Positioning calibration method, system, device and storage medium of self-service film sticking machine

Abstract

The application relates to the technical field of automatic equipment control, in particular to a positioning calibration method, system and device of a self-service film pasting machine and a storage medium. The application obtains a position reference point of a material bin, establishes an XY coordinate system with the position reference point as a coordinate origin, the X axis corresponds to a horizontal arrangement direction, and the Y axis corresponds to a column arrangement direction; based on the arrangement parameters of the material bin and the XY coordinate system, the theoretical position of each material bin is determined, and each theoretical position corresponds to a theoretical position coordinate point; based on the theoretical position coordinate point, the movement parameters are determined, the material taking device is driven to move according to the movement parameters, and the actual position of the material taking device is obtained; the position adjustment parameters of the material taking device are obtained, and based on the position adjustment parameters and the actual position, the real position of the material bin is determined. The application solves the problem that the existing self-service film pasting machine lacks an effective material bin positioning calibration method, and the positioning precision is insufficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic equipment control, in particular to a positioning calibration method, system, device and storage medium of a self-service film sticking machine. BACKGROUND

[0002] With the rapid development of the smart phone industry, the self-service film sticking machine is widely used in public places such as shopping malls and convenience stores due to its convenience and efficiency. The core requirement is to achieve accurate positioning and rapid film taking of different types of phone films. The film sticking precision directly affects the user experience and product yield.

[0003] In the prior art, the positioning method of the self-service film sticking machine has the problem of insufficient positioning accuracy in actual application. Firstly, fixed errors such as size deviation of the material bin, assembly gap error of the transmission mechanism, and installation deviation of the sensor will cause the mismatch between the theoretical position of the material bin preset and the actual position of the material bin. Secondly, factors such as vibration and component wear during long-term operation of the equipment will further exacerbate the positioning deviation. The prior art lacks effective calibration methods for the above-mentioned deviations, making it difficult to ensure long-term accuracy of the material bin positioning. Therefore, there is an urgent need for a technical solution that can calibrate the deviation generated during the positioning of the material bin to achieve high-precision positioning of the material bin. SUMMARY

[0004] In view of the above, the present application provides a positioning calibration method, system, device and storage medium of a self-service film sticking machine, aiming to solve the problem of insufficient positioning accuracy caused by the lack of effective material bin positioning calibration method in the existing self-service film sticking machine.

[0005] The first aspect of the present application provides a positioning calibration method of a self-service film sticking machine. The material bin is located in the self-service film sticking machine, and the material taking device of the self-service film sticking machine can be moved to the position corresponding to the material bin. The method comprises:

[0006] Obtaining the position reference point of the self-service film sticking machine, establishing an XY coordinate system with the position reference point as the coordinate origin, and the X-axis direction corresponding to the horizontal arrangement direction of the material bin and the Y-axis direction corresponding to the column arrangement direction of the material bin;

[0007] Based on the arrangement parameters of the material bin and the XY coordinate system, determining the theoretical position of the material bin, and the theoretical position of the material bin corresponding to a theoretical position coordinate point in the XY coordinate system;

[0008] Based on the theoretical position coordinate point, determining the movement parameters of the material taking device, driving the material taking device to move according to the movement parameters, obtaining the actual position of the material taking device, and the actual position of the material taking device corresponding to an actual position coordinate point in the XY coordinate system;

[0009] Obtaining a position adjustment parameter of the material taking device, determining a real position of the bin based on the position adjustment parameter and an actual position of the material taking device.

[0010] Further, the determining the theoretical position of the bin based on the arrangement parameter of the bin and the XY coordinate system comprises:

[0011] Recording a transverse distance from the origin to an end bin in the positive direction of the X axis in the XY coordinate system to obtain a farthest transverse distance;

[0012] Recording a column distance from the origin to an end bin in the positive direction of the Y axis in the XY coordinate system to obtain a farthest column distance;

[0013] Determining an average transverse interval and an average column interval between the bin and an adjacent bin based on the farthest transverse distance, the farthest column distance and the arrangement parameter of the bin;

[0014] Determining the theoretical position of the bin based on the average transverse interval, the average column interval and the arrangement parameter.

[0015] Further, the movement parameter comprises an X axis preset number of turns of a driving motor corresponding to an X axis direction movement of the material taking device and a Y axis preset number of turns of a driving motor corresponding to a Y axis direction movement of the material taking device, and the determining the movement parameter of the material taking device based on the theoretical position coordinate point comprises:

[0016] Determining the X axis preset number of turns based on a unit number of turns displacement of the driving motor in the X axis direction and the theoretical position coordinate point;

[0017] Determining the Y axis preset number of turns based on a unit number of turns displacement of the driving motor in the Y axis direction and the theoretical position coordinate point.

[0018] Further, the determining the X axis preset number of turns based on the unit number of turns displacement of the driving motor in the X axis direction and the theoretical position coordinate point comprises:

[0019] Obtaining an X axis number of turns of rotation of the driving motor in the X axis direction when the material taking device moves transversely from the origin to the end bin in the positive direction of the X axis;

[0020] Obtaining an X axis unit number of turns displacement based on the X axis number of turns of rotation and the farthest transverse distance;

[0021] Determining the X axis preset number of turns based on the theoretical position coordinate point and the X axis unit number of turns displacement.

[0022] Further, the Y-axis preset number of turns is determined based on the unit number of turns displacement of the driving motor in the Y-axis direction and the theoretical position coordinate point.

[0023] The Y-axis rotation number of turns of the driving motor in the Y-axis direction is obtained when the material taking device moves from the origin column to the positive direction end of the Y-axis.

[0024] The Y-axis unit number of turns displacement is obtained based on the Y-axis rotation number of turns and the farthest distance in the column direction.

[0025] The Y-axis preset number of turns is determined based on the theoretical position coordinate point and the Y-axis unit number of turns displacement.

[0026] Further, the position adjustment parameters include a lateral deviation value of the material taking device in the X-axis direction and a column deviation value in the Y-axis direction, and the position adjustment parameters of the material taking device are obtained by:

[0027] A lateral number of turns compensation value of the motor of the material taking device in the X-axis direction is obtained, and the lateral deviation value is obtained based on the lateral number of turns compensation value and the unit number of turns displacement of the driving motor in the X-axis direction.

[0028] A column number of turns compensation value of the motor of the material taking device in the Y-axis direction is obtained, and the column deviation value is obtained based on the column number of turns compensation value and the unit number of turns displacement of the driving motor in the Y-axis direction.

[0029] Further, the position adjustment parameters of the material taking device are obtained by:

[0030] The image of the material taking device and the image of the silo are collected.

[0031] The position adjustment parameters of the material taking device are determined based on the image of the material taking device and the image of the silo.

[0032] The second aspect of the present application provides a positioning calibration device of a self-service film sticking machine, the device comprising:

[0033] A coordinate system establishing module is configured to obtain a position reference point of the self-service film sticking machine, establish an XY coordinate system with the position reference point as the coordinate origin, the X-axis direction corresponding to the lateral arrangement direction of the silo, and the Y-axis direction corresponding to the column arrangement direction of the silo.

[0034] A theoretical position determining module is configured to determine a theoretical position of the silo based on the arrangement parameters of the silo and the XY coordinate system, the theoretical position of the silo corresponding to a theoretical position coordinate point in the XY coordinate system.

[0035] An actual position determining module is configured to determine a movement parameter of the material taking device of the self-service film sticking machine based on the theoretical position coordinate point, drive the material taking device to move according to the movement parameter, and obtain an actual position of the material taking device, the actual position of the material taking device corresponding to an actual position coordinate point in the XY coordinate system.

[0036] A real position determining module is configured to obtain a position adjustment parameter of the material taking device, and determine a real position of the material bin based on the position adjustment parameter and the actual position of the material taking device.

[0037] The third aspect of the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the positioning calibration method of the self-service film sticking machine when executing the computer program.

[0038] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the positioning calibration method of the self-service film sticking machine when executed by a processor.

[0039] In summary, the present application has at least the following beneficial effects:

[0040] 1. The theoretical position is determined by establishing an XY coordinate system, the material taking device is driven to move to the theoretical position of the material bin according to the movement parameter, the actual position of the material taking device corresponding to the theoretical position is obtained, and the real position of the material bin is calibrated in combination with the actual position of the material taking device and the position adjustment parameter, which can effectively offset the fixed errors such as size deviation of the material bin, assembly gap of the transmission mechanism, and installation deviation of the sensor, improve the long-term accuracy of the material bin positioning, and ensure the film taking and film sticking accuracy.

[0041] 2. The movement parameter adopts a standard and unified motor rotation number with simple calculation logic, and the motor unit circle displacement is calibrated in combination with a full stroke measurement method. The horizontal farthest distance and the column farthest distance are obtained, and the accurate X-axis unit circle displacement and Y-axis unit circle displacement are derived from the actual motor rotation number, and then the movement parameter of the material taking device required for setting the theoretical position of each material bin, i.e., the X-axis preset number of circles and the Y-axis preset number of circles, are determined, so as to effectively avoid the deviation of the unit circle displacement caused by factors such as mechanical transmission wear, assembly error, and load change, ensure that the X-axis unit circle displacement and the Y-axis unit circle displacement are completely matched with the actual operation state of the equipment, thereby ensuring the accuracy of the X-axis preset number of circles and the Y-axis preset number of circles, and further ensuring that the actual position of the material taking device can be accurately matched with the theoretical position of the material bin.

[0042] 3. By adding a visual acquisition module, the position of the hopper can be automatically and dynamically calibrated. Parameters can be updated regularly without manual intervention, which avoids the subjective error of manual observation and can respond in real time to the position deviation of the hopper during long-term operation. It is suitable for some high film application accuracy requirements and improves the stability and intelligence of equipment operation. Attached Figure Description

[0043] Figure 1 This is a schematic flowchart illustrating the positioning calibration method of a self-service film applicator according to an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the overall structure of the self-service film applicator shown in the embodiments of this application;

[0045] Figure 3 This is a functional block diagram of the positioning calibration method for a self-service film applicator shown in the embodiments of this application;

[0046] Figure 4 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application.

[0047] Explanation of reference numerals in the attached diagram: 1. Self-service film applicator; 11. Material hopper; 12. Material dispensing device. Detailed Implementation

[0048] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to any or all possible combinations including one or more of the listed items.

[0049] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0050] Reference Figure 1 As shown, Figure 1 This is a flowchart illustrating the positioning calibration method for a self-service screen protector applicator, which includes the following steps.

[0051] S11, obtaining a position reference point of the self-service film pasting machine, establishing an XY coordinate system with the position reference point as the coordinate origin, the X-axis direction corresponding to the transverse arrangement direction of the material bin, and the Y-axis direction corresponding to the column arrangement direction of the material bin;

[0052] The position reference point is a fixed reference point for positioning and calibrating the position of the material bin in the self-service film pasting machine. For the sake of simplifying calculation and facilitating understanding, a certain point of the first row and the first column of the material bin can be taken as the position reference point. The material bin is an independent storage unit for storing film pasting consumables in the self-service film pasting machine. All the material bins are regularly arranged in a matrix manner with uniform transverse spacing and uniform column spacing. Each material bin not only has a clear and uniform physical boundary size, but also is provided with a unified identifiable position reference point, for example, the top left corner vertex of each material bin is taken as the standard reference point. The relative position of the position reference point on all the material bins remains consistent, providing a unified reference for subsequent coordinate quantization and position calibration. The XY coordinate system is a two-dimensional plane rectangular coordinate system established with the position reference point as the coordinate origin, which is used to quantify the spatial position of all the material bins. The X-axis and the Y-axis are perpendicular to each other. The X-axis direction is consistent with the transverse arrangement direction of the material bin, and the Y-axis direction is consistent with the column arrangement direction of the material bin.

[0053] It should be noted that the following description refers to Figure 2 , Figure 2 is the overall structure schematic diagram of the self-service film pasting machine shown in the embodiments of the present application. A plurality of material bins are installed in the self-service film pasting machine. The distance between adjacent material bins in the same row or the same column is consistent. After installation, the material bins are in the same vertical plane. Even if there is a slight deviation in the installation position of the material bins in the vertical plane, since the film taking device directly contacts the film pasting consumables during film taking operation and has a contact force self-adaptive adjustment function, the influence of the slight installation deviation can be compensated by the force of the film taking device. Therefore, it is not necessary to calibrate the arrangement error of the material bins in the vertical plane, and thus the coordinate system does not need to additionally set a Z-axis.

[0054] S12, determining the theoretical position of the material bin based on the arrangement parameters of the material bin and the XY coordinate system. The theoretical position of the material bin corresponds to a theoretical position coordinate point in the XY coordinate system;

[0055] The arrangement parameters refer to parameters for clearly defining the positional relationship of all the material bins in the matrix arrangement manner, which can reflect the positional relationship of all the material bins. The spacing of the transversely adjacent material bins is consistent, and the spacing of the columnally adjacent material bins is also consistent after installation of the material bins. Through the arrangement parameters, the total number of columns of the transversely adjacent material bins and the total number of rows of the columnally adjacent material bins can be known, that is, through the row and column identification of "the nth row and the nth column", the relative positional relationship of each material bin relative to the position reference point can be indirectly reflected. For example, the second row and the third column, the third row and the fourth column.

[0056] The theoretical position refers to the position of each silo derived through theoretical calculation or assumed through theoretical calculation based on the arrangement parameters and the XY coordinate system of the silos, and is a reference for the initial positioning of the material taking device. The theoretical position may deviate from the actual position of the silos after installation, and thus needs to be corrected through subsequent calibration steps. The theoretical position coordinate point is the two-dimensional coordinate data corresponding to the theoretical position in the XY coordinate system, and is a coordinate point data quantified on the coordinate system.

[0057] In the conventional technology, the theoretical position of the silos and the corresponding theoretical position coordinate point need to be measured one by one by manual visual inspection or with the aid of measuring tools, and then the measured coordinate data is manually input one by one into the control system of the self-adhesive film laminator. This method is not only inefficient, but also has subjective errors in manual measurement and operation errors in manual input, which leads to a large deviation between the theoretical position and the actual installation position of the silos, directly affecting the positioning accuracy of the subsequent material taking device, and further reducing the precision and reliability of the film laminating operation.

[0058] To solve the above technical problems, ensure the accuracy of the theoretical position, avoid too large errors in the process of manual measurement and input, and improve the efficiency, the length of each row and each column of silos can be obtained by the positioning sensor, that is, the maximum horizontal distance and the maximum column distance. The system automatically obtains the theoretical position and the corresponding theoretical position coordinate point based on the arrangement parameters of the silos, the average horizontal interval between the silos and the adjacent silos, and the average column interval, as follows: recording the horizontal distance from the origin to the end silo in the positive direction of the X-axis in the XY coordinate system to obtain the maximum horizontal distance; recording the column distance from the origin to the end silo in the positive direction of the Y-axis in the XY coordinate system to obtain the maximum column distance; determining the average horizontal interval and the average column interval between the silos and the adjacent silos based on the maximum horizontal distance, the maximum column distance, and the arrangement parameters of the silos; and determining the theoretical position of the silos based on the average horizontal interval, the average column interval, and the arrangement parameters.

[0059] The maximum horizontal distance refers to the horizontal straight-line distance from the coordinate origin, that is, the position reference point, to the reference point of the end silo in the positive direction of the X-axis, and directly reflects the distance of a row of silos from the first silo to the last silo at the end. The maximum column distance refers to the column straight-line distance from the coordinate origin, that is, the position reference point, to the reference point of the end silo in the positive direction of the Y-axis, and directly reflects the distance of a column of silos from the first silo to the last silo at the end.

[0060] Specifically, for example, a positioning sensor can be installed on the material taking device, the positioning sensor moves along the positive direction of the X axis, records the transverse distance from the origin to the end of the positive direction of the X axis, obtains the farthest transverse distance, and the positioning sensor moves along the positive direction of the Y axis, records the column distance from the origin to the end of the positive direction of the Y axis, obtains the farthest column distance. Since the distance between every two adjacent silos in each column and each row is consistent, the number of rows and columns of silos is known from the arrangement parameters, and then the farthest transverse distance and the farthest column distance are measured by the positioning sensor, so that the average transverse interval and the average column interval of the two adjacent silos can be obtained, and thus the theoretical position of each silo and the corresponding theoretical position coordinate point can be obtained. The following will be described in combination with a specific embodiment.

[0061] In a specific embodiment, after the preset position reference point is determined, an XY coordinate system is established, the unit of the X axis and the Y axis is centimeter (cm), that is, the point of X=1 represents that the transverse distance of the point from the origin is 1 cm, and the Y axis is the same. The transverse arrangement direction is from left to right, extending along the positive direction of the X axis, and the leftmost silo is defined as the first column; the column arrangement direction is from bottom to top, extending along the positive direction of the Y axis, and the lowermost silo is defined as the first row. The left upper vertex of the silo in the first row and the first column is taken as the position reference point, and the left upper vertices of other silos are taken as the unified reference point, the relative positions of the reference points of the silos remain consistent, and the arrangement parameters record that the silos have a total of 8 columns and 15 rows. The positioning sensor on the material taking device moves along the positive direction of the X axis, detects that the farthest transverse distance between the end silo in the positive direction of the X axis (the eighth column silo) and the origin is 75 cm, and combines the total number of transverse silos, which is 6 columns, to calculate that the average transverse interval is 15 cm; the positioning sensor moves along the positive direction of the Y axis, detects that the farthest column distance between the end silo in the positive direction of the Y axis (the fifteenth row silo) and the origin is 140 cm, and combines the total number of column silos, which is 15 rows, to calculate that the average column interval is 10 cm. Based on the average transverse interval, the average column interval, and the arrangement parameters, the theoretical position of each silo and the corresponding theoretical position coordinate point can be determined, for example, the theoretical position coordinate point of the silo located in the second row and the third column is (30, 10), and the theoretical position coordinate point of the silo located in the third row and the fourth column is (45, 20).

[0062] S13, based on the theoretical position coordinate point, determining a movement parameter of the material taking device, driving the material taking device to move according to the movement parameter, obtaining an actual position of the material taking device, and the actual position of the material taking device corresponds to an actual position coordinate point in the XY coordinate system;

[0063] The movement parameter refers to a core parameter required for controlling the movement of the material taking device in the XY coordinate system, and is used to clearly define the movement stroke of the material taking device in the X-axis and Y-axis directions, so as to ensure that the material taking device can accurately point to the theoretical position of each material bin. The movement parameter can be set in various ways such as the rotation speed and running time of the driving motor, the displacement stroke, the number of encoder pulses, etc., to control the movement stroke of the material taking device.

[0064] The actual position of the material taking device refers to a specific position to which the material taking device actually moves according to the movement parameter. It should be noted that the actual position of the material taking device corresponds to the theoretical position of the material bin. When the material taking device takes material from the material bin, the position of the material taking device when taking material should correspond to the position of the material bin, that is, the actual position of the material taking device is the position corresponding to the theoretical position of the material bin reached by the movement parameter. Assuming that there is a Z-axis (only used for lifting to realize the taking action, not involved in the positioning of the XY plane), in addition to the Z-axis, the position of the material taking device when taking material corresponds to the reference point of the material bin, that is, the actual position of the material taking device is referenced to the positioning reference point preset by itself, and the positioning reference point needs to be accurately aligned with the unified reference point of the material bin, for example, the center reference point of the material taking suction cup is consistent with the center reference point of the material bin, so as to ensure that the positioning reference point of the material taking device completely coincides with the reference point of the material bin in the XY plane after the material taking device moves to the actual position, thereby ensuring the accuracy of the subsequent taking action.

[0065] To ensure that the movement parameter can accurately correspond the actual position of the material taking device to the theoretical position of the material bin, the movement parameter also needs to have the effects of standardization and simple calculation logic. In this scheme, the number of rotations of the driving motor is selected as the movement parameter, and the movement parameter of the motor rotation number is set to drive the material taking device to move to the corresponding position of each theoretical position of the material bin, and then the actual position of the material taking device corresponding to each theoretical position is obtained. The specific way is as follows: the movement parameter includes the X-axis preset number of rotations of the driving motor corresponding to the movement of the material taking device in the X-axis direction and the Y-axis preset number of rotations of the driving motor corresponding to the movement of the material taking device in the Y-axis direction; the determination of the movement parameter of the material taking device based on the theoretical position coordinate point includes: determining the X-axis preset number of rotations based on the unit number of rotations displacement of the driving motor in the X-axis direction and the theoretical position coordinate point; determining the Y-axis preset number of rotations based on the unit number of rotations displacement of the driving motor in the Y-axis direction and the theoretical position coordinate point.

[0066] The X-axis preset number of rotations refers to the number of rotations of the X-axis driving motor required when the material taking device moves to the theoretical position of the material bin along the X-axis direction. The Y-axis preset number of rotations refers to the number of rotations of the Y-axis driving motor required when the material taking device moves to the theoretical position of the material bin along the Y-axis direction.

[0067] The unit circle number displacement of the motor is a static parameter determined by the motor itself, the driver setting and the mechanical structure. Generally, the unit circle number displacement of the motor can directly adopt the preset parameter given when the equipment is shipped, or can be calculated according to the parameters of the motor, the driver and the mechanical transmission part. Once the parameter is determined, the displacement control precision of the system is determined, and the displacement speed is realized by adjusting the pulse frequency. In the application embodiment, the unit circle number displacement of the motor refers to the linear distance actually moved by the taking device along the corresponding axis direction per revolution of the X-axis and Y-axis driving motor carried by the taking device.

[0068] The following will be described in combination with a specific embodiment, and the parameters set in the foregoing embodiments are used: the unit of the XY coordinate system is cm, the X-axis unit circle number displacement of the driving motor in the X-axis direction is 10 mm / revolution (i.e. 1 cm / revolution), and the Y-axis unit circle number displacement of the driving motor in the Y-axis direction is 10 mm / revolution (i.e. 1 cm / revolution); the theoretical position coordinate point of the second row third column warehouse is (30, 10), and for the theoretical position of the second row third column warehouse: the X-axis needs to be moved by 30 cm, combined with the X-axis unit circle number displacement 1 cm / revolution, the X-axis preset number of revolutions is calculated as 30 revolutions; the Y-axis needs to be moved by 10 cm, combined with the Y-axis unit circle number displacement 1 cm / revolution, the Y-axis preset number of revolutions is calculated as 10 revolutions. The driving motor runs according to the X-axis 30 revolutions and the Y-axis 10 revolutions, drives the taking device to move, and detects the actual arrival position through the positioning sensor to obtain the corresponding actual position coordinate point (30, 10).

[0069] Through the above technical solution, based on the unit circle number displacement of the driving motor and the theoretical position coordinate point of each warehouse, the X-axis preset number of revolutions and the Y-axis preset number of revolutions required for the taking device to move in the X-axis direction and the Y-axis direction can be calculated respectively; then the driving motor runs according to the calculated X-axis preset number of revolutions and Y-axis preset number of revolutions, and drives the taking device to move to the corresponding position of the theoretical position of each warehouse.

[0070] However, in actual application, the number of motor revolutions may be affected by factors such as mechanical transmission wear, assembly error, load change, etc., resulting in a deviation between the preset or calculated unit revolution displacement and the actual unit revolution displacement of the device during operation. The calculation accuracy of the X-axis preset number of revolutions and the Y-axis preset number of revolutions directly depends on the accuracy of the unit revolution displacement. If the unit revolution displacement deviates, it will directly cause the material taking device to fail to accurately move to the theoretical position of the bin, thereby affecting the calibration effect of the actual position of the subsequent bin. Therefore, a more accurate unit revolution displacement needs to be obtained according to the actual situation. Specifically, the X-axis and Y-axis unit revolution displacements are derived by actual measurement, so as to determine the corresponding preset number of revolutions, that is, the preset number of revolutions needs to be calibrated. The core is to calibrate the unit revolution displacement of the motor, so as to ensure that the X-axis preset number of revolutions and the Y-axis preset number of revolutions can accurately control the material taking device to reach the corresponding position of the theoretical position of the bin. Specifically as follows:

[0071] Specifically, the X-axis preset number of revolutions can be obtained by the following method: obtaining the X-axis rotation number of the driving motor arranged in the X-axis direction of the material taking device when the material taking device moves laterally from the origin to the end bin in the positive direction of the X-axis; based on the X-axis rotation number and the lateral farthest distance, obtaining the X-axis unit revolution displacement; based on the theoretical position coordinate point and the X-axis unit revolution displacement, determining the X-axis preset number of revolutions.

[0072] At the same time, the Y-axis preset number of revolutions can be obtained by the following method: obtaining the Y-axis rotation number of the driving motor arranged in the Y-axis direction of the material taking device when the material taking device moves columnarly from the origin to the end bin in the positive direction of the Y-axis; based on the Y-axis rotation number and the columnar farthest distance, obtaining the Y-axis unit revolution displacement; based on the theoretical position coordinate point and the Y-axis unit revolution displacement, determining the Y-axis preset number of revolutions.

[0073] The following is described in conjunction with a specific embodiment: it is detected that the lateral farthest distance between the end bin in the positive direction of the X-axis and the origin is 75 cm, and the rotation number of the motor when the material taking device moves from the origin to the end bin in the positive direction of the X-axis is 75, that is, the X-axis rotation number is 75, so as to obtain the X-axis unit revolution displacement of the driving motor arranged in the X-axis direction, which is 10 mm / revolution (i.e. 1 cm / revolution).

[0074] By the technical solution, the farthest distance in the transverse direction and the farthest distance in the column direction measured by the positioning sensor are respectively divided by the actual X rotation number of the X-axis direction driving motor and the actual Y-axis rotation number of the Y-axis direction driving motor when the material taking device moves to the corresponding end silo, so as to obtain the X-axis unit number displacement and the Y-axis unit number displacement, thereby effectively avoiding the deviation of the unit number displacement caused by mechanical transmission wear, assembly error, load change and other factors, ensuring that the X-axis unit number displacement and the Y-axis unit number displacement are completely matched with the actual operation state of the equipment, thereby ensuring the accuracy of the X-axis preset number and the Y-axis preset number, and further ensuring that the actual position of the material taking device can be accurately matched with the theoretical position of the silo.

[0075] S14, obtaining a position adjustment parameter of the material taking device, and determining the real position of the silo based on the position adjustment parameter and the actual position of the material taking device.

[0076] The real position of the silo refers to the accurate actual physical position of the silo actually installed in the self-adhesive film machine, which is different from the theoretical position of the silo. The theoretical position of the silo is a hypothetical target position derived based on the silo arrangement parameter and the XY coordinate system. The purpose of setting the theoretical position is to guide the material taking device to move to the corresponding position of the theoretical position according to the specified movement parameter, that is, the actual position of the material taking device, and then take the actual position of the material taking device as the observation reference to obtain the real position of the silo through the position adjustment parameter of the material taking device. The position adjustment parameter refers to the distance that the material taking device needs to move in the X-axis direction and the distance that the material taking device needs to move in the Y-axis direction in order to move the material taking device from the current actual position of the material taking device to the real position of the silo. That is, the position adjustment parameter directly corresponds to the offset distance of the theoretical position and the real position in the XY coordinate system.

[0077] When the material taking device moves to the corresponding position of the theoretical position of the silo, that is, the actual position of the material taking device, the operator can intuitively observe the difference between the actual position of the material taking device and the real position of the silo. By moving the material taking device from the actual position to the real position of the silo again and recording the position adjustment parameter set when the material taking device moves from the actual position to the real position, the real position of the silo is derived through the position adjustment parameter.

[0078] The position adjustment parameter can be divided into a lateral deviation value of the material taking device in the X-axis direction and a column deviation value in the Y-axis direction, and the lateral deviation value and the column deviation value can be embodied by the number of rotations of the motor adjusted in the X-axis direction and the Y-axis direction. The lateral number of rotation compensation value and the column number of rotation compensation value can be directly obtained by real-time acquisition of the encoder matched with the motor. That is, by recording the lateral number of rotation compensation value and the column number of rotation compensation value of the motor of the material taking device when the material taking device moves from the theoretical position to the actual position, and combining the X-axis unit number of rotation displacement and the Y-axis unit number of rotation displacement, the lateral deviation value and the column deviation value can be obtained. The specific manner is as follows: obtaining the lateral number of rotation compensation value corresponding to the driving motor of the material taking device moving in the X-axis direction, and obtaining the lateral deviation value according to the lateral number of rotation compensation value and the unit number of rotation displacement of the driving motor moving in the X-axis direction; obtaining the column number of rotation compensation value corresponding to the driving motor of the material taking device moving in the Y-axis direction, and obtaining the column deviation value according to the column number of rotation compensation value and the unit number of rotation displacement of the driving motor moving in the Y-axis direction.

[0079] The lateral number of rotation compensation value refers to the number of rotations of the driving motor in the X-axis direction required to be additionally adjusted when the material taking device moves from the current actual position to the real position of the bin. This value directly reflects the number of rotation deviation between the actual position of the material taking device and the real position of the bin in the X-axis direction, and the lateral deviation value in the X-axis direction can be derived by combining the unit number of rotation displacement of the driving motor in the X-axis direction. The column number of rotation compensation value is the same, and details are not repeated here.

[0080] The following will be described with reference to a specific embodiment. The parameters of the previous embodiments are used: the unit of the XY coordinate system is cm, the unit number of rotation displacement of the driving motor in the X-axis direction and the unit number of rotation displacement of the driving motor in the Y-axis direction are both 10 mm / rotation (i.e. 1 cm / rotation), and the theoretical position coordinate point of the second row and the third column of the bin is (30, 10). It is determined by observation and measurement that the material taking device needs to move in the positive direction of the X-axis and in the positive direction of the Y-axis after reaching the actual position, so that the material taking device can move from the actual position to the real position of the corresponding bin. At this time, the recorded position adjustment parameter is that the X-axis rotation number is 0.1 and the Y-axis rotation number is 0.2. The position deviation value in the X-axis direction is 0.1 cm and the position deviation value in the Y-axis direction is 0.2 cm, which can be calculated by the unit number of rotation displacement. Thus, the real position coordinate of the bin is (29.9, 9.8).

[0081] In some self-service film application machines with higher requirements for film application, if subsequent automatic position calibration is required, an additional vision acquisition module can be added to achieve automatic dynamic calibration of the material bin position. Specifically, the following steps are taken: acquire images of the material dispensing device and the material bin; determine the position adjustment parameters of the material dispensing device based on the images of the material dispensing device and the material bin.

[0082] The vision acquisition module can use an industrial camera, along with a lens and light source assembly, installed at the corresponding position on the self-service film applicator frame. This ensures the shooting range covers all material hopper areas. After activation, the vision acquisition module acquires images at preset intervals, such as upon daily startup, after every 100 material dispensing actions, or through triggered image acquisition, such as when a material dispensing failure is detected or feedback of a large film applicator error is received. It acquires images of the material hopper's actual position and the material dispensing device at its theoretical position within the hopper—that is, the actual position of the dispensing device during material dispensing. Subsequently, the vision acquisition module's built-in image recognition algorithm preprocesses the two acquired images, determining the horizontal and vertical distances between the actual position of the dispensing device and the actual position of the material hopper—the position adjustment parameters. Furthermore, it can update the dispensing device's movement parameters and the corresponding actual position of the material hopper by combining the position adjustment parameters and the actual position of the dispensing device. After calibration, the system automatically updates the preset parameter library with the newly acquired movement parameters and the actual position of the material hopper, overwriting the original data.

[0083] The above technical solution not only avoids errors caused by manual observation, but also responds to changes in the position of the material bin in real time and updates the actual position of the material bin regularly. This avoids the problem of inaccurate positioning caused by changes in the position of the material bin due to factors such as vibration and component wear during long-term operation of the self-service film applicator. It improves the operational stability and material picking accuracy of the self-service film applicator in high-precision scenarios and is suitable for application scenarios with high requirements for film applicator accuracy.

[0084] In some embodiments, the hopper positioning calibration device 30 of the self-service film applicator may include multiple functional modules composed of computer program segments. The computer programs for each program segment of the hopper positioning calibration device 30 may be stored in the memory of an electronic device and executed by at least one processor to perform (see details). Figure 1 (Description) Function of the material hopper positioning calibration method for self-service film applicator.

[0085] Reference Figure 3 As shown, Figure 3This is a functional block diagram of the hopper positioning calibration method for a self-service film applicator according to an embodiment of this application. In this embodiment, the hopper positioning calibration device 30 of the self-service film applicator can be divided into multiple functional modules according to the functions it performs. The functional modules may include: a coordinate system establishment module 301, a theoretical position determination module 302, an actual position determination module 303, and a true position determination module 304. The term "module" in this application refers to a series of computer program segments that can be executed by at least one processor and perform a fixed function, and which are stored in memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0086] The coordinate system establishment module 301 is used to obtain the position reference point of the self-service film applicator, and establish an XY coordinate system with the position reference point as the origin. The X-axis direction corresponds to the horizontal arrangement direction of the material bins, and the Y-axis direction corresponds to the column arrangement direction of the material bins.

[0087] The theoretical position determination module 302 is used to determine the theoretical position of the silo based on the arrangement parameters of the silo and the XY coordinate system. The theoretical position of the silo corresponds to a theoretical position coordinate point in the XY coordinate system.

[0088] The actual position determination module 303 is used to determine the movement parameters of the material picking device of the self-service film applicator based on the theoretical position coordinates, drive the material picking device to move according to the movement parameters, and obtain the actual position of the material picking device. The actual position of the material picking device corresponds to an actual position coordinate point in the XY coordinate system.

[0089] The true position determination module 304 is used to obtain the position adjustment parameters of the material handling device, and determine the true position of the hopper based on the position adjustment parameters and the actual position of the material handling device.

[0090] Reference Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. In a preferred embodiment of this application, the electronic device 4 includes a memory 41, at least one processor 42, and at least one communication bus 43.

[0091] Those skilled in the art should understand that Figure 4 The structure of the electronic device shown does not constitute a limitation of the embodiments of this application. It can be a bus structure or a star structure. The electronic device 4 may also include more or fewer other hardware or software than shown, or different component arrangements.

[0092] In some embodiments, the electronic device 4 is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions, and the hardware thereof includes but is not limited to microprocessor, application specific integrated circuit, programmable gate array, digital processor and embedded device, etc. The electronic device 4 can also include user devices, which include but are not limited to any electronic product capable of human-computer interaction with the user through keyboard, mouse, remote controller, touchpad or voice control device, such as personal computer, tablet computer, smart phone, digital camera, etc.

[0093] It should be noted that the electronic device 4 is only an example, and other existing or future electronic products, such as those that can be adapted to the present application, should also be included in the protection scope of the present application and are hereby incorporated by reference.

[0094] In some embodiments, the memory 41 stores a computer program which, when executed by the at least one processor 42, implements all or part of the steps of the method for calibrating the position of the hopper of the self-adhesive film applicator as described above. The memory 41 includes a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other medium of storage of computer-readable data now known or later developed. Further, the computer-readable storage medium can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function, etc.; the data storage area can store data created according to the use of the blockchain node, etc. The blockchain referred to in the present application is a new application mode of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm. Blockchain, in essence, is a decentralized database, which is a series of data blocks associated using cryptographic methods, each data block containing information about a batch of network transactions, for verifying the validity of the information (anti-fake) and generating the next block. The blockchain can include a blockchain underlying platform, a platform product service layer, and an application service layer, etc.

[0095] In some embodiments, the at least one processor 42 is a control unit of the electronic device 4, which connects various components of the entire electronic device 4 through various interfaces and lines, and performs various functions of the electronic device 4 and processes data by running or executing programs or modules stored in the memory 41 and calling data stored in the memory 41. For example, the at least one processor 42 implements all or part of the steps of the self-adhesive film machine bin positioning calibration method described above in the embodiments of the present application when executing the computer program stored in the memory, or implements all or part of the functions of the self-adhesive film machine bin positioning calibration device. The at least one processor 42 can be composed of integrated circuits, for example, can be composed of a single packaged integrated circuit, or can be composed of multiple packaged integrated circuits with the same function or different functions, including one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors, combinations of various control chips, etc.

[0096] In some embodiments, the at least one communication bus 43 is configured to realize the connection and communication between the memory 41, the at least one processor 42, etc. Although not shown, the electronic device 4 can also include a power supply (such as a battery) for powering various components. Preferably, the power supply can be logically connected to the at least one processor 42 through a power management device, so as to realize the functions of managing charging, discharging, and power consumption management, etc. through the power management device. The power supply can also include one or more direct current or alternating current power supplies, recharging devices, power supply fault detection circuits, power supply converters or inverters, power supply status indicators, etc. The electronic device 4 can also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which are not described here.

[0097] The integrated units implemented in the form of software function modules described above can be stored in a computer readable storage medium. The software function modules described above are stored in a storage medium, including a plurality of instructions for causing an electronic device (which can be a personal computer, an electronic device, or a network device, etc.) or a processor to execute part of the method described in each embodiment of the present application.

[0098] In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the modules is only a logical function division. There can be another division manner in actual implementation.

[0099] The modules illustrated as separated components can or can not be physically separate, and the components illustrated as modules can or can not be physical units, and can be located in one position, or distributed on a plurality of network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment.

[0100] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, therefore: all equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A method for calibrating the positioning of the material hopper in a self-service film applicator, characterized in that, The material hopper is located inside the self-service film applicator, and the material dispensing device of the self-service film applicator can be moved to the corresponding position of the material hopper. The method includes: Obtain the position reference point of the self-service film applicator, and establish an XY coordinate system with the position reference point as the origin. The X-axis direction corresponds to the horizontal arrangement direction of the material bins, and the Y-axis direction corresponds to the column arrangement direction of the material bins. Based on the arrangement parameters of the silos and the XY coordinate system, the theoretical position of the silos is determined, and the theoretical position of the silos corresponds to a theoretical position coordinate point in the XY coordinate system. Based on the theoretical position coordinates, the movement parameters of the material handling device are determined, and the material handling device is driven to move according to the movement parameters to obtain the actual position of the material handling device. The actual position of the material handling device corresponds to an actual position coordinate point in the XY coordinate system. The position adjustment parameters of the material handling device are obtained, and the actual position of the hopper is determined based on the position adjustment parameters and the actual position of the material handling device.

2. The method for calibrating the positioning of the material hopper in a self-service film applicator according to claim 1, characterized in that, Determining the theoretical location of the silo based on its arrangement parameters and the XY coordinate system includes: Record the lateral distance from the origin of the XY coordinate system to the end hopper in the positive X-axis direction to obtain the farthest lateral distance; Record the column distance from the origin of the XY coordinate system to the end silo in the positive direction of the Y axis to obtain the farthest column distance; Based on the maximum lateral distance, the maximum column distance, and the arrangement parameters of the silos, the average lateral spacing and average column spacing between the silos and adjacent silos are determined. The theoretical location of the silo is determined based on the average lateral spacing, the average column spacing, and the arrangement parameters.

3. The method for calibrating the positioning of the hopper in a self-service film applicator according to claim 2, characterized in that, The movement parameters include the preset number of X-axis revolutions corresponding to the drive motor of the material handling device moving in the X-axis direction and the preset number of Y-axis revolutions corresponding to the drive motor of the material handling device moving in the Y-axis direction. Determining the movement parameters of the material handling device based on the theoretical position coordinates includes: Based on the displacement per unit revolution of the drive motor moving in the X-axis direction and the theoretical position coordinates, the preset number of X-axis revolutions is determined; The preset number of revolutions on the Y-axis is determined based on the displacement per unit revolution of the drive motor moving in the Y-axis direction and the theoretical position coordinates.

4. The method for calibrating the positioning of the material hopper in a self-service film applicator according to claim 3, characterized in that, The determination of the preset number of X-axis revolutions based on the unit revolution displacement of the drive motor in the X-axis direction and the theoretical position coordinates includes: The number of X rotations of the drive motor of the material handling device in the X-axis direction is obtained when the material handling device moves laterally from the origin to the end hopper in the positive X-axis direction. Based on the X rotation number and the furthest lateral distance, the displacement per unit number of rotations along the X axis is obtained; Based on the theoretical position coordinates and the unit rotation displacement of the X-axis, the preset number of X-axis rotations is determined.

5. The method for calibrating the positioning of the hopper in a self-service film applicator according to claim 3, characterized in that, The determination of the preset number of revolutions on the Y-axis based on the displacement per unit revolution of the drive motor in the Y-axis direction and the theoretical position coordinates includes: The number of Y-axis rotations of the drive motor of the material handling device in the Y-axis direction is obtained when the material handling device moves from the origin column direction to the end hopper in the positive Y-axis direction. Based on the number of rotations along the Y-axis and the furthest distance along the column, the displacement per unit number of rotations along the Y-axis is obtained; Based on the theoretical position coordinates and the unit rotation displacement of the Y-axis, the preset number of rotations of the Y-axis is determined.

6. The method for calibrating the positioning of the hopper in a self-service film applicator according to claim 3, characterized in that, The position adjustment parameters include the lateral deviation value of the material handling device in the X-axis direction and the column deviation value in the Y-axis direction. Obtaining the position adjustment parameters of the material handling device includes: Obtain the lateral revolution compensation value corresponding to the drive motor that moves the material handling device in the X-axis direction, and obtain the lateral deviation value based on the lateral revolution compensation value and the displacement per unit revolution of the drive motor that moves in the X-axis direction. Obtain the column rotation compensation value corresponding to the drive motor that moves the material handling device in the Y-axis direction, and obtain the column deviation value based on the column rotation compensation value and the displacement per unit rotation of the drive motor that moves in the Y-axis direction.

7. The method for calibrating the positioning of the material hopper in a self-service film applicator according to claim 1, characterized in that, The process of obtaining the position adjustment parameters of the material handling device includes: Acquire images of the material handling device and the hopper; Based on the images of the material handling device and the hopper, the position adjustment parameters of the material handling device are determined.

8. A hopper positioning calibration device for a self-service film applicator, characterized in that, The device includes: The coordinate system establishment module is used to obtain the position reference point of the self-service film applicator, and establish an XY coordinate system with the position reference point as the origin. The X-axis direction corresponds to the horizontal arrangement direction of the material bins, and the Y-axis direction corresponds to the column arrangement direction of the material bins. The theoretical position determination module is used to determine the theoretical position of the silo based on the arrangement parameters of the silo and the XY coordinate system. The theoretical position of the silo corresponds to a theoretical position coordinate point in the XY coordinate system. The actual position determination module is used to determine the movement parameters of the material picking device of the self-service film applicator based on the theoretical position coordinates, drive the material picking device to move according to the movement parameters, and obtain the actual position of the material picking device. The actual position of the material picking device corresponds to an actual position coordinate point in the XY coordinate system. The true position determination module is used to obtain the position adjustment parameters of the material handling device, and determine the true position of the hopper based on the position adjustment parameters and the actual position of the material handling device.

9. An electronic device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the hopper positioning calibration method for the self-service film applicator according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the hopper positioning calibration method for the self-service film applicator according to any one of claims 1 to 7.

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