conveyor belt positioning, the method comprising:

[0014] P10: For the transmission scenario configuration, determine the visual monitoring location and configure the image acquisition card, where the data processing time limit and conveyor belt speed are used as position setting constraints.

[0015] Furthermore, step P10 in the embodiment of the present application further includes:

[0016] P11: Given a time limit for image acquisition and placement decision-making, the time tolerance interval is superimposed as the data processing time limit; P12: Interacting with the conveyor belt speed, the product of the data processing time limit and the conveyor belt speed is calculated as the interval distance, where the interval distance is the distance between the product placement position and the visual monitoring position.

[0017] It should be understood that the configuration of relevant information for the conveyor scene, such as the layout of the conveyor belt and the distribution of automated equipment (such as robotic arms), determines the locations for visual monitoring and configures the frame acquisition card for image acquisition. Because 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.

[0018] Specifically, a time limit must be set for the image acquisition and placement decision process, known as the data processing time limit. This time limit not only takes into account the image acquisition itself but also the subsequent processing steps, including image clarity compensation and offset correction. To prevent data processing from being delayed due to excessive conveyor speed, a time tolerance interval is required. This allows for a certain amount of time deviation between image acquisition and placement decision making. This provides the system with greater flexibility, ensuring that the appropriate adjustment and control tasks can be completed even if the conveyor speed fluctuates or other external factors are affected.

[0019] Next, considering the dynamic nature of the conveyor's movement, the data collection and processing intervals need to be adjusted based on its speed. The key to this step is the product of the data processing time limit and the conveyor speed. This allows for the precise calculation of the product's clearance distance from the visual monitoring location to the final product placement location. Specifically, the clearance distance refers to the distance between the visual monitoring location and the final product placement location during the conveyor's operation. The formula for calculating this clearance distance is: Clearance distance = Data processing time limit × Conveyor speed.

[0020] This step is crucial, ensuring that products are placed in the appropriate location within a specified timeframe, without misalignment or collisions caused by conveyor speed or processing delays. Accurately calculating this spacing provides accurate data support for subsequent placement adjustments, ensuring pinned products are accurately positioned on the conveyor and avoiding deformation or damage caused by product misalignment.

[0021] 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 groove and builds a displacement coordinate system based on the product placement position for collaborative calculation.

[0022] Specifically, by setting the offset calculation method, we ensure that the pinned products can be accurately placed in the corresponding grooves of the conveyor belt to avoid collision or deformation. Specifically, this step accurately calculates the product offset by establishing different coordinate systems, thereby guiding the placement adjustment model to make decisions.

[0023] First, an offset calculation method must be established. The core of this method is to ensure that the pinned products are accurately placed in the intended location by accurately calculating the offset during product placement. To achieve this goal, a 3D reference coordinate system based on the geometric distribution characteristics of the conveyor belt grooves can be used, and a displacement coordinate system can be constructed based on the product placement position. These two coordinate systems work together to achieve accurate offset calculation.

[0024] The three-dimensional reference coordinate system can be constructed based on the geometric features of the conveyor belt grooves. As the foundational structure for product placement, the geometric distribution of the conveyor belt grooves plays a crucial role in product positioning. Therefore, by analyzing the shape, size, and relative position of the grooves, a three-dimensional reference coordinate system is constructed to provide accurate spatial positioning information for subsequent calculations. This reference coordinate system provides real-time feedback on the position of the conveyor belt grooves and serves as a benchmark for product placement.

[0025] Next, a displacement coordinate system is constructed based on the product placement. This coordinate system is used to calculate the product's displacement from the conveyor belt to the target placement location. It is primarily used to track and measure product offsets. In this coordinate system, the product's current position and target placement location are precisely calibrated. By calculating the difference between the two, the system can obtain real-time product offset information.

[0026] The collaborative calculation of these two coordinate systems enables precise measurement of product position. By combining the 3D reference coordinate system with the displacement coordinate system, the system comprehensively considers multiple factors, including product offset, angle, and position on the conveyor, to generate accurate offset information. This information can be used to further adjust placement strategies, ensuring that pinned products are precisely placed in designated grooves on the conveyor, avoiding damage and misplacement caused by offset.

[0027] Throughout the entire process, the system also supervises the training of the placement adjustment model, using 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.

[0028] 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.

[0029] Further, such as Figure 2 As shown, step P30 in this embodiment of the application also includes:

[0030] 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.

[0031] Optionally, in order to address 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.

[0032] First, a motor encoder is placed in front of the visual monitoring position. This encoder is designed to detect pinned products passing on the conveyor belt in real time. When a product reaches the visual monitoring position, the motor encoder can detect its presence in advance and provide an early warning signal to the subsequent image acquisition system. To ensure smooth information transmission, the motor encoder and the image acquisition card are connected through a communication link such as serial communication, CAN bus, or Ethernet to achieve synchronous signal transmission. This way, once the motor encoder senses the passing of a product, it immediately triggers the image acquisition card to start the image acquisition process.

[0033] Before activating the frame grabber, the motor encoder is used to identify the transmission characteristics of the product on the first pin. This means using the motion information provided by the motor encoder to accurately determine the product's current position and motion state on the conveyor belt. The motor encoder monitors the conveyor belt's speed, acceleration, and trajectory, identifying the product's dynamic characteristics, including the time and location at which the product enters the visual monitoring range. This action generates a product identification signal, which is transmitted to subsequent systems, indicating that the product is about to reach the visual monitoring position.

[0034] Once a product recognition signal is generated, it is instantly transmitted to the frame grabber. Upon receiving the signal, the frame grabber immediately begins preparing for image acquisition, ensuring accurate capture of any product as it enters the monitoring range. At this point, the frame grabber begins managing the first pin of the product passing through and ensuring smooth image acquisition.

[0035] In practical applications, especially in high-speed transmission scenarios, products on conveyor belts can move very quickly. Without a timely trigger mechanism, image acquisition can lag, resulting in suboptimal image quality and affecting subsequent offset correction and placement decisions. Therefore, using a motor encoder to identify products in advance and ensure that image acquisition accurately responds to product arrival is a 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.

[0036] P40: The product image is transmitted back and combined with the placement adjustment model to perform image clarity compensation and offset correction target positioning, measure the placement angle and the offset of the placement position, make an adjustment decision, and generate a placement adjustment strategy, where the placement adjustment is an adjustment based on the current state of the product.

[0037] Furthermore, step P40 in this embodiment of the present application further includes:

[0038] P41: The placement adjustment model includes a three-layer fully connected image processing unit, an offset calculation unit, and a placement decision unit; P42: Acquire product images, combine with the image processing unit, and perform preprocessing to determine the effective product image; P43: Transfer the effective product image to the offset calculation unit, calculate the placement angle and the placement position offset using the coordinate system, and determine the product offset; P44: Transfer the product offset to the placement decision unit, and output the placement adjustment strategy.

[0039] It should be understood that the image capture card transmits captured product images back to the placement adjustment model, which then accurately calibrates the product's placement angle and position, generating an accurate placement adjustment strategy. This process involves not only image clarity compensation and offset calculations, but also analysis of the product's current state and decision-making regarding adjustments, ensuring that pinned products are precisely placed in the corresponding grooves on the conveyor belt.

[0040] The placement adjustment model in this embodiment consists of three main modules: an image processing unit, an offset calculation unit, and a placement decision unit. These units work together through a three-layer fully connected architecture 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 precise offset calculations based on the image and coordinate system; and the placement decision unit outputs a specific placement adjustment strategy based on the calculation results.

[0041] After capturing product images, they must first be preprocessed by the image processing unit. This step aims to identify valid product images—that is, to filter out clear portions of the original image with accurate positional information. This preprocessing process may include image enhancement, noise removal, and contrast adjustment to ensure image quality and usability. This process enables the acquisition of high-quality, valid images, providing reliable data support for subsequent offset calculations and decision-making.

[0042] 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 position offset based on the known reference coordinate system on the conveyor and the positioning information in the actual product image. The placement angle offset describes the rotational error of the product relative to the target placement position, while the placement position offset indicates the difference in distance between the product and the groove. This method accurately quantifies the product's displacement state and provides the necessary offset data for further adjustments.

[0043] Ultimately, the calculated offset is passed to the placement decision unit. This unit generates a placement adjustment strategy based on the product's current offset state and target placement requirements. This strategy includes specific adjustment instructions, such as conveyor speed adjustments and the direction and amplitude of product rotation or movement. This adjustment strategy is tailored to the product's current state, ensuring that the product is precisely moved to the desired groove position, thereby avoiding collisions or damage caused by offset.

[0044] 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.

[0045] Furthermore, step P41 of the embodiment of the present application further includes:

[0046] 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.

[0047] Optionally, the construction process of the placement adjustment model can be further refined, especially the determination of the standard and offset correction targets for image processing, to improve the system's recognition and placement accuracy of pinned products on high-speed moving conveyors.

[0048] First, during the image acquisition process, the conveyor belt speed is an important factor affecting image quality and processing efficiency. The image preprocessing standard can be determined based on 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 based on 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 image preprocessing standards must take into account the blurring effect caused by the conveyor belt speed, and perform image preprocessing constraints based on the requirements 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 image clarity, thereby ensuring that accurate and clear images can be obtained in subsequent processing links.

[0049] Next, an effective offset calibration target is identified for the product in the image. This involves selecting key reference points in the image that can be used to calculate the offset. In this embodiment, at least two random pins of a pinned product and the center of the product are selected as offset calibration targets. The purpose of this is to accurately measure the product's offset using these characteristic points and ensure that the product is aligned with the predetermined position both vertically and horizontally. The pins are chosen as reference points because they are relatively fixed and easily identifiable on the product, making them effective for calculating and correcting product offset.

[0050] Finally, based on the aforementioned image preprocessing standards and offset correction objectives, the image processing unit undergoes supervised training. Using a large number of training samples, the parameters of the image processing unit are adjusted so that it can accurately handle image blur at different conveyor speeds and precisely identify the offset of pinned products. The goal of supervised training is to enable the image processing unit to effectively distinguish valid images from noise under various dynamic conditions, while accurately locating the offset position of the product. This training process requires a large amount of well-labeled 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.

[0051] Furthermore, before locating the offset calibration target of the first pin product, the embodiment of the present application further includes step P41-2a, which further includes:

[0052] 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.

[0053] 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 the quality standards will enter the subsequent offset correction and placement adjustment process, that is, to ensure that each pin product can complete quality confirmation before entering the precise positioning stage.

[0054] Specifically, before performing offset correction target positioning, it is first necessary to pre-inspect each pin product. In order to conduct effective quality inspections, some key product pre-inspection elements need to be defined. These elements are basic requirements for the appearance and form of the product, and at least include 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 correction link.

[0055] After receiving product images, a quality pre-inspection is performed based on the pre-inspection elements defined above. This quality pre-inspection process primarily relies on image processing technology, combined with image recognition algorithms, to automatically detect whether the characters, pins, and appearance in the image meet preset standards. This process can include character recognition (OCR), pin defect detection, and appearance defect analysis to ensure that each product meets the physical requirements for placement.

[0056] If the product passes pre-inspection and is deemed qualified, the offset calibration target can be positioned. Based on the qualified image data, the system accurately locates the offset calibration target for the pinned product and makes subsequent offset calculations and placement adjustments. This ensures that only qualified products enter the precise positioning and placement phase, thus avoiding operational errors or damage caused by unqualified products.

[0057] If any product is found to be substandard during pre-inspection (e.g., missing characters, damaged pins, cosmetic defects, etc.), the system will automatically mark the product as defective and apply defective identification. At this point, the substandard product is removed from the production line, preventing it from entering subsequent processing steps, thus ensuring production quality and efficiency. The automation of this process significantly reduces human intervention and improves overall production line efficiency.

[0058] Furthermore, step P43 of the embodiment of the present application further includes:

[0059] 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 a placement adjustment decision based on the placement angle offset and the placement position offset.

[0060] 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.

[0061] First, after image acquisition and preprocessing, the offset calibration targets need to be determined. This involves identifying and locating key points in the product image to guide subsequent offset calculations. These offset calibration targets include at least three key locations: the first calibration pin, the second calibration pin, and the third calibration center. The first and second calibration pins serve as reference points for locating the product's position and are used to analyze the product's rotation angle and orientation. The third calibration center serves as the center point of the product, used to further calibrate the product's offset relative to its placement.

[0062] Next, in combination with the three-dimensional reference coordinate system, the azimuth deviation analysis is performed on the first and second proofreading pins to determine the placement angle offset of the pin product, that is, the difference in the product's rotation angle 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 and second proofreading pins, for example, by comparing with the expected azimuth angle to calculate the azimuth deviation, which 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.

[0063] Then, position deviation analysis is performed on the third calibration center using a displacement coordinate system. Using the placement of the pinned product as a reference, the displacement coordinate system compares the product's placement with the intended placement to calculate the product's horizontal and vertical position deviations—that is, the product's deviation from the intended placement point. This deviation quantifies the product's actual position relative to the target position, providing a precise numerical basis for subsequent adjustments.

[0064] Finally, a placement adjustment decision is made based on the calculated placement angle offset and placement position offset. This decision, combining these two offsets, determines how to adjust the conveyor positioning and product placement to ensure that the pinned products are placed at the correct position and angle. Through this process, the system can automatically correct product offsets in dynamic conveyor scenarios, preventing product deformation or damage while improving production efficiency.

[0065] Furthermore, step P43-2 of the embodiment of the present application also includes:

[0066] 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 the 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.

[0067] It should be understood that through detailed analysis of the first calibration pin and the second calibration pin, the product placement angle offset is calculated, and the offset between the two is further calibrated to ensure accurate positioning and placement of the product.

[0068] First, the offset of the first calibration pin is calculated. To accurately calculate the pin's offset, the system uses a three-dimensional reference coordinate system, based on the geometric characteristics of the conveyor belt groove. The system then analyzes the relative offset angle between the pin and the groove's edge or centerline to determine the first offset. This first offset represents the angular difference between the first calibration pin and the groove.

[0069] The same process is repeated for the second calibration pin. Using the three-dimensional reference coordinate system, the second calibration pin's azimuth is detected and its azimuth deviation from the corresponding groove is calculated to determine its second offset relative to the conveyor groove. This second offset also reflects the angular difference between the second calibration pin and the groove. In this way, the system performs dual angular offset detection using two different calibration pins, thereby increasing positioning reliability and accuracy.

[0070] 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 represents 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 position offset due to angle deviation by limiting and controlling the offset difference between the two calibration points.

[0071] P50: According to the placement adjustment strategy, the conveyor belt placement of the first pin product is adjusted.

[0072] Specifically, the offset data in the placement adjustment strategy guides the conveyor belt and automated equipment (such as robotic arms or other actuators) to make precise motion adjustments. This strategy includes information such as the product's placement angle, placement position, and possible correction direction, all of which are precisely determined through preliminary image analysis and offset calculations.

[0073] The placement adjustment strategy guides the conveyor belt to make appropriate speed, direction, and position adjustments during movement. The automated equipment receives real-time feedback from the conveyor belt and adjusts the placement of the pinned products based on this offset data, ensuring they are accurately placed in the designated grooves.

[0074] During the placement and control process, the system provides real-time feedback on the conveyor belt's adjustment results. If the pin product is not accurately placed or deviates, the system recalculates and dynamically adjusts until the product is accurately placed in the target position. Through this process, the system can provide real-time feedback and adjust the pin product's status, ensuring that the product's placement position, angle, and other aspects are fully aligned with the groove, thereby improving product placement accuracy and reducing the risk of damage caused by positioning errors. This adjustment process is highly responsive and flexible, able to adapt to the high-speed operation of the conveyor belt and the varying conditions of the product, ensuring overall production efficiency and product quality.

[0075] In summary, the embodiments of the present application have at least the following technical effects:

[0076] This application configures visual monitoring positions and image acquisition cards, combines conveyor belt speed and data processing time limit, accurately locates pin products, adopts offset calculation method based on three-dimensional reference coordinate system and displacement coordinate system, trains placement adjustment model, triggers image acquisition through motor encoder, performs image clarity compensation and offset correction, calculates placement angle and position offset, generates adjustment strategy, and regulates conveyor belt according to the strategy to achieve precise product placement and avoid damage and inaccurate placement.

[0077] 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.

[0078] It should be noted that the order in which the embodiments of the present application are presented is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions of specific embodiments of this specification are provided. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential sequence shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0079] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

[0080] This specification and drawings are merely illustrative of the present application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of this application. Thus, this application is intended to include such modifications and variations as fall within the scope of this application and its equivalents.

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 scenario configuration, determine the visual monitoring location and configure the image acquisition card, where the data processing time limit and conveyor belt speed are used as the location setting constraints; Setting an offset calculation method and supervising the training of a placement adjustment model, wherein the offset calculation method establishes a three-dimensional reference coordinate system based on the geometric distribution characteristics of the conveyor belt grooves and establishes 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 product at the first pin; 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 placement position offset are measured, and adjustment decisions are made to generate a placement adjustment strategy, wherein the placement adjustment is an adjustment based on the current state of the product; According to the placement adjustment strategy, the conveyor belt placement of the first pin product is adjusted; The method of activating the image acquisition card of the visual monitoring position by using a motor encoder includes: Introducing a motor encoder, wherein the motor encoder is pre-arranged at the visual monitoring position, and the motor encoder establishes a communication connection with the image acquisition card; Identify the transmission characteristics of the first pin product based on the motor encoder and generate a product identification signal; Transmitting the product identification signal to the image acquisition card to perform image acquisition management of the first pin product; Generating 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 pre-processing 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; Transferring the product offset to the placement decision unit and outputting the placement adjustment strategy; Determining the product offset includes: Locating an 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, performing a position deviation analysis on the third calibration center based on the expected placement position to determine a placement position offset; making a placement adjustment decision based on the placement angle offset and the placement position offset; Performing azimuth deviation analysis on the first calibration pin and the second calibration pin includes: For the first calibration pin, determining 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 and an offset difference is calculated. If a preset tolerance interval is satisfied, an average of the first offset and the second offset is used as the placement angle offset.

2. The pin product placement control method of fusion conveyor positioning according to claim 1, characterized in that: Identify visual monitoring locations, including: Given a limited time for image acquisition and placement decision making, 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 pin product placement control method of fusion conveyor positioning according to claim 1, characterized in that: Build an image processing unit, including: Interacting the conveyor belt speed to determine an image preprocessing criterion, wherein image preprocessing constraints are performed based on acquisition ambiguity and image recognition requirements based on the conveyor belt speed; Determining 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.

4. The pin product placement control method for integrated conveyor belt positioning according to claim 1, characterized in that: Before locating the first pin product offset calibration target, include: Determine product pre-inspection elements, wherein the product pre-inspection elements at least include characters, pins, and appearance; receiving the product image, performing a 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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