Detection method and system of special-shaped plug-in machine, electronic equipment and storage medium

Abstract

The invention discloses a detection method and system of a special-shaped plug-in machine, electronic equipment and a storage medium. The method comprises the following steps: acquiring a module control flow of the special-shaped plug-in machine; performing detection processing on control connection of the special-shaped plug-in machine according to the module control process to obtain an initial detection result; performing calibration debugging processing on the special-shaped plug-in machine based on the initial detection result to obtain a calibration result; and sending the component to be plugged into the special-shaped plug-in machine based on the calibration result, and carrying out component test processing on the special-shaped plug-in machine through the human-computer interaction interface to obtain a target detection result. The embodiment of the invention can improve the plug-in accuracy and can be widely applied to the technical field of automation.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and particularly to a detection method, system, electronic device and storage medium for a special-shaped plug-in machine. Background Art

[0002] In the related art, there is a special-shaped plug-in machine for performing plug-in processing on components. That is, through the high-precision robotic arm and fixture of the special-shaped plug-in machine, combined with a vision recognition system, it can accurately identify and grasp the plug-in, and then accurately insert it into the specified position. However, in actual applications, it is found that the special-shaped plug-in machine is prone to problems such as the deviation of the calibration position when plugging in multiple components, and the lack of detection is likely to cause potential hidden dangers and affect the accuracy of plugging in.

[0003] In summary, the technical problems existing in the related art need to be improved. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a detection method, system, electronic device and storage medium for a special-shaped plug-in machine, which can improve the accuracy of plugging in.

[0005] To achieve the above object, on the one hand, an embodiment of the present application proposes a detection method for a special-shaped plug-in machine, the method comprising: Obtaining the module control process of the special-shaped plug-in machine; Performing detection processing on the control connection of the special-shaped plug-in machine according to the module control process to obtain an initial detection result; Performing calibration and debugging processing on the special-shaped plug-in machine based on the initial detection result to obtain a calibration result; Based on the calibration result, feeding the component to be plugged into the special-shaped plug-in machine, and performing component test processing on the special-shaped plug-in machine through a human-machine interface to obtain a target detection result.

[0006] In some embodiments, the obtaining the module control process of the special-shaped plug-in machine includes the following steps: Analyzing and processing the hardware modules of the special-shaped plug-in machine to obtain a motion control module, an input / output control module and an image acquisition module; Analyzing and processing the signal transmission relationships of the control processes of the motion control module, the input / output control module and the image acquisition module to obtain the module control process.

[0007] In some embodiments, the performing detection processing on the control connection of the special-shaped plug-in machine according to the module control process to obtain an initial detection result includes the following steps: Obtaining the motion control module, the input / output control module and the image acquisition module according to the module control process; The motion control module detects the sensor input signal and the motor input signal of the special-shaped plug-in machine, and detects the motion control signal output by the motion control module to obtain a signal detection result; The image acquisition module performs image acquisition processing on the image acquisition device of the special-shaped plug-in machine to obtain an acquired image; The input / output control module performs signal output processing on the special-shaped plug-in machine according to the signal detection result and the acquired image to obtain the initial detection result.

[0008] In some embodiments, calibrating and debugging the special-shaped plug-in machine based on the initial detection result to obtain a calibration result includes the following steps: Obtain the acquired image according to the initial detection result; Perform feature point coordinate determination processing on the acquired image to obtain physical coordinates and pixel coordinates; Perform affine transformation and coordinate conversion processing on the physical coordinates and the pixel coordinates to obtain a calibration rotation center; Calibrate the image acquisition device of the special-shaped plug-in machine according to the calibration rotation center to obtain the calibration result.

[0009] In some embodiments, feeding the component to be plugged into the special-shaped plug-in machine based on the calibration result, and performing component testing processing on the special-shaped plug-in machine through a human-machine interface to obtain a target detection result includes the following steps: Perform image acquisition processing on the component to be plugged by the special-shaped plug-in machine according to the calibration result to obtain a target image; Display the target image on the human-machine interface; In response to a first operation instruction on the human-machine interface, generate a test machine type according to the target image; In response to a second operation instruction on the human-machine interface, perform debugging processing on the component to be plugged according to the test machine type to obtain the target detection result.

[0010] In some embodiments, the step of generating a test machine type according to the target image in response to a first operation instruction on the human-machine interface includes the following steps: In response to a first operation instruction on the human-machine interface, enter a parameter modification interface to perform parameter modification processing to obtain machine type parameters; Enter the component interface to adjust the material taking positions of each axis to obtain coordinate positions; Perform marking point setting processing according to the machine type parameters and the coordinate positions to obtain marking points; Perform a moving process on the target image according to the marked points to obtain the test model type.

[0011] In some embodiments, in response to a second operation instruction for the human - machine interaction interface, perform a debugging process on the component to be inserted according to the test model type to obtain the target detection result, including the following steps: In response to a second operation instruction for the human - machine interaction interface, identify and locate the center position of the component pins of the component to be inserted to obtain a positioning position; Perform a position correction calculation process on the positioning position according to the test model type, and control the motor to perform component insertion processing at the corrected position to obtain the target detection result.

[0012] In some embodiments, the identifying and locating the center position of the component pins of the component to be inserted to obtain a positioning position includes the following steps: Perform an image acquisition process on the center position of the component pins of the component to be inserted to obtain a component pin image; Input the component pin image into a pre - trained image recognition model for recognition processing to obtain recognition coordinates; Perform a coordinate conversion process on the recognition coordinates to obtain the positioning position.

[0013] To achieve the above object, on the other hand, an embodiment of the present application proposes a detection system for a special - shaped component inserter, and the system includes: A first module, configured to obtain the module control flow of the special - shaped component inserter; A second module, configured to perform a detection process on the control connection of the special - shaped component inserter according to the module control flow to obtain an initial detection result; A third module, configured to perform a calibration and debugging process on the special - shaped component inserter through a human - machine interaction interface based on the initial detection result to obtain a calibration result; A fourth module, configured to send the component to be inserted into the special - shaped component inserter based on the calibration result, and perform a component test process on the special - shaped component inserter through the human - machine interaction interface to obtain a target detection result.

[0014] To achieve the above object, on the other hand, an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method described above is implemented.

[0015] To achieve the above object, on the other hand, an embodiment of the present application proposes a computer - readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0016] The embodiments of the present application at least include the following beneficial effects: The present application provides a detection method, system, electronic device and storage medium for a special-shaped plug-in machine. This solution obtains the module control process of the special-shaped plug-in machine, and performs detection processing on the control connection of the special-shaped plug-in machine according to the module control process to obtain an initial detection result. Based on the initial detection result, calibration and debugging processing are performed on the special-shaped plug-in machine to obtain a calibration result. Based on the calibration result, the components to be plugged are sent into the special-shaped plug-in machine, and component testing processing is performed on the special-shaped plug-in machine through a human-machine interface to obtain a target detection result. This can facilitate the testing of the control connection and functions of the special-shaped plug-in machine. Moreover, since the special-shaped plug-in machine is calibrated and debugged in this solution, the problem of deviation in the calibration position can be alleviated, and the position and control accuracy of the plug can be detected by performing component testing on the special-shaped plug-in machine through the human-machine interface, which is beneficial to improving the accuracy of plugging. Description of the Drawings

[0017] Figure 1 is a flowchart of a detection method for a special-shaped plug-in machine provided by an embodiment of the present application; Figure 2 is a schematic diagram of the module control relationship of a special-shaped plug-in machine provided by an embodiment of the present application; Figure 3 is a schematic diagram of the structure of a detection system for a special-shaped plug-in machine provided by an embodiment of the present application; Figure 4 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0018] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of systems and methods that are consistent with some aspects of the embodiments of the present application detailed in the appended claims.

[0019] It can be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, words such as "if" and "when" as used herein may be interpreted as "when...", "while...", or "in response to determining".

[0020] The terms "at least one", "a plurality of", "each", "any one", etc. used in this application, at least one includes one, two, or more than two, a plurality of includes two or more than two, each refers to each of the corresponding plurality, and any one refers to any one of the plurality.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0022] Before elaborating on the embodiments of this application in detail, some nouns and terms involved in the embodiments of this application are first explained, and the nouns and terms involved in the embodiments of this application are applicable to the following explanations.

[0023] A special-shaped component inserter is a device specifically used for automatically inserting special-shaped electronic components. Different from traditional component inserters, a special-shaped component inserter can handle electronic components with irregular shapes and various sizes, such as capacitors, inductors, connectors, etc. It realizes the precise insertion of components through a high-precision robotic arm and a vision recognition system, greatly improving production efficiency and product quality.

[0024] In the related art, there is the insertion processing of a variety of or multiple components by a special-shaped component inserter. However, in practical applications, it is found that there are differences between different components, which may cause deviations in calibration positions, etc., and the related art does not detect the special-shaped component inserter, making it easy to have problems such as hardware or software, affecting the accuracy of component insertion.

[0025] Exemplarily, for example, not detecting the special-shaped component inserter easily leads to problems with the installation accuracy of components. Because the shapes of special-shaped components are irregular, without detection, the positioning errors will increase, affecting product quality. Then, there are production efficiency and cost issues. Frequent breakdowns and downtime lead to a decrease in efficiency and an increase in maintenance costs. For another example, there are safety risks. Mechanical failures may cause equipment damage or personal injury. For example, in the case of an emergency stop reset and servo failure due to a mechanical failure, without detection, these safety hazards may not be handled in a timely manner.

[0026] In view of this, the embodiments of the present application provide a detection method, system, electronic device and storage medium for a special-shaped plug-in machine. This solution obtains the module control process of the special-shaped plug-in machine, and performs detection processing on the control connection of the special-shaped plug-in machine according to the module control process to obtain an initial detection result. Based on the initial detection result, calibration and debugging processing are performed on the special-shaped plug-in machine to obtain a calibration result. Based on the calibration result, the components to be plugged are sent into the special-shaped plug-in machine, and component testing processing is performed on the special-shaped plug-in machine through a human-computer interaction interface to obtain a target detection result. This can facilitate the testing of the control connection and functions of the special-shaped plug-in machine. Moreover, since the special-shaped plug-in machine is calibrated and debugged in this solution, the problem of deviation in the calibration position can be alleviated, and the position and control accuracy of the plug can be detected by performing component testing on the special-shaped plug-in machine through the human-computer interaction interface, which is beneficial to improving the accuracy of plugging.

[0027] A detection method for a special-shaped plug-in machine provided by an embodiment of the present application relates to the field of automation technology. The detection method for a special-shaped plug-in machine provided by an embodiment of the present application can be applied to a terminal for detecting a special-shaped plug-in machine, can also be applied to a server, or can also be software running on a terminal or a server. In some embodiments, the detection terminal can be a tablet computer, a notebook computer, a desktop computer, an industrial control terminal, etc., but is not limited thereto; the server side can be configured as an independent physical server, can also be configured as a server cluster or a distributed system composed of multiple physical servers, or can also be configured as a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application for implementing the detection method of the special-shaped plug-in machine, etc., but is not limited to the above forms.

[0028] The present application can be used in many general-purpose or special-purpose computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet-type devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0029] Figure 1 It is an optional flowchart of a detection method for a special-shaped component insertion machine provided by an embodiment of the present application. Figure 1 The method in [[ ]] may include but is not limited to steps S101 to S104.

[0030] Step S101, obtaining the module control process of the special-shaped component insertion machine; Step S102, performing detection processing on the control connection of the special-shaped component insertion machine according to the module control process to obtain an initial detection result; Step S103, performing calibration and debugging processing on the special-shaped component insertion machine based on the initial detection result to obtain a calibration result; Step S104, feeding the components to be inserted into the special-shaped component insertion machine based on the calibration result, and performing component testing processing on the special-shaped component insertion machine through a human-machine interface to obtain a target detection result.

[0031] Steps S101 to S104 illustrated in the embodiment of the present application can perform detection processing on the control connection of the special-shaped component insertion machine by obtaining the module control process of the special-shaped component insertion machine, so as to obtain an initial detection result, and this initial detection result is used to test the control connection of the functional modules in the special-shaped component insertion machine. Among them, the module control process in the embodiment of the present application refers to the control connection relationship between each functional module in the special-shaped component insertion machine. For example, the special-shaped component insertion machine includes a motion control module, an input / output control module, and an image acquisition module. Analyzing the signal transmission relationship of the control process of each module to obtain the module control process. For example, the motion control module performs motion control by receiving the control instruction of the input / output control module and uploads the control result to the input / output control module. This module control process is that the motion control module receives the control instruction of the input / output control module and uploads the control result to the motion control module. Since the module composition and control process of each special-shaped component insertion machine are not exactly the same, the embodiment of the present application first obtains the module control process. Through this module control process, it is possible to detect which functional modules exist in the special-shaped component insertion machine and analyze the signal control transmission relationship of each functional module.

[0032] It should be noted that the module control process corresponding to the special-shaped component inserter can be obtained according to the operation manual of the special-shaped component inserter. For example, the hardware modules of the special-shaped component inserter can be identified through technologies such as optical character recognition (OCR), and the signal transmission relationships of each hardware module can be identified and analyzed to obtain the module control process. In addition, the software system programming files of the special-shaped component inserter can also be analyzed in the embodiments of the present application. By combining programming language conversion and OCR technology, etc., the control processes of each module of the special-shaped component inserter in the programming files are analyzed to obtain the module control process. In a feasible embodiment, the hardware modules of the special-shaped component inserter can be analyzed and processed according to the operation manual to obtain a motion control module, an input / output control module, and an image acquisition module. The motion control module may further include components such as a driving motor, and the image acquisition module includes units such as an upper camera and a lower camera. Then, the signal transmission relationships of the motion control module, the input / output control module, and the image acquisition module are analyzed and processed. The signal transmission relationships of each module can be identified through OCR technology to obtain the module control process.

[0033] Then, based on the initial detection result, the special-shaped component inserter is calibrated and debugged to obtain a calibration result. By calibrating the camera of the special-shaped component inserter, the calibration position error can be avoided. Finally, based on the calibration result, the components to be inserted are sent into the special-shaped component inserter, and the component test process is carried out on the special-shaped component inserter through the human-machine interface to obtain the target detection result. The test mode can be set in the control interface, and the pre-trained deep learning model is used to perform real-time image analysis on the components after insertion to identify the alignment state of the silver angle and the hole position. If an offset is detected, such as the silver angle not being fully inserted, an alarm is triggered and the offset amount is recorded, and the coordinates are dynamically compensated through the motion controller. The test results, such as the insertion success rate and the positioning error distribution, are summarized in the database, and optimization suggestions, such as adjusting the visual sampling frequency or the manipulator acceleration, are generated in combination with the historical calibration parameters, and the iterative effect is visually presented through the interface to obtain the target detection result.

[0034] One of the above technical solutions has the following advantages or beneficial effects: By calibrating and debugging the special-shaped component inserter in the embodiments of the present application, the problem of deviation in the calibration position can be alleviated, and by performing component tests on the special-shaped component inserter through the human-machine interface, the insertion position and control accuracy can be detected, which is beneficial to improving the insertion accuracy.

[0035] In some embodiments, the obtaining of the module control process of the special-shaped component inserter includes the following steps: Analyze and process the hardware modules of the special-shaped component inserter to obtain a motion control module, an input / output control module, and an image acquisition module; Analyze the signal transmission relationships in the control processes of the motion control module, the input / output control module, and the image acquisition module to obtain the module control processes.

[0036] In the embodiments of the present application, refer to Figure 2 , the special-shaped component inserter adopts industrial control. Its main hardware includes a motion control module, an input / output control module, and an image acquisition module. The software system of the component inserter uses the advanced C++ language, and multiple threads and multiple modules cooperate to control each module to complete the precise component insertion process. By analyzing and processing the signal transmission relationships in the control processes of the motion control module, the input / output control module, and the image acquisition module for external and internal control, for example, the image acquisition module is used to connect to an image acquisition device to obtain a captured image. The image acquisition device can use a camera, which consists of an upper camera and a lower camera working in cooperation. The upper camera realizes the positioning of the Mark point template on the PCB board to correct the deviation caused by the floating of the PCB board; the lower camera can work with multiple cameras according to the number of component insertion heads to accurately identify and position the pins or outer edges of the components to be adsorbed or clamped. The motion control module is used to control the motion of the servo motor and the driver, receive instructions from the upper controller and drive the servo motor to execute according to the instructions, and at the same time feedback the operating status to the upper controller. The input / output control module performs comprehensive arithmetic and processing on each input signal input to the control center, and realizes the real-time control of various actuators through the control center.

[0037] In some embodiments, the control connections of the special-shaped component inserter are detected and processed according to the module control processes to obtain an initial detection result, including the following steps: Obtain the motion control module, the input / output control module, and the image acquisition module according to the module control processes; Detect the sensor input signals and motor input signals of the special-shaped component inserter through the motion control module, and detect the motion control signals output by the motion control module to obtain a signal detection result; Perform image acquisition processing on the image acquisition device of the special-shaped component inserter through the image acquisition module to obtain a captured image; Perform signal output processing on the special-shaped component inserter through the input / output control module according to the signal detection result and the captured image to obtain the initial detection result.

[0038] In the embodiments of the present application, the motion control module detects the sensor input signals and motor input signals of the special-shaped plug-in machine. The sensor input signals may include the input signals of various switches and sensors, and the click input signal is the input signal of the motor driver. The motor driver may also be connected to a servo motor and an encoder, obtain the input of the encoder, and output signals to the servo motor. The image acquisition module performs image acquisition processing on the image acquisition device of the special-shaped plug-in machine to obtain the acquired image. It should be noted that the special-shaped plug-in machine in the embodiments of the present application can collect different numbers of plug heads and the number of lower cameras according to different plugging requirements, can teach different material taking positions according to different feeder positions, and can teach different plugging positions according to different plugging requirements, that is, the device can be configured with different models to complete various incoming material and plugging requirements. The input-output control module inputs the signal detection results and the acquired image into the control center of the special-shaped plug-in machine. The control center adopts a cyclic scanning working mode to perform comprehensive operations and processing on each input signal, realizes real-time control of various actuators for signal output processing, and can obtain the initial detection result by detecting various input signals and output signals.

[0039] In some embodiments, calibrating and debugging the special-shaped plug-in machine based on the initial detection result to obtain a calibration result includes the following steps: Obtain the acquired image according to the initial detection result; Perform feature point coordinate determination processing on the acquired image to obtain physical coordinates and pixel coordinates; Perform affine transformation and coordinate conversion processing on the physical coordinates and the pixel coordinates to obtain the calibration rotation center; Calibrate the image acquisition device of the special-shaped plug-in machine according to the calibration rotation center to obtain the calibration result.

[0040] In the embodiments of the present application, according to the initial detection result, the acquisition image obtained by the image acquisition device can be acquired. By determining the coordinates of feature points in the acquisition image, that is, selecting multiple feature points in the acquisition image and recording the coordinates of these feature points at the actual positions to obtain physical coordinates, and the coordinates in the image to obtain pixel coordinates. In the embodiments of the present application, by photographing 9 feature points with precisely known positions in space, their pixel coordinates in the image are obtained. Based on these known physical coordinates and the corresponding image pixel coordinates, a mathematical model can be established to solve the internal parameters of the camera (such as focal length, principal point coordinates, distortion coefficients, etc.) and external parameters (rotation and translation of the camera relative to the world coordinate system). Substituting these points into the affine transformation equation can obtain a system of linear equations. By solving the system of linear equations, the affine transformation matrix can be calculated by the least squares method, and the coordinate points are subjected to coordinate transformation to obtain the transformed points. The coordinate position of the rotation center is calculated through three points to calibrate the rotation center. By calibrating the rotation center, the image acquisition device of the special-shaped component insertion machine can be calibrated to obtain a calibration result.

[0041] In some embodiments, based on the calibration result, the component to be inserted is sent into the special-shaped component insertion machine, and the component test process is performed on the special-shaped component insertion machine through the human-machine interaction interface to obtain the target detection result, including the following steps: According to the calibration result, the special-shaped component insertion machine performs image acquisition processing on the component to be inserted to obtain a target image; The target image is displayed in the human-machine interaction interface; In response to the first operation instruction on the human-machine interaction interface, a test model is generated according to the target image; In response to the second operation instruction on the human-machine interaction interface, the component to be inserted is debugged according to the test model to obtain the target detection result.

[0042] In the embodiments of the present application, according to the calibration result, the camera of the special-shaped component insertion machine can be calibrated, so that image acquisition processing can be performed on the component to be inserted to obtain a target image. In the embodiments of the present application, the target image is displayed in the human-machine interaction interface. The human-machine interaction interface includes an image display area, and the component to be inserted can be monitored in real time and accurately positioned through the image display area. The human-machine interaction interface also includes a component bar, which is used to switch different operation interfaces. In response to the first operation instruction on the human-machine interaction interface, the first operation instruction can be a mouse click operation. By clicking on the model component with the mouse, the model interface can be entered, and a test model can be generated according to the operation on the target image. At the same time, in response to the second operation instruction on the human-machine interaction interface, the component to be inserted is debugged according to the test model to obtain the target detection result.

[0043] In some embodiments, the generating of the test model type according to the target image in response to the first operation instruction for the human-machine interaction interface includes the following steps: In response to the first operation instruction for the human-machine interaction interface, enter the parameter modification interface to perform parameter modification processing to obtain the model type parameters; Enter the component interface to adjust the picking positions of each axis to obtain the coordinate positions; Perform marking point setting processing according to the model type parameters and the coordinate positions to obtain the marking points; Perform moving processing on the target image according to the marking points to obtain the test model type.

[0044] In the embodiments of the present application, in response to a first operation instruction for the human-machine interaction interface, the parameter modification interface can be entered to modify parameters. Specifically, relevant PCB parameters such as track width and thickness are modified on the PCB interface, and click to adjust the width. Click the next page to enter the feeder parameter interface, set the relevant parameters of the corresponding feeder, and click the next page to enter the component interface to adjust the pick-up positions of each axis. Press the Tab key to enter the axis movement window to adjust the axis coordinates. The continuous movement mode and absolute position mode cannot be used to move the axis if any Z axis is not within the safe height range. The handwheel can also be used to operate the corresponding axis to move. Move to the appropriate position and click "Obtain the current position" to complete the coordinate setting. Then enter the component interface to adjust the axis coordinates when taking pictures of each axis (all parameters are used in combination with the Z axis and the feeder). The XY coordinates when taking pictures are based on the XY coordinates related to the Z1 axis. The rotation angles of the Z1Z2 axes are based on the angles of the ZI axis parameters, and the rotation angles of the Z3Z4 axes are based on the angles of the Z3 axis parameters. The photographing height is set independently for each single axis, and the range search position needs to be set separately for each axis. It should be noted that the component direction during photographing must be consistent with the component direction of the plug-in point. Click the next page to enter the Mark parameter setting interface. The Mark points are defaulted to two. The 1# Mark point is in the upper right corner of the board, and the 2# Mark point is in the lower left corner of the board. The two Marks cannot be on the same horizontal line or the Y coordinate of Mark1 is less than the Y coordinate of Mark2. Multiple Mark point settings can be performed: for example, if there are multiple single boards in the fixture and it is desired to take Mark points for each single board separately, the setting process is as follows. Assume the number of single boards is 4. Set the number of single boards to 4, then 8 Mark point data need to be set. If it is required to set the Mark points to be in the same picture, open the option of Mark points in the same picture. Every two Mark points share one image, and the coordinates are still upper right and lower left. Click the next page to enter the plug-in point interface. Click on the image to move to the position where plug-in is required. Move the center positions of the two pins of the plug-in to the center of the image to ensure the plug-in accuracy. Check the feeder and the plug-in Z axis that need to be plugged in. Select the corresponding set number of the Mark for the Mark point serial number. Among them, 1#2#Mark is the first set, 3#4#Mark is the second set, and so on.

[0045] In some embodiments, in response to a second operation instruction for the human-machine interaction interface, the to-be-plugged component is debugged according to the test machine type to obtain the target detection result, including the following steps: In response to the second operation instruction for the human-machine interaction interface, the center position of the component pins of the to-be-plugged component is identified and positioned to obtain the positioning position; According to the test machine type, position correction calculation processing is performed on the positioning position, and the motor is controlled to perform component plug-in processing at the corrected position to obtain the target detection result.

[0046] In the embodiment of the present application, in response to a second operation instruction for the human-computer interaction interface, the debugging interface is entered. The input switch sensor is used to perform the feeding and board feeding actions on the PCB board. When the induction is in place, the PCB board is clamped and positioned. Then, the motion module is controlled to control the motor driver to drive the servo motor to move to a preset position, adsorb or clamp the material component. After the material is taken, the gantry motion mode is adopted to position the component above the lower camera for image acquisition and complete the recognition and positioning of the center position of the component pins. Subsequently, the control of the device moves the upper camera to the Mark position of the PCB to be plugged for image acquisition and positioning of the Mark point and position correction calculation, and coordinates with the position deviation of the lower camera for final position correction. Finally, the motor is controlled to move to the correct position for precise plugging of the component. During the descent of the plug-in, the pressure generated by the plug-in can also be detected. If the pressure is too high, a material throwing alarm prompt will be given to obtain the target detection result.

[0047] In some embodiments, the identification and positioning process of the center position of the component pins of the component to be plugged, to obtain the positioning position, includes the following steps: Perform image acquisition processing on the center position of the component pins of the plug-in component to obtain a component pin image; Input the component pin image into a pre-trained image recognition model for recognition processing to obtain recognition coordinates; Perform coordinate conversion processing on the recognition coordinates to obtain the positioning position.

[0048] In the embodiment of the present application, the component is positioned above the lower camera for image acquisition to obtain a component pin image. By inputting the component pin image into a pre-trained image recognition model for recognition processing, the image recognition model can be a convolutional neural network (CNN), a Transformer model, etc., and the coordinates of the center position of the component pins are output to obtain the recognition coordinates. The recognition coordinates are the positions of the center positions of the component pins in the image. Then, according to the real coordinate system, the recognition coordinates are converted into the positioning position, and the relative position of the center position of the component pins in the special-shaped plug-in machine can be obtained.

[0049] Next, in combination with specific application examples, the solution of the embodiment of the present application will be introduced and described in detail: Embodiments of the present application can be applied to the functional detection scenario of a special-shaped component insertion machine. For example, the special-shaped component insertion machine is functionally detected to improve the component insertion accuracy rate of the special-shaped component insertion machine. Embodiments of the present application initially detect the control signals of each functional module of the special-shaped component insertion machine, and after passing the detection, calibrate and debug the special-shaped component insertion machine, specifically calibrate the camera of the special-shaped component insertion machine to avoid calibration position errors. Then, according to the calibration result, the accuracy of the component insertion function of the special-shaped component insertion machine is detected. By combining the human-computer interaction interface, the special-shaped component insertion machine is subjected to component test processing. The test mode is set in the control interface, and the pre-trained deep learning model is used to perform real-time image analysis on the inserted components to identify the alignment state of the silver corners and hole positions, so as to obtain the overall detection result of the special-shaped component insertion machine. The detection result includes the detection of the control signals of the functional module, the calibration detection of the camera, and the effect detection of the insertion function. The special-shaped component insertion machine can be adjusted according to the final detection result, thereby improving the component insertion accuracy rate of the special-shaped component insertion machine.

[0050] Please refer to Figure 3 , embodiments of the present application also provide a detection system for a special-shaped component insertion machine, which can implement the above-mentioned detection method for the special-shaped component insertion machine. The system includes: The first module 301 is used to obtain the module control process of the special-shaped component insertion machine; The second module 302 is used to detect and process the control connection of the special-shaped component insertion machine according to the module control process to obtain an initial detection result; The third module 303 is used to perform calibration and debugging processing on the special-shaped component insertion machine through the human-computer interaction interface based on the initial detection result to obtain a calibration result; The fourth module 304 is used to send the components to be inserted into the special-shaped component insertion machine based on the calibration result, and perform component test processing on the special-shaped component insertion machine through the human-computer interaction interface to obtain a target detection result.

[0051] It can be understood that the content in the above method embodiments is applicable to the system embodiments of the present application. The functions specifically implemented by the system embodiments of the present application are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those of the above method embodiments.

[0052] Embodiments of the present application also provide an electronic device. The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the above-mentioned detection method for the special-shaped component insertion machine is implemented. The electronic device can be any intelligent terminal including a tablet computer, an in-vehicle computer, etc.

[0053] It can be understood that the content in the above method embodiments is applicable to the device embodiments of the present application. The functions specifically implemented by the device embodiments of the present application are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those of the above method embodiments.

[0054] Please refer to Figure 4 , Figure 4 which schematically shows the hardware structure of an electronic device according to another embodiment. The electronic device includes: A processor 401, which can be implemented in ways such as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application; A memory 402, which can be implemented in forms such as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 402 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 402 and are called by the processor 401 to execute the detection method of the special-shaped plug-in machine in the embodiments of the present application; An input / output interface 403, which is used to implement information input and output; A communication interface 404, which is used to implement communication and interaction between the present device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.); A bus 405, which transmits information between various components of the device (such as the processor 401, the memory 402, the input / output interface 403, and the communication interface 404); Among them, the processor 401, the memory 402, the input / output interface 403, and the communication interface 404 are communicatively connected to each other inside the device through the bus 405.

[0055] The embodiments of the present application also provide a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the detection method of the special-shaped plug-in machine described above is implemented.

[0056] It can be understood that the content in the above method embodiments is applicable to the present storage medium embodiment. The functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those of the above method embodiments.

[0057] As a non-transitory computer-readable storage medium, a memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory optionally includes a memory remotely disposed relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0058] A detection method, system, electronic device, and storage medium for a special-shaped plug-in machine provided by an embodiment of the present application. The solution obtains the module control process of the special-shaped plug-in machine, and performs detection processing on the control connection of the special-shaped plug-in machine according to the module control process to obtain an initial detection result. Based on the initial detection result, calibration and debugging processing are performed on the special-shaped plug-in machine to obtain a calibration result. Based on the calibration result, the components to be plugged are sent into the special-shaped plug-in machine, and component testing processing is performed on the special-shaped plug-in machine through a human-machine interface to obtain a target detection result. This can facilitate the testing of the control connection and functions of the special-shaped plug-in machine. Moreover, since the special-shaped plug-in machine is calibrated and debugged in this solution, the problem of deviation in the calibration position can be alleviated, and component testing is performed on the special-shaped plug-in machine through the human-machine interface, which can detect the position and control accuracy of the plug-in, and is beneficial to improving the accuracy of the plug-in.

[0059] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0060] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0061] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0062] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0063] As used in the specification of this application and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this application described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0064] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or similar expressions refer to any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0065] In several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the above-mentioned unit division is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be in electrical, mechanical, or other forms.

[0066] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0067] In addition, in each embodiment of the present application, the functional units may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0068] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs and other various media that can store programs.

[0069] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings, and thus do not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. A detection method for a special-shaped component insertion machine, characterized in that, The method includes the following steps: Obtain the module control process of the special-shaped component inserter; Detect and process the control connection of the special-shaped component inserter according to the module control process to obtain an initial detection result; Perform calibration and debugging processing on the special-shaped component inserter based on the initial detection result to obtain a calibration result; Based on the calibration result, send the components to be inserted into the special-shaped component inserter, and perform component testing processing on the special-shaped component inserter through the human-machine interface to obtain a target detection result; The step of obtaining the module control process of the special-shaped component inserter includes the following steps: Analyze and process the hardware modules of the special-shaped component inserter to obtain a motion control module, an input / output control module, and an image acquisition module; Analyze and process the signal transmission relationship between the motion control module, the input / output control module, and the image acquisition module to obtain the module control process.

2. The method according to claim 1, wherein The step of detecting and processing the control connection of the special-shaped component inserter according to the module control process to obtain an initial detection result includes the following steps: Obtain the motion control module, the input / output control module, and the image acquisition module according to the module control process; Detect the sensor input signal and the motor input signal of the special-shaped component inserter through the motion control module, and detect the motion control signal output by the motion control module to obtain a signal detection result; Perform image acquisition processing on the image acquisition device of the special-shaped component inserter through the image acquisition module to obtain a captured image; Perform signal output processing on the special-shaped component inserter through the input / output control module according to the signal detection result and the captured image to obtain the initial detection result.

3. The method according to claim 1, characterized in that, The step of performing calibration and debugging processing on the special-shaped component inserter based on the initial detection result to obtain a calibration result includes the following steps: Obtain the captured image according to the initial detection result; Determine the feature point coordinates of the captured image to obtain physical coordinates and pixel coordinates; Perform affine transformation and coordinate conversion processing on the physical coordinates and the pixel coordinates to obtain a calibrated rotation center; Perform calibration processing on the image acquisition device of the special-shaped component inserter according to the calibrated rotation center to obtain the calibration result.

4. The method according to claim 1, wherein The step of sending the components to be inserted into the special-shaped component inserter based on the calibration result and performing component testing processing on the special-shaped component inserter through the human-machine interface to obtain a target detection result includes the following steps: Perform image acquisition processing on the components to be inserted through the special-shaped component inserter according to the calibration result to obtain a target image; Display the target image on the human-machine interface; In response to a first operation instruction on the human-machine interface, generate a test model according to the target image; In response to a second operation instruction on the human-machine interface, perform debugging processing on the components to be inserted according to the test model to obtain the target detection result.

5. The method according to claim 4, wherein The step of generating a test model according to the target image in response to a first operation instruction on the human-machine interface includes the following steps: In response to a first operation instruction for the human - machine interaction interface, enter a parameter modification interface to perform parameter modification processing to obtain model parameters; Enter the component interface to adjust the pick - up positions of each axis to obtain coordinate positions; Perform mark point setting processing according to the model parameters and the coordinate positions to obtain mark points; Perform a moving process on the target image according to the mark points to obtain the test model; 6. The method according to claim 4, characterized in that In response to a second operation instruction for the human - machine interaction interface, perform debugging processing on the components to be inserted according to the test model to obtain the target detection result, including the following steps: In response to a second operation instruction for the human - machine interaction interface, perform identification and positioning processing on the center position of the component pins of the component to be inserted to obtain a positioning position; Perform position correction calculation processing on the positioning position according to the test model, control the motor to perform component insertion processing at the corrected position to obtain the target detection result.

7. The method according to claim 6, wherein The identification and positioning processing on the center position of the component pins of the component to be inserted to obtain a positioning position includes the following steps: Perform image acquisition processing on the center position of the component pins of the inserted component to obtain a component pin image; Input the component pin image into a pre - trained image recognition model for recognition processing to obtain recognition coordinates; Perform coordinate conversion processing on the recognition coordinates to obtain the positioning position.

8. A detection system for a special-shaped component insertion machine, characterized in that, The system includes: A first module for obtaining the module control process of a special - shaped component insertion machine; A second module for detecting the control connection of the special - shaped component insertion machine according to the module control process to obtain an initial detection result; A third module for calibrating and debugging the special - shaped component insertion machine through the human - machine interaction interface based on the initial detection result to obtain a calibration result; A fourth module for feeding the components to be inserted into the special - shaped component insertion machine based on the calibration result, and performing component testing processing on the special - shaped component insertion machine through the human - machine interaction interface to obtain the target detection result.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

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