Cooperative control method and device, and storage medium

Abstract

The invention discloses a cooperative control method and device and a storage medium, and relates to the technical field of laser marking, the cooperative control method and device are applied to a cooperative marking device, the cooperative marking device comprises at least two carriers, and the method comprises the steps that feeding operation is conducted on a first carrier; a first target product is conveyed through the first carrier to be marked, and a second carrier is subjected to feeding operation; and the second carrier transports the second target product for marking, and the first carrier is subjected to discharging operation, so that the laser marking efficiency can be improved.

Description

Technical Field

[0001] This application relates to the technical field of laser marking, and particularly to a collaborative control method, device, and storage medium. Background Art

[0002] Currently, traditional laser marking devices have a simple structure and low marking efficiency.

[0003] The above content is only used to assist in understanding the technical solution of this application, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this application is to provide a collaborative control method, device, and storage medium, aiming to solve the technical problem of low marking efficiency of current laser marking devices.

[0005] To achieve the above objective, this application proposes a collaborative control method applied to a collaborative marking device. The collaborative marking device includes at least two sets of carriers, and the method includes the following steps:

[0006] Perform a loading operation on the first carrier;

[0007] Transport the first target product through the first carrier for marking, and perform a loading operation on the second carrier;

[0008] Transport the second target product through the second carrier for marking, and perform an unloading operation on the first carrier.

[0009] In one embodiment, the collaborative marking device includes a loading module, and the step of performing a loading operation on the first carrier includes:

[0010] Receive the first target product through the loading module and make the first target product compatible;

[0011] Match a corresponding loading gripper based on the first target product;

[0012] Adjust the position of the loading gripper based on the size of the first target product;

[0013] Place the first target product into the first carrier through the loading gripper.

[0014] In one embodiment, after the step of receiving the first target product through the loading module and making the first target product compatible, it includes:

[0015] Locate the first target product through a pick-up charge-coupled device imaging system to obtain coordinates;

[0016] Align the product identification vision detection system and the first target product based on the coordinates through the product position adjustment shaft;

[0017] Judge whether the source of the first target product is correct through the product identification vision detection system;

[0018] If it is correct, execute the steps: match the corresponding loading gripper based on the first target product.

[0019] In one embodiment, after the step of placing the first target product into the first carrier through the loading gripper includes:

[0020] Identify the target product to be grasped through the product identification vision detection system;

[0021] When the total number of products changes, identify the actual height of all products through the height positioning sensor;

[0022] Based on the actual height, place the target product to be grasped into the target carrier through the loading gripper.

[0023] In one embodiment, the step of transporting the first target product through the first carrier for marking includes:

[0024] Move the first target product to a preset marking position through the first carrier;

[0025] Locate the first target product through the vision positioning system to obtain positioning data;

[0026] Mark a preset position on the first target product through a laser based on the positioning data.

[0027] In one embodiment, the first carrier includes a rotating mechanism. After the step of marking a preset position on the first target product through a laser based on the positioning data includes:

[0028] Judge whether the first target product needs to be marked on both sides;

[0029] If so, switch the first target product to the front / back through the rotating mechanism;

[0030] Mark the switched first target product through the laser based on the positioning data.

[0031] In one embodiment, after the step of transporting the first target product through the first carrier for marking includes:

[0032] Move the marked first target product to the detection position through the first carrier;

[0033] Detect the marking position and / or marking content of the first target product after detecting the marking by the vision detection system;

[0034] Detect the two-dimensional code in the first target product after detecting the marking by the barcode reader.

[0035] In one embodiment, the discharging operation on the first carrier includes:

[0036] Match the corresponding discharging gripper based on the first target product after marking;

[0037] Adjust the position of the discharging gripper based on the size of the first target product after marking;

[0038] Put the first target product after marking into the product box by the discharging gripper.

[0039] In addition, to achieve the above object, the present application also proposes a collaborative control device, which is arranged in the collaborative marking device. The collaborative marking device includes at least two sets of carriers. The collaborative control device includes:

[0040] A loading module for performing a loading operation on the first carrier;

[0041] A collaborative marking module for transporting the first target product through the first carrier for marking, and performing a loading operation on the second carrier; transporting the second target product through the second carrier for marking, and performing a discharging operation on the first carrier.

[0042] In addition, to achieve the above object, the present application also proposes a collaborative control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. The computer program is configured to implement the steps of the collaborative control method as described above.

[0043] In addition, to achieve the above object, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the collaborative control method as described above.

[0044] One or more technical solutions proposed by the present application have at least the following technical effects:

[0045] The present application is applied to a collaborative marking device, which includes at least two sets of carriers. By alternately using multiple sets of carriers, continuous production is achieved. When the products on one carrier are being marked, another carrier can simultaneously perform loading or discharging operations, thereby improving the marking efficiency. Description of the Drawings

[0046] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0048] Figure 1 It is a schematic flowchart provided for the first embodiment of the collaborative control method of this application;

[0049] Figure 2 It is a schematic structural diagram of the collaborative marking device of this application;

[0050] Figure 3 It is a schematic flowchart of the working process of the collaborative marking device of this application;

[0051] Figure 4 It is a schematic structural diagram of the loading module in the collaborative marking device of this application;

[0052] Figure 5 It is a schematic structural diagram of the loading gripper module in the collaborative marking device of this application;

[0053] Figure 6 It is a schematic diagram of the gripper quick-change knob in the collaborative marking device of this application;

[0054] Figure 7 It is a schematic diagram of the gripper in the collaborative marking device of this application;

[0055] Figure 8 It is a schematic structural diagram of the lower vision positioning module in the collaborative marking device of this application;

[0056] Figure 9 It is a schematic structural diagram of the carrier module in the collaborative marking device of this application;

[0057] Figure 10 It is a schematic structural diagram of the post-marking detection module in the collaborative marking device of this application;

[0058] Figure 11 It is a schematic structural diagram of the unloading gripper module in the collaborative marking device of this application;

[0059] Figure 12 It is a schematic flowchart of the simple process of the collaborative control method of this application;

[0060] Figure 13 It is a schematic module structure diagram of the collaborative control device in the embodiment of this application;

[0061] Figure 14 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the collaborative control method in the embodiments of the present application.

[0062] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0063] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0064] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the accompanying drawings of the specification and specific implementation manners.

[0065] The main solution of the embodiments of the present application is: perform a loading operation on the first vehicle; transport the first target product through the first vehicle for marking, and perform a loading operation on the second vehicle; transport the second target product through the second vehicle for marking, and perform an unloading operation on the first vehicle.

[0066] In this embodiment, for the convenience of description, the following will be described with a collaborative marking device as the execution subject.

[0067] Since the laser marking device in the prior art has a simple structure and a low marking efficiency.

[0068] The present application provides a solution. The present application is applied to a collaborative marking device, and the collaborative marking device includes at least two sets of vehicles. By alternately using multiple sets of vehicles, continuous production is realized. When the product on one vehicle is being marked, the other vehicle can perform a loading or unloading operation at the same time, thereby improving the marking efficiency.

[0069] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a collaborative marking device, etc. that can implement the above functions. The following will take the collaborative marking device as an example to illustrate this embodiment and the following embodiments.

[0070] Based on this, the embodiments of the present application provide a collaborative control method, referring to Figure 1 , Figure 1 which is a schematic flowchart provided for the first embodiment of the collaborative control method of the present application.

[0071] In this embodiment, it is applied to a collaborative marking device, and the collaborative marking device includes at least two sets of vehicles, referring to Figure 2 , Figure 2This is a schematic structural diagram of the collaborative marking device of the present application. Among them, the collaborative marking device includes a loading module 1, a laser 2, a post-marking detection module 3, and an unloading module 4.

[0072] The collaborative control method includes steps S10 to S30:

[0073] Step S10, perform a loading operation on the first carrier;

[0074] Among them, the loading operation means placing the target product on the carrier to prepare for subsequent processing or transportation.

[0075] Step S20, transport the first target product through the first carrier for marking, and perform a loading operation on the second carrier;

[0076] Among them, marking the product means marking, printing, or identifying the target product.

[0077] Step S30, transport the second target product through the second carrier for marking, and perform an unloading operation on the first carrier.

[0078] Among them, the unloading operation means unloading the target product from the carrier.

[0079] It should be noted that this embodiment is designed based on improving the marking quality stability of the equipment and the production efficiency of the equipment. The collaborative marking device includes at least two sets of carriers, which are moved to the same marking position through X / Y axis coordination. When the first target product in the first carrier is marked in the marking area, the second carrier can synchronously perform loading / unloading and wait for marking. When the marking of the first target product in the first carrier is completed, the collaborative marking device immediately switches to mark the second target product in the second carrier to maximize the utilization efficiency of the laser, thereby improving the production efficiency of the equipment.

[0080] As an implementation manner, a loading operation can be performed on the first carrier, transport the first target product through the first carrier for marking, and perform loading operations on the second carrier and the third carrier. Then, transport the second target product through the second carrier for marking, and perform an unloading operation on the first carrier. Then, transport the third target product through the third carrier for marking, and perform an unloading operation on the second carrier.

[0081] As an implementation manner, the design of the carriers in the first carrier and the second carrier adopts an upper positioning method, so that the working surfaces of the products are all the same, thereby improving the marking quality stability.

[0082] As another implementation manner, the collaborative marking device is equipped with a post-marking detection module 3 to monitor the product quality in real time after marking to ensure the yield rate of the products output by the equipment.

[0083] Reference Figure 3 , Figure 3 is a schematic diagram of the working process of the collaborative marking device of the present application. Among them, Figure 3 it includes a loading module 1, a paper clip jaw 51 at the loading position, a first carrier 61, a sheet material clip jaw 52 at the loading position, a second carrier 62, a unloading module 4, a paper clip jaw 71 at the unloading position, a sheet material clip jaw 72 at the unloading position, a product inspection position 8, a laser marking position 9, and a post-marking inspection position 10.

[0084] In addition, Figure 3 it includes Process 1 and Process 2:

[0085] Specifically, Process 1 is the marking process of the second carrier: The second carrier 62 moves through the X / Y axis to transport the product to the laser marking position 9, and the product is marked at the laser marking position 9.

[0086] Process 2 is the loading / unloading process of the first carrier: When the product is being marked, the loading module 1 loads the product into the first carrier 61 through the paper clip jaw 51 or the sheet material clip jaw 52 at the loading position (loading). Or, the unloading module 4 unloads the product in the first carrier 61 through the paper clip jaw 71 or the sheet material clip jaw 72 at the unloading position.

[0087] This embodiment provides a collaborative control method. The present application is applied to a collaborative marking device. The collaborative marking device includes at least two sets of carriers, and continuous production is achieved by alternating the use of multiple sets of carriers. When the product on one carrier is being marked, the other carrier can perform loading or unloading operations simultaneously, thereby improving the marking efficiency.

[0088] Based on Embodiment 1 of the present application, in Embodiment 2 of the present application, the same or similar content as the above Embodiment 1 can be referred to the above introduction and will not be repeated hereinafter. On this basis, the collaborative marking device includes a loading module, reference Figure 4 , Figure 4 is a schematic diagram of the structure of the loading module in the collaborative marking device of the present application. The loading module includes a paper sheet 21, a sheet material 22, a sheet material position adjustment knob 23, a sheet material position automatic adjustment shaft 24, a paper sheet position automatic adjustment shaft 25, and a paper sheet position adjustment knob 26.

[0089] It should be noted that the paper sheet and the sheet material are different products, and a sheet material position adjustment knob, a sheet material position automatic adjustment shaft, a paper sheet position adjustment knob, and a paper sheet position automatic adjustment shaft are respectively provided corresponding to the paper sheet and the sheet material.

[0090] Among them, as an implementation method, the product size width of 40 - 100 (mm) and length of 175 - 300 (mm) can be compatible by adjusting the sheet material position adjustment knob.

[0091] As another implementation, the paper card position adjusting knob can be adjusted to be compatible with paper sizes with a width of 40 - 100 (mm) and a length of 175 - 300 (mm).

[0092] Refer to Figure 5 , Figure 5 , which is a schematic structural diagram of the loading jaw module in the collaborative marking device of this application. The loading jaw module includes a paper loading position paper jaw 51, a sheet loading position sheet jaw 52, a sheet anti-reverse / positioning / secondary discrimination vision detection system 32, a product identification vision detection system 34, and a height positioning sensor 35.

[0093] It should be noted that the sheet anti-reverse / positioning / secondary discrimination vision detection system 32 is a vision detection system based on a charge-coupled device (CCD). Among them, it can be used to ensure that the sheet is in the correct direction when entering the processing or marking link, prevent the sheet from being placed reversely, and can also be used to accurately determine the position of the sheet in the processing or marking link. It can also be used to further discriminate the quality or characteristics of the sheet after preliminary positioning or anti-reverse detection.

[0094] Among them, the product identification vision detection system 34 is used to identify the target product to be grabbed after the first target product is placed in the first carrier through the loading jaw.

[0095] Among them, the height positioning sensor 35 is used to identify the actual height of all products when the total number of products changes, so as to place the target product to be grabbed into the target carrier through the loading jaw based on the actual height.

[0096] The step S10 of performing a loading operation on the first carrier includes steps S11, S16 - S18:

[0097] Step S11, receiving the first target product through the loading module and making the first target product compatible;

[0098] It should be noted that only the control process of the first target product is described in this embodiment, and the control processes of other target products will not be elaborated.

[0099] Step S16, matching the corresponding loading jaw based on the first target product;

[0100] Step S17, adjusting the position of the loading jaw based on the size of the first target product;

[0101] Step S18, placing the first target product into the first carrier through the loading jaw.

[0102] Among them, different jaws can be replaced after receiving the first target product to achieve compatibility with the first target product.

[0103] Reference Figure 6 , Figure 6 is a schematic diagram of the gripper quick-change knob in the collaborative marking device of the present application. Among them, Figure 6 it includes the gripper quick-change knob 36. Based on the gripper quick-change knob 36, different grippers can be quickly replaced or the position of the gripper can be manually adjusted to achieve compatibility with products of different sizes. Refer to Figure 7 , Figure 7 which is a schematic diagram of the gripper in the collaborative marking device of the present application.

[0104] In the embodiment of the present application, by replacing the gripper and adjusting the position, the device can quickly switch to the production tasks of different products, can flexibly respond to changes in the production plan, and meet the customized and diversified production requirements. Moreover, in the embodiment of the present application, the gripper quick-change knob design makes the gripper replacement operation simple and fast, reducing the downtime.

[0105] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar content as that in the above-mentioned second embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, after step S11, receiving the first target product through the feeding module and making it compatible, steps S12 to S15 are further included:

[0106] Step S12, positioning the first target product through the grasping charge-coupled device imaging system to obtain coordinates;

[0107] Among them, the grasping charge-coupled device imaging system is also a kind of CCD vision system. It performs image acquisition on the first target product, identifies the position of the first target product through an image processing algorithm, and generates its accurate coordinates.

[0108] Step S13, aligning the product recognition vision detection system and the first target product based on the coordinates through the product position adjustment axis;

[0109] Among them, the product position adjustment axis may include the automatic adjustment axis 24 of the sheet position and the automatic adjustment axis 25 of the paper sheet position.

[0110] The product position adjustment axis adjusts the position of the product recognition vision detection system according to the coordinates obtained in step S12 to ensure the accurate alignment of the product recognition vision detection system and the first target product.

[0111] Step S14, judging whether the source of the first target product is correct through the product recognition vision detection system;

[0112] Among them, the product recognition vision detection system performs image acquisition and feature analysis on the first target product, and judges whether the source (such as model, batch, etc.) of the first target product is correct by comparing with a preset standard.

[0113] Step S15, if it is correct, then execute the steps: match the corresponding loading gripper based on the first target product.

[0114] As an implementation, it is possible to determine whether the material sheet is correct by means of a product recognition vision detection system, and to determine the position of the material sheet. If the source of the first target product is correct, the corresponding loading gripper is automatically matched according to its characteristics (such as size, shape, etc.).

[0115] In the embodiment of the present application, through the CCD vision system and the product position adjustment axis, high-precision product positioning and alignment are realized, ensuring the accuracy of subsequent operations. Through the product recognition vision detection system, the correctness of the incoming material is ensured, avoiding production problems caused by incorrect incoming material.

[0116] Based on Embodiment 3 of the present application, in Embodiment 4 of the present application, for the same or similar content as in the above Embodiment 3, reference can be made to the above introduction and will not be elaborated hereinafter. On this basis, after step S18 of placing the first target product into the first carrier by the loading gripper, steps S19 to S111 are further included:

[0117] Step S19, identify the target product to be grasped through the product recognition vision detection system;

[0118] For example, identify whether the next piece to be grasped is a paper sheet or a material sheet through the product recognition vision detection system.

[0119] Step S110, when the total number of products changes, identify the actual height of all products through the height positioning sensor;

[0120] For example, when the height positioning sensor detects a change in the total number of material sheets in the material box, the actual height of the material sheets in the material box can be identified;

[0121] Step S111, based on the actual height, place the target product to be grasped into the target carrier by the loading gripper.

[0122] In the embodiment of the present application, when the total number of products in the material box changes, the height positioning sensor can detect and update the actual height of the products in real time. Based on the actual height, the loading gripper can dynamically adjust the grasping position, so as to adapt to the change in the stacking height of the products.

[0123] Based on Embodiment 1 of the present application, in Embodiment 5 of the present application, for the same or similar content as in the above Embodiment 1, reference can be made to the above introduction and will not be elaborated hereinafter. On this basis, reference can be made to Figure 8 , Figure 8 which is a schematic structural diagram of the lower vision positioning module in the collaborative marking device of the present application, Figure 8It includes a laser 81, a product jig 82, a detection X-axis 83, a vision positioning system 84, and a detection Y-axis 85.

[0124] In step S20, transporting the first target product by the first carrier for marking includes steps S21 to S23:

[0125] In step S21, the first carrier moves the first target product to a preset marking position;

[0126] In step S22, the vision positioning system positions the first target product to obtain positioning data;

[0127] In step S23, the laser, based on the positioning data, marks a preset position on the first target product.

[0128] Among them, when the first target product reaches the marking position, the vision positioning system positions the first target product to obtain positioning data. After the product positioning is completed, the vision positioning system sends the positioning data to the laser so that the laser marks a preset position on the first target product;

[0129] In the embodiment of the present application, the vision positioning system accurately positions the first target product to ensure that the laser can accurately mark at the preset position, reducing human error and improving the accuracy and consistency of the marking.

[0130] Based on Embodiment 5 of the present application, in Embodiment 6 of the present application, the same or similar content as that in the above Embodiment 5 can be referred to the above introduction and will not be repeated hereinafter. On this basis, the first carrier includes a rotating mechanism. Figure 9 It is a structural schematic diagram of the carrier module in the collaborative marking device of the present application. Figure 9 It includes a first carrier and a second carrier. Among them, the first carrier includes a first carrier table 41, a first rotating mechanism 42, and a first moving plane 43, and the second carrier includes a second carrier table 44, a second moving platform 45, and a second rotating mechanism 46.

[0131] Among them, the first carrier table 41 is used to carry the first target product, the first rotating mechanism is used to switch the first target product to the front / back, and the first moving platform is used to move the first target product to a preset position.

[0132] Similarly, the functions of the second carrier table 44, the second moving platform 45, and the second rotating mechanism 46 are the same as above.

[0133] In step S23, the laser, based on the positioning data, marking a preset position on the first target product includes steps S24 to S26:

[0134] Step S24, determining whether the first target product needs double-sided marking;

[0135] Wherein, whether the first target product needs double-sided marking can be determined based on the received instruction.

[0136] Step S25: If yes, the first target product is switched to the front side / back side by the rotating mechanism;

[0137] Step S26: marking the switched first target product based on the positioning data by using the laser.

[0138] The embodiment of the present application switches the first target product through a rotating mechanism, ensuring that both sides of the product can be accurately marked, meeting the requirements of double-sided marking, and improving the flexibility and applicability of the solution.

[0139] Based on the first embodiment of the present application, in the seventh embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above introduction, and will not be repeated in the following. Figure 10 , Figure 10 This is a schematic diagram of the structure of the detection module after the collaborative marking equipment of this application wins the bid. Figure 10 The method includes detecting an X-axis 86, detecting a Y-axis 87, a code reader 87, and a visual inspection system 88. After the first target product is transported by the first carrier for marking, the method also includes steps A101 to A103:

[0140] Step A101, moving the marked first target product to a detection position by using the first carrier;

[0141] Step A102, detecting the marked position and / or marked content of the marked first target product by a visual inspection system;

[0142] When the first target product reaches the post-marking detection position after marking, the marking position and / or marking content of the marked first target product is detected by a visual inspection system.

[0143] Step A103, detecting the QR code in the marked first target product by using a code reader.

[0144] It should be noted that the detection X-axis and the detection Y-axis constitute a two-dimensional plane coordinate system. By controlling the movement of these two axes, the visual inspection system 88 and the code reader 87 can be accurately positioned at the specific position of the target product, thereby ensuring that the visual inspection and code reading operations can accurately cover the target area and avoid omissions or deviations.

[0145] Reference Figure 11 , Figure 11This is a schematic structural diagram of the blanking jaw module in the collaborative marking device of the present application. Figure 11 It includes a blanking position paper jaw 71 and a blanking position material piece jaw 72, and different product jaws can be quickly replaced to achieve compatibility with products of different sizes.

[0146] The blanking operation on the first carrier further includes steps A104 to A106:

[0147] Step A104, matching the corresponding blanking jaw based on the marked first target product.

[0148] Among them, after the marking and detection are completed, the device will select a suitable blanking jaw according to the characteristics (such as shape, size, weight, etc.) of the first target product. Different products may require different types of jaws to ensure the safety and stability of grasping.

[0149] Step A105, adjusting the position of the blanking jaw based on the size of the marked first target product.

[0150] Among them, according to the specific size of the first target product, the device will adjust the position and opening degree of the blanking jaw to ensure that the jaw can accurately grasp the product.

[0151] Step A106, putting the marked first target product into the product box through the blanking jaw.

[0152] Among them, after the jaw is adjusted in place, the device will control the blanking jaw to grasp and move the marked first target product to the position of the product box, and finally put the product into the box.

[0153] In this embodiment, through automatic jaw matching, precise jaw position adjustment, and automatic blanking, an efficient, precise, and safe product blanking process is achieved.

[0154] Exemplarily, to help understand the implementation process of the collaborative control method in the above embodiment, please refer to Figure 12 , Figure 12 This is a simple process schematic diagram of the collaborative control method of the present application. Specifically, the process includes A1 to A10:

[0155] A1, Manually put the product into the loading module of the device. Among them, the product can include material pieces and paper pieces.

[0156] A2, Put the product into the carrier through the material piece jaw.

[0157] A3, Move the carrier carrying the product to the marking position.

[0158] A4, The lower vision positioning module performs visual positioning on the product.

[0159] A5, Use a laser to perform laser marking on the positioned product.

[0160] A6, Move the vehicle carrying the product to the detection position.

[0161] A7, Use a vision inspection system / reader to inspect the marked product.

[0162] A8, Move the vehicle to the discharging position.

[0163] A9, Put the marked product into the product cartridge through the discharging module.

[0164] A10, After the product cartridge is full, manually remove the cartridge from the discharging module.

[0165] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the collaborative control method of this application. Based on this technical concept, more simple transformations in various forms are within the protection scope of this application.

[0166] This application also provides a collaborative control device. Please refer to Figure 13 , which is set in the collaborative marking device. The collaborative marking device includes at least two sets of vehicles. The collaborative control device includes:

[0167] The loading module 10 is used to perform a loading operation on the first vehicle.

[0168] The collaborative marking module 20 is used to transport the first target product through the first vehicle for marking, and perform a loading operation on the second vehicle; transport the second target product through the second vehicle for marking, and perform an unloading operation on the first vehicle.

[0169] The collaborative control device provided by this application adopts the collaborative control method in the above embodiment and can solve the technical problem of low marking efficiency of the laser marking device. Compared with the prior art, the beneficial effects of the collaborative control device provided by this application are the same as those of the collaborative control method provided by the above embodiment, and other technical features in the collaborative control device are the same as those disclosed in the method of the above embodiment, which will not be elaborated here.

[0170] This application provides a collaborative control device, which includes: at least one processor; and a memory communicatively connected to at least one processor; wherein, the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that at least one processor can execute the collaborative control method in the first embodiment above.

[0171] Next, refer to Figure 14, which shows a schematic structural diagram of a collaborative control device suitable for implementing the embodiments of the present application. The collaborative control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 14 The illustrated collaborative control device is merely an example and should not impose any limitation on the functions and scope of use of the embodiments of the present application.

[0172] As Figure 14 shown, the collaborative control device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to the programs stored in the read-only memory 1002 or the programs loaded from the storage device 1003 into the random access memory 1004. In the random access memory 1004, various programs and data required for the operation of the collaborative control device are also stored. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. An input / output interface 1006 is also connected to the bus. Generally, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the collaborative control device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a collaborative control device having various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0173] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by a processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0174] The collaborative control device provided by the present application adopts the collaborative control method in the above embodiments, and can solve the technical problem of relatively low marking efficiency of the laser marking device. Compared with the prior art, the beneficial effects of the collaborative control device provided by the present application are the same as those of the collaborative control method provided by the above embodiments, and other technical features in the collaborative control device are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated herein.

[0175] It should be understood that the various parts disclosed in the present application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0176] As mentioned above, the above are only the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0177] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the collaborative control method in the above embodiments.

[0178] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium can be transmitted by any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0179] The above computer-readable storage medium can be included in the collaborative control device; or it can exist separately without being assembled into the collaborative control device.

[0180] The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by the collaborative control device, the collaborative control device is enabled to: perform a loading operation on the first vehicle; transport the first target product through the first vehicle for marking, and perform a loading operation on the second vehicle; transport the second target product through the second vehicle for marking, and perform an unloading operation on the first vehicle.

[0181] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0182] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0183] The modules involved in the embodiments described in this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0184] The readable storage medium provided in this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned cooperative control method, and can solve the technical problem of the low marking efficiency of the laser marking device. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the cooperative control method provided in the above embodiments, and will not be elaborated here.

[0185] The above are only some embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A collaborative control method, characterized in that: Applied to a collaborative marking device, the collaborative marking device comprises at least two sets of carriers, and the method comprises the following steps: Performing a loading operation on the first carrier; Transporting a first target product by the first carrier for marking, and performing a loading operation on a second carrier; The second target product is transported by the second carrier for marking, and the first carrier is unloaded.

2. The method according to claim 1, characterized in that The collaborative marking device includes a loading module, and the step of loading the first carrier includes: Receiving a first target product through the feeding module and performing compatibility on the first target product; Matching a corresponding feeding clamp based on the first target product; adjusting the position of the feeding jaw based on the size of the first target product; The first target product is placed into the first carrier through the loading clamp.

3. The method according to claim 2, characterized in that After the step of receiving the first target product through the feeding module and making the first target product compatible, the following steps are included: Positioning the first target product by using a material grabbing charge coupled device imaging system to obtain coordinates; Aligning the product recognition visual inspection system and the first target product based on the coordinates through a product position adjustment axis; Determining whether the source of the first target product is correct by the product recognition visual inspection system; If correct, execute the step: matching the corresponding loading clamp based on the first target product.

4. The method according to claim 3, characterized in that After the step of placing the first target product into the first carrier by the loading clamp, the following steps are included: Identify the target product to be grasped by the product recognition visual inspection system; When the total number of products changes, the actual height of all products is identified by the height positioning sensor; Based on the actual height, the target product to be grasped is placed into a target carrier by the loading clamp.

5. The method according to claim 1, characterized in that The transporting of the first target product by the first carrier for marking includes: Moving the first target product to a preset marking position by the first carrier; Positioning the first target product by using a visual positioning system to obtain positioning data; Using a laser, a preset position on the first target product is marked based on the positioning data.

6. The method according to claim 5, characterized in that The first carrier includes a rotating mechanism, and the step of marking a preset position on the first target product based on the positioning data by a laser includes: Determining whether the first target product requires double-sided marking; If yes, the first target product is switched to the front / back side by the rotating mechanism; The switched first target product is marked by the laser based on the positioning data.

7. The method according to claim 1, characterized in that The step of transporting the first target product by the first carrier for marking includes: Moving the marked first target product to a detection position by the first carrier; Detecting the marked position and / or marked content of the marked first target product by a visual inspection system; The two-dimensional code in the marked first target product is detected by a code reader.

8. The method according to claim 1, characterized in that The unloading operation on the first carrier includes: Matching a corresponding unloading gripper based on the marked first target product; adjusting the position of the blanking clamp based on the size of the marked first target product; The marked first target product is placed into a product box through the unloading clamp.

9. A collaborative control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the cooperative control method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the collaborative control method according to any one of claims 1 to 8 are implemented.

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