Material cleaning method and equipment

Abstract

The invention relates to a material cleaning method and device.The method comprises the steps that under the condition that a carrier plate carrying materials to be cleaned is conveyed through a first material conveying device, a turnover device is controlled to grab the carrier plate and drive the carrier plate to turn over, so that the surfaces to be cleaned of the materials to be cleaned face downwards; controlling the cleaning device to clean the to-be-cleaned surface of the to-be-cleaned material; under the condition that the to-be-cleaned surface of the to-be-cleaned material is cleaned, the turnover device is controlled to drive the carrier plate to turn over, so that the to-be-cleaned surface of the to-be-cleaned material faces upwards; the turnover device is controlled to place the carrier plate on a second material conveying device, so that the carrier plate is conveyed to a material inspection waiting area through the second material conveying device; the transferring device is controlled to move the carrier plate from the material inspection waiting area to the position below the inspection camera; controlling an inspection camera to shoot the cleaned material to obtain a material image; and according to the material image, determining a cleaning result of the cleaned material and a material processing result.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of material cleaning, and more specifically, to a material cleaning method and equipment. Background Art

[0002] In the product assembly process, there are many foreign objects on the surface of the materials transferred from the previous process. In the related technology, the materials are cleaned by manually operating cleaning equipment, which has low cleaning efficiency. In addition, after the material is cleaned, it is generally assumed that the cleaning result is qualified, and the cleaning effect cannot be identified. Summary of the invention

[0003] One object of the present disclosure is to provide a new technical solution for a material cleaning method.

[0004] According to a first aspect of the present disclosure, there is provided a material cleaning method, comprising: When the carrier plate carrying the material to be cleaned is conveyed by the first material conveying device, the flipping device is controlled to grab the carrier plate and drive the carrier plate to flip so that the surface to be cleaned of the material to be cleaned faces downward; Controlling the cleaning device to clean the surface to be cleaned of the material to be cleaned; When the cleaning operation on the to-be-cleaned surface of the to-be-cleaned material is completed, controlling the flipping device to flip the carrier plate so that the to-be-cleaned surface of the to-be-cleaned material faces upward; Controlling the flipping device to place the carrier plate on the second material conveying device, so as to convey the carrier plate to the material inspection waiting area through the second material conveying device; Controlling the transfer device to move the carrier from the material inspection waiting area to below the inspection camera; Controlling the inspection camera to photograph the cleaned material to obtain an image of the material; The cleaning result and the material processing result of the cleaned material are determined according to the material image.

[0005] Optionally, determining the cleaning result and material processing result of the cleaned material according to the material image includes: The material image is input into a set image detection model to obtain the cleaning result and material processing result of the cleaned material, wherein the set image detection model is a model trained based on a large number of training samples, and each training sample includes a material image marked with the cleaning result and the material processing result.

[0006] Optionally, the method further includes: Obtaining identification information of the carrier board; A material inspection result is generated according to the identification information of the carrier plate, the position information of each material that has been cleaned on the carrier plate, and the corresponding cleaning result and material processing result.

[0007] Optionally, the first material conveying device includes a first conveying track and a first track size adjustment portion, wherein the method further includes: Obtaining the size information of the carrier plate carrying the material to be cleaned; According to the size information of the carrier plate carrying the material to be cleaned, controlling the first track size adjustment unit to adjust the size of the first conveying track so that the size of the first conveying track is adapted to the carrier plate carrying the material to be cleaned; The second material conveying device includes a second conveying track and a second track size adjustment portion, wherein the method further includes: Obtaining the size information of the carrier plate carrying the material to be cleaned; According to the size information of the carrier plate carrying the material to be cleaned, the second track size adjustment unit is controlled to adjust the size of the second conveying track so that the size of the second conveying track is matched with the carrier plate carrying the material to be cleaned.

[0008] Optionally, the cleaning device includes an air suction component and an air blowing component, wherein the cleaning device is controlled to perform a cleaning operation on the surface to be cleaned of the material to be cleaned, including: Controlling the air blowing component to perform air blowing cleaning on the surface to be cleaned of the material to be cleaned; The suction component is controlled to perform adsorption cleaning on the surface to be cleaned of the material to be cleaned.

[0009] Optionally, the transfer device includes a first transfer mechanism and a second transfer mechanism, wherein controlling the transfer device to move the carrier from the material inspection waiting area to below the inspection camera includes: The first transfer mechanism is controlled to move the carrier located in the material inspection waiting area from the inspection waiting area to under the inspection camera, and the second transfer mechanism is controlled to move the carrier located under the inspection camera and having completed shooting to the unloading device.

[0010] Optionally, before the carrier plate carrying the material to be cleaned is transported by the first material transporting device, the method further includes: Controlling the movement of the moving part in the feeding device to drive each material box located in the moving part to move, wherein each material box is equipped with at least one carrier plate; When it is detected that one of the material boxes in the moving part moves to the first set position, the lifting part in the feeding device is controlled to push the corresponding material box to perform lifting movement; When the corresponding material box is lifted and moved to the second set position, the pushing part in the feeding device is controlled to push a carrier plate in the corresponding material box to the first material conveying device.

[0011] According to a second aspect of the present disclosure, a material cleaning device is provided, comprising: a control device, a first material conveying device, a flipping device, a cleaning device, a second material conveying device, a transfer device and an inspection camera; the control device is used to control the first material conveying device, the flipping device, the cleaning device, the second material conveying device and the transfer device; wherein, The first material conveying device is used to convey the carrier plate carrying the material to be cleaned; The flipping device is used to grab the carrier plate from the first material conveying device and drive the carrier plate to flip so that the to-be-cleaned surface of the to-be-cleaned material faces downward; The cleaning device is used to clean the downwardly facing surface of the material to be cleaned; The flipping device is used to drive the carrier to flip when the cleaning device completes the cleaning operation on the to-be-cleaned surface of the to-be-cleaned material, so that the to-be-cleaned surface of the to-be-cleaned material faces upward, and to place the carrier on the second material conveying device; The second material conveying device is used to convey the carrier plate to the material inspection waiting area; The transfer device is used to move the carrier from the material inspection waiting area to below the inspection camera; The inspection camera is used to photograph the cleaned material to obtain a material image; The control device is used to determine the cleaning result and material processing result of the cleaned material according to the material image.

[0012] Optionally, the control device is also used to input the material image into a set image detection model to obtain the cleaning result and material processing result of the cleaned material, wherein the set image detection model is a model trained based on a large number of training samples, and each training sample includes a material image labeled with the cleaning result and material processing result.

[0013] Optionally, the first material conveying device includes a first conveying track and a first track size adjustment portion, wherein the first track size adjustment portion is used to adjust the size of the first conveying track so that the size of the first conveying track is compatible with the carrier plate carrying the material to be cleaned; The second material conveying device comprises a second conveying track and a second track size adjustment portion, wherein the second track size adjustment portion is used to adjust the size of the second conveying track so that the size of the second conveying track is adapted to the carrier plate carrying the material to be cleaned.

[0014] Optionally, the cleaning device includes an air suction component and an air blowing component, wherein: The air suction component is used to blow air to clean the surface to be cleaned of the material to be cleaned; The air blowing component is used for adsorption cleaning of the to-be-cleaned surface of the to-be-cleaned material.

[0015] The material cleaning method provided by the present invention has the advantages that since the material to be cleaned on the carrier plate is the material transferred from the previous processing step and has foreign matter, residue and the like on the surface, when the carrier plate is turned over by the turning device so that the to-be-cleaned surface of the material to be cleaned faces downward, the foreign matter or residue on its surface can fall from the surface of the material to be cleaned under the action of gravity. In addition, the to-be-cleaned surface of the material to be cleaned faces downward, and the cleaning device is controlled to move from the initial position to the bottom of the material to be cleaned for cleaning, so that the pollutants cleaned from the to-be-cleaned surface of the material to be cleaned fall directly downward, thereby preventing the pollutants cleaned from being deposited again and improving the cleaning effect. After the cleaning is completed, the material is automatically transported to the bottom of the inspection camera, and the inspection of the material is automatically completed, thereby improving the efficiency and accuracy of the inspection.

[0016] Features and advantages of the embodiments of the present specification will become apparent from the following detailed description of exemplary embodiments of the present specification with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings described herein are used to provide further understanding of the present specification, constitute a part of the present specification, and together with the description are used to explain the principles of the embodiments of the present specification.

[0018] Figure 1 is a process flow chart of a material cleaning method according to an embodiment of the present invention.

[0019] Figure 2 4 is a schematic diagram of a material image processing process according to an embodiment of the present invention.

[0020] Figure 3 It is a schematic flow chart of a loading process according to an embodiment of the present invention.

[0021] Figure 4 Schematic diagram of the structure of a material cleaning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings.

[0023] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the embodiments of the present specification and its application or uses.

[0024] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0025] In order to solve the above technical problems, an embodiment of the present invention provides a material cleaning method. Figure 1 As shown, the material cleaning method includes the following steps S110 to S170.

[0026] Step S110, when the carrier plate carrying the material to be cleaned is conveyed by the first material conveying device, the flipping device is controlled to grab the carrier plate and drive the carrier plate to flip so that the surface to be cleaned of the material to be cleaned faces downward.

[0027] The material to be cleaned is the material that has been transferred from the previous processing step. The material to be cleaned may be a circuit board.

[0028] The material to be cleaned is fixed on the carrier by adhesion or welding. One carrier can carry one or more materials to be cleaned. When a carrier carries multiple materials to be cleaned, multiple materials to be cleaned can be cleaned and inspected at the same time, which improves the cleaning and inspection efficiency of the materials.

[0029] The first material conveying device is used to convey the carrier plate carrying the material to be cleaned to a set position, and the set position is a position where the flipping device can grasp the carrier plate.

[0030] In some embodiments, the first material conveying device includes a first conveying track and a first track size adjustment unit. The method further includes: obtaining size information of a carrier board carrying the material to be cleaned; and controlling the first track size adjustment unit to adjust the size of the first conveying track according to the size information of the carrier board carrying the material to be cleaned, so that the size of the first conveying track is compatible with the carrier board carrying the material to be cleaned.

[0031] When the first conveying track conveys the carrier board carrying the material to be cleaned, it has the function of clamping the carrier board of the material to be cleaned, so as to prevent the carrier board from shaking during the conveying process, and at the same time facilitate the subsequent flipping device to grab the carrier board. In this embodiment, the first track size adjustment unit is controlled to adjust the size of the first conveying track, specifically, the size of the first conveying track is adjusted along the direction of clamping the carrier board of the material to be cleaned.

[0032] The size of the first conveying track is adjustable to be compatible with carrier plates of different sizes, and carrier plates of different sizes can carry materials of different sizes, so that automatic cleaning and inspection of materials of different sizes can be achieved.

[0033] The flipping device includes a grabbing mechanism and a flipping driving mechanism. The grabbing mechanism is used to grab the carrier plate carrying the material to be cleaned from the first material conveying device. The flipping driving mechanism is used to drive the grabbing mechanism to flip so that the to-be-cleaned surface of the material to be cleaned faces downward.

[0034] Since the material to be cleaned on the carrier is the material transferred from the previous processing step, there are foreign matter and residue on the surface. When the carrier is turned over by the turning device, so that the surface to be cleaned of the material to be cleaned faces downward, the foreign matter or residue on the surface can fall from the surface of the material to be cleaned by gravity.

[0035] Step S120, controlling the cleaning device to clean the surface of the material to be cleaned.

[0036] Specifically, the cleaning device is first controlled to move from the initial position to below the material to be cleaned, and then the cleaning device is controlled to clean the surface to be cleaned of the material to be cleaned. After the cleaning operation is completed by the cleaning device, the cleaning device is controlled to move to the initial position again.

[0037] In the case where the carrier carries a plurality of materials to be cleaned, the cleaning device can be controlled to move so as to clean each area of ​​the carrier one by one. The area divided on the carrier can include one material to be cleaned or multiple materials to be cleaned.

[0038] The cleaning device includes a cleaning component. The cleaning component includes a blowing component and a suction component. The suction component includes a vacuum generator. Controlling the cleaning device to clean the surface to be cleaned of the material to be cleaned specifically includes: controlling the suction component to blow and clean the surface to be cleaned of the material to be cleaned; controlling the blowing component to adsorb and clean the surface to be cleaned of the material to be cleaned.

[0039] The cleaning device also includes a driving component, which is used to drive the air suction component to perform air blowing cleaning on the surface to be cleaned of the material to be cleaned, and to drive the air blowing component to perform adsorption cleaning on the surface to be cleaned of the material to be cleaned.

[0040] The cleaning device also includes a static eliminator. Before controlling the driving suction component to blow air to clean the surface of the material to be cleaned, and controlling the driving blowing component to adsorb and clean the surface of the material to be cleaned, the static eliminator is controlled to neutralize the static charge on the surface of the material to be cleaned, so as to facilitate the subsequent cleaning operation. This is because if static electricity is not eliminated, even if the surface of the material to be cleaned is completely cleaned, static electricity will still cause dust to be re-adsorbed. In addition, if foreign matter or debris attached to the material to be cleaned carries static electricity, it may not be cleaned when it is cleaned by the cleaning device, affecting the cleaning effect.

[0041] In this embodiment, the cleaning surface of the material to be cleaned faces downward, and the cleaning device is controlled to move from the initial position to the bottom of the material to be cleaned for cleaning, so that the pollutants cleaned from the cleaning surface of the material to be cleaned fall directly downward, preventing the cleaned pollutants from being deposited again, thereby improving the cleaning effect.

[0042] Step S130, when the cleaning operation on the to-be-cleaned surface of the to-be-cleaned material is completed, the flipping device is controlled to drive the carrier plate to flip so that the to-be-cleaned surface of the to-be-cleaned material faces upward.

[0043] Specifically, the gripping mechanism is driven to flip by controlling the flipping driving mechanism, thereby driving the carrier plate to flip, so that the to-be-cleaned surface of the material to be cleaned faces upward.

[0044] Step S140, controlling the flipping device to place the carrier on the second material conveying device, so as to convey the carrier to the material inspection waiting area through the second material conveying device.

[0045] In some embodiments, the second material conveying device includes a second conveying track and a second track size adjustment unit. The method further includes: obtaining size information of a carrier board carrying the material to be cleaned; and controlling the second track size adjustment unit to adjust the size of the second conveying track according to the size information of the carrier board carrying the material to be cleaned, so that the size of the second conveying track is adapted to the carrier board carrying the material to be cleaned.

[0046] When the second conveying track conveys the carrier board carrying the cleaned material, it has the function of clamping the carrier board of the cleaned material to prevent the carrier board from shaking during the conveying process. In this embodiment, the second track size adjustment unit is controlled to adjust the size of the second conveying track, specifically, the size of the second conveying track is adjusted along the direction of clamping the carrier board of the material to be cleaned.

[0047] The size of the second conveying track is adjustable to be compatible with carrier plates of different sizes, and carrier plates of different sizes can carry materials of different sizes, so that automatic cleaning and inspection of materials of different sizes can be achieved.

[0048] Step S150, controlling the transfer device to move the carrier from the material inspection waiting area to below the inspection camera.

[0049] The transfer device includes a first transfer mechanism and a second transfer mechanism. The first transfer mechanism and the second transfer mechanism can be a suction mechanism or a clamping mechanism.

[0050] Step S150 specifically includes: controlling the first transfer mechanism to move the carrier located in the inspection waiting area from the inspection waiting area to below the inspection camera, and controlling the second transfer mechanism to move the carrier located below the camera and having completed shooting to the unloading device. While moving the carrier located in the inspection waiting area from the inspection waiting area to below the inspection camera, the carrier located below the camera and having completed shooting is also moved to the unloading device, thereby achieving the synchronization of the operations performed by the first transfer mechanism and the second transfer mechanism, thereby improving efficiency.

[0051] Step S160, controlling the inspection camera to photograph the cleaned material to obtain a material image.

[0052] In some embodiments, before controlling the inspection camera to photograph the cleaned material, a positioning mechanism is used to position the carrier plate carrying the cleaned material to ensure that the inspection camera does not shake when photographing the cleaned material, thereby affecting the photographing effect.

[0053] The positioning mechanism includes a suction cup, through which the carrier is positioned. Alternatively, the positioning mechanism includes a pressure cover, through which the carrier is pressed and fixed.

[0054] The inspection camera and the positioning mechanism are arranged on the shock absorbing part to avoid vibration of the inspection camera and the positioning mechanism.

[0055] Step S170, determining the cleaning result and material processing result of the cleaned material according to the material image.

[0056] according to Figure 2 As shown, obtaining the cleaning result and the material processing result of the material based on the material image may include the following steps S201 to S203.

[0057] Step S201, input the material image into the set image detection model to obtain the cleaning result and material processing result of the cleaned material, wherein the set image detection model is a model trained based on a large number of training samples, and each training sample includes a material image marked with the cleaning result and the material processing result.

[0058] The cleaning result and material processing result marked on each material image are the results of manual marking. The cleaning result is one of qualified cleaning and unqualified cleaning. The material processing result is one of qualified processing and unqualified processing. Unqualified processing is at least one of unqualified size, cracks on the surface, and scratches on the surface.

[0059] In this embodiment, the automatic detection of material images is achieved through the set image detection model, thereby improving the detection efficiency and accuracy of material images.

[0060] In this embodiment, the carrier board carries identification information representing the identity of the carrier board.

[0061] Step S202, obtaining identification information of the carrier board.

[0062] Step S203: Generate material inspection results based on the identification information of the carrier, the position information of each cleaned material on the carrier, the corresponding cleaning results, and the material processing results. The material inspection results can be a MAP diagram. This can provide intuitive and accurate data for subsequent processes.

[0063] In some embodiments, according to Figure 3 As shown, before the carrier plate carrying the material to be cleaned is conveyed by the first material conveying device, the method further includes steps S301 to S303.

[0064] Step S301, controlling the moving part in the loading device to move, so as to drive each material box located in the moving part to move, wherein each material box is equipped with at least one carrier plate.

[0065] Step S302, when it is detected that a material box in the moving part moves to the first set position, the lifting part in the feeding device is controlled to push the corresponding material box to perform a lifting movement.

[0066] Step S303, when the corresponding material box is lifted to the second set position, the pushing part in the loading device is controlled to push a carrier plate in the corresponding material box to the first material conveying device.

[0067] The mobile part of the loading device is used to receive the material boxes conveyed by AGV (Automated Guided Vehicle) or manual transportation. The mobile part consists of two layers, each of which can store a certain number of material boxes. The mobile part is equipped with a detection sensor to detect whether the material box is placed in place and whether it is full.

[0068] When the moving part is conveying the material box, it has the function of clamping the material box to prevent the material box from shaking during the conveying process. In this embodiment, the moving part is controlled to adjust its own size so that the size of the moving part is adapted to the size of the material box. The moving part is controlled to adjust its own size, specifically, to adjust its own size along the direction of clamping the material box.

[0069] The lifting part in the feeding device is used to push the material box to perform lifting movement. When lifting the material box, the lifting part has the function of clamping the material box to prevent the material box from shaking during the lifting process.

[0070] The feeding device is provided with a carrier plate curvature detection sensor. When the pushing part is pushing the carrier plate, the carrier plate curvature detection sensor is used to detect whether the pushed carrier plate is bent.

[0071] In some embodiments, after determining the cleaning results and material processing results of the cleaned material based on the material image, the method also includes: controlling the grabbing mechanism in the unloading device to grab the material that has completed the camera inspection into a material box on the material conveying device located in the unloading device for conveying through the material conveying device.

[0072] One embodiment of the present invention provides a material cleaning device. The material cleaning device includes a control device, a first material conveying device, a turning device, a cleaning device, a second material conveying device, a transfer device and an inspection camera. The control device is used to control the first material conveying device, the turning device, the cleaning device, the second material conveying device and the transfer device.

[0073] The first material conveying device is used to convey the carrier plate carrying the material to be cleaned.

[0074] The turning device is used to grab the carrier plate from the first material conveying device and drive the carrier plate to turn over so that the to-be-cleaned surface of the material to be cleaned faces downward.

[0075] The cleaning device is used to clean the downwardly facing surface of the material to be cleaned.

[0076] The flipping device is used to flip the carrier plate when the cleaning device completes the cleaning operation on the to-be-cleaned surface of the to-be-cleaned material, so that the to-be-cleaned surface of the to-be-cleaned material faces upward, and to place the carrier plate on the second material conveying device.

[0077] The second material conveying device is used to convey the carrier plate to the material inspection waiting area.

[0078] The transfer device is used to move the carrier from the material inspection waiting area to under the inspection camera.

[0079] The inspection camera is used to take pictures of the cleaned material to obtain an image of the material.

[0080] The control device is used to determine the cleaning result and material processing result of the cleaned material according to the material image.

[0081] according to Figure 4 The top view of the material cleaning device shown in the figure shows that the loading device in the material cleaning device includes a moving part 411 , a lifting part 412 and a pushing part 413 .

[0082] Control device ( Figure 4 The device is used to control the movement of the moving part 411 in the feeding device, so as to drive the movement of each material box located in the moving part 411, wherein each material box is equipped with at least one carrier plate; when it is detected that one material box in the moving part 411 moves to the first set position, the lifting part 412 in the feeding device is controlled to push the corresponding material box to perform a lifting movement; when the corresponding material box is lifted to the second set position, the pushing part 413 in the feeding device is controlled to push a carrier plate located in the corresponding material box to the first material conveying device.

[0083] The moving part 411 in the loading device is used to receive the material boxes conveyed by AGV (Automated Guided Vehicle) or manual transportation. The moving part 411 includes two layers, each layer can store a certain number of material boxes. The moving part 411 is provided with a detection sensor for detecting whether the material box is placed in place and whether it is full.

[0084] When the moving part 411 is conveying the material box, it has the function of clamping the material box to prevent the material box from shaking during the conveying process. In this embodiment, the control device controls the moving part 411 to adjust its own size so that the size of the moving part 411 is adapted to the size of the material box. The moving part 411 is controlled to adjust its own size, specifically, to adjust its own size along the direction of clamping the material box.

[0085] The lifting part 412 in the feeding device is used to push the material box to perform lifting movement. When lifting the material box, the lifting part 412 has the function of clamping the material box to prevent the material box from shaking during the lifting process.

[0086] The pushing part 413 in the feeding device is provided with a carrier bending degree detection sensor. When the pushing part 413 is pushing the carrier, the carrier bending degree detection sensor is used to detect whether the pushed carrier is bent.

[0087] according to Figure 4 As shown, the first material conveying device 420 includes a first conveying track and a first track size adjustment part 421. The first track size adjustment part is used to adjust the size of the first conveying track so that the size of the first conveying track is adapted to the carrier plate carrying the material to be cleaned.

[0088] When the first conveying track conveys the carrier board carrying the material to be cleaned, it has the function of clamping the carrier board of the material to be cleaned to prevent the carrier board from shaking during the conveying process, and at the same time facilitate the subsequent flipping device to grab the carrier board. The first track size adjustment part 421 adjusts the size of the first conveying track, specifically, adjusts the size of the first conveying track along the direction of clamping the carrier board of the material to be cleaned.

[0089] according to Figure 4 As shown, the flipping device includes a grabbing mechanism 431 and a flipping drive mechanism 432. The grabbing mechanism 431 is used to grab the carrier plate carrying the material to be cleaned from the first material conveying device. The flipping drive mechanism 432 is used to drive the grabbing mechanism to flip so that the to-be-cleaned surface of the material to be cleaned faces downward, and after cleaning is completed, drive the grabbing mechanism to flip so that the cleaned surface of the cleaned material faces upward.

[0090] according to Figure 4 As shown, the cleaning device includes a cleaning component 441 and a driving component 442. The cleaning component 441 includes a blowing component and a suction component. The driving component 442 is used to drive the suction component to perform suction cleaning on the surface to be cleaned of the material to be cleaned, and drive the blowing component to perform blowing cleaning on the surface to be cleaned of the material to be cleaned.

[0091] The second material conveying device includes a second conveying track and a second track size adjustment portion 451 (see Figure 4 ). The second track size adjustment part is used to adjust the size of the second conveying track so that the size of the second conveying track is compatible with the carrier plate carrying the material to be cleaned.

[0092] When the second conveying track conveys the carrier board carrying the cleaned material, it has the function of clamping the carrier board of the cleaned material to prevent the carrier board from shaking during the conveying process. The second track size adjustment unit 451 adjusts the size of the second conveying track, specifically, adjusts the size of the second conveying track along the direction of clamping the carrier board of the cleaned material.

[0093] according to Figure 4 As shown, the transfer device 460 includes a transfer mechanism 461. The transfer mechanism 461 includes a first transfer mechanism and a second transfer mechanism. The first transfer mechanism is used to move the carrier located in the inspection waiting area from the inspection waiting area to below the inspection camera. The second transfer mechanism is used to move the carrier located below the camera and completed shooting to the unloading device.

[0094] according to Figure 4As shown, the material cleaning device includes an inspection camera 471, a positioning mechanism 472 and a shock absorbing part 473. The positioning mechanism 472 is used to position the carrier plate carrying the cleaned material to ensure that the carrier plate does not shake when the inspection camera 471 takes pictures of the cleaned material, thereby affecting the shooting effect. The inspection camera 471 and the positioning mechanism 472 are arranged on the shock absorbing part 473 to avoid vibration of the inspection camera and the positioning mechanism.

[0095] according to Figure 4 As shown, the material unloading device 480 includes a grabbing mechanism 481. The grabbing mechanism 481 is used to grab the material that has completed the camera inspection into a material box on the material conveying device in the material unloading device, so as to be conveyed by the material conveying device.

[0096] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the device embodiment, its related parts can be referred to the partial description of the method embodiment.

[0097] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the 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.

[0098] The embodiments of the present specification may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer instructions for causing a processor to implement various aspects of the embodiments of the present specification.

[0099] A computer-readable storage medium may be a tangible device that can hold and store computer instructions used by a computer instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which computer instructions are stored, and any suitable combination of the above. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0100] The computer instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device through a network layer, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network layer may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network layer adapter card or network layer interface in each computing / processing device receives the computer instructions from the network layer and forwards the computer instructions for storage in a computer-readable storage medium in each computing / processing device.

[0101] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of this specification. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a computer instruction, and a part of a module, a program segment or a computer instruction contains one or more executable computer instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0102] The embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A material cleaning method, characterized in that: include: When the carrier plate carrying the material to be cleaned is conveyed by the first material conveying device, the flipping device is controlled to grab the carrier plate and drive the carrier plate to flip so that the surface to be cleaned of the material to be cleaned faces downward; Controlling the cleaning device to clean the surface to be cleaned of the material to be cleaned; When the cleaning operation on the to-be-cleaned surface of the to-be-cleaned material is completed, controlling the flipping device to flip the carrier plate so that the to-be-cleaned surface of the to-be-cleaned material faces upward; Controlling the flipping device to place the carrier plate on the second material conveying device, so as to convey the carrier plate to the material inspection waiting area through the second material conveying device; Controlling the transfer device to move the carrier from the material inspection waiting area to below the inspection camera; Controlling the inspection camera to photograph the cleaned material to obtain an image of the material; The cleaning result and the material processing result of the cleaned material are determined according to the material image.

2. The method according to claim 1, characterized in that The step of determining the cleaning result and material processing result of the cleaned material according to the material image includes: The material image is input into a set image detection model to obtain the cleaning result and material processing result of the cleaned material, wherein the set image detection model is a model trained based on a large number of training samples, and each training sample includes a material image marked with the cleaning result and the material processing result.

3. The method according to claim 2, characterized in that The method further comprises: Obtaining identification information of the carrier board; A material inspection result is generated according to the identification information of the carrier plate, the position information of each material that has been cleaned on the carrier plate, and the corresponding cleaning result and material processing result.

4. The method according to claim 1, characterized in that: The first material conveying device includes a first conveying track and a first track size adjustment portion, wherein the method further includes: Obtaining the size information of the carrier plate carrying the material to be cleaned; According to the size information of the carrier plate carrying the material to be cleaned, controlling the first track size adjustment unit to adjust the size of the first conveying track so that the size of the first conveying track is adapted to the carrier plate carrying the material to be cleaned; The second material conveying device includes a second conveying track and a second track size adjustment portion, wherein the method further includes: Obtaining the size information of the carrier plate carrying the material to be cleaned; According to the size information of the carrier plate carrying the material to be cleaned, the second track size adjustment unit is controlled to adjust the size of the second conveying track so that the size of the second conveying track is matched with the carrier plate carrying the material to be cleaned.

5. The method according to claim 1, characterized in that The cleaning device comprises an air suction component and an air blowing component, wherein the cleaning device is controlled to perform a cleaning operation on the surface to be cleaned of the material to be cleaned, comprising: Controlling the air blowing component to perform air blowing cleaning on the surface to be cleaned of the material to be cleaned; The suction component is controlled to perform adsorption cleaning on the surface to be cleaned of the material to be cleaned.

6. The method according to claim 1, characterized in that The transfer device includes a first transfer mechanism and a second transfer mechanism, wherein the control of the transfer device to move the carrier from the material inspection waiting area to below the inspection camera includes: The first transfer mechanism is controlled to move the carrier located in the material inspection waiting area from the material inspection waiting area to under the inspection camera, and the second transfer mechanism is controlled to move the carrier located under the inspection camera and having completed shooting to the unloading device.

7. The method according to claim 1, characterized in that Before the carrier plate carrying the material to be cleaned is conveyed by the first material conveying device, the method further comprises: Controlling the movement of the moving part in the feeding device to drive each material box located in the moving part to move, wherein each material box is equipped with at least one carrier plate; When it is detected that one of the material boxes in the moving part moves to the first set position, the lifting part in the feeding device is controlled to push the corresponding material box to perform lifting movement; When the corresponding material box is lifted and moved to the second set position, the pushing part in the feeding device is controlled to push a carrier plate in the corresponding material box to the first material conveying device.

8. A material cleaning device, characterized in that: include: A control device, a first material conveying device, a turning device, a cleaning device, a second material conveying device, a transfer device and an inspection camera, wherein the control device is used to control the first material conveying device, the turning device, the cleaning device, the second material conveying device and the transfer device; wherein, The first material conveying device is used to convey the carrier plate carrying the material to be cleaned; The flipping device is used to grab the carrier plate from the first material conveying device and drive the carrier plate to flip so that the to-be-cleaned surface of the to-be-cleaned material faces downward; The cleaning device is used to clean the downwardly facing surface of the material to be cleaned; The flipping device is used to drive the carrier to flip when the cleaning device completes the cleaning operation on the to-be-cleaned surface of the to-be-cleaned material, so that the to-be-cleaned surface of the to-be-cleaned material faces upward, and to place the carrier on the second material conveying device; The second material conveying device is used to convey the carrier plate to the material inspection waiting area; The transfer device is used to move the carrier from the material inspection waiting area to below the inspection camera; The inspection camera is used to photograph the cleaned material to obtain a material image; The control device is used to determine the cleaning result and material processing result of the cleaned material according to the material image.

9. The material cleaning device according to claim 8, characterized in that: The control device is also used to input the material image into a set image detection model to obtain the cleaning result and material processing result of the cleaned material, wherein the set image detection model is a model trained based on a large number of training samples, and each training sample includes a material image marked with the cleaning result and the material processing result.

10. The material cleaning device according to claim 8, characterized in that: The first material conveying device comprises a first conveying track and a first track size adjustment portion, wherein the first track size adjustment portion is used to adjust the size of the first conveying track so that the size of the first conveying track is adapted to the carrier plate carrying the material to be cleaned; The second material conveying device comprises a second conveying track and a second track size adjustment portion, wherein the second track size adjustment portion is used to adjust the size of the second conveying track so that the size of the second conveying track is adapted to the carrier plate carrying the material to be cleaned.

11. The material cleaning device according to claim 8, characterized in that: The cleaning device comprises an air suction component and an air blowing component, wherein: The air suction component is used to blow air to clean the surface to be cleaned of the material to be cleaned; The air blowing component is used for adsorption cleaning of the to-be-cleaned surface of the to-be-cleaned material.

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