A PCBA patch optimization control method based on dynamic supply scheduling

Abstract

This application discloses a PCBA placement optimization control method based on dynamic material feeding scheduling, belonging to the field of PCBA processing technology. The method includes: acquiring PCBA corner cutting position information to construct a direction vector and solving for the initial attitude angle; combining the pick-and-place machine's material suction reference direction to perform angle difference compensation to obtain the target material feeding direction; then performing residual calculation with the guide channel conveying direction to generate attitude adjustment control information, driving the guide channel conveying mechanism to correct the PCBA attitude and perform direction consistency judgment; if the material feeding accuracy is not met, iteratively updating the control parameters until the requirements are met; subsequently, performing spatial matching calculation based on the current attitude and preset placement position, outputting a placement execution control signal to control the pick-and-place machine to complete precise placement. This solution enhances direction consistency and stability, reduces position deviation and error accumulation, optimizes placement alignment effect, improves production yield and automation level, and reduces manual intervention and debugging costs.

Description

Technical Field

[0001] This application belongs to the field of PCBA processing technology, specifically relating to a PCBA chip mounting optimization control method based on dynamic material feeding scheduling. Background Technology

[0002] As electronic components become increasingly miniaturized and highly integrated, the precision requirements for orientation control during the PCBA mounting process have significantly increased. To ensure precise alignment between components and PCB pads, it is necessary to dynamically identify the spatial orientation of the PCBA during transport and achieve real-time matching with the pick-and-place machine's feeding direction through closed-loop control, thereby providing a high-precision positioning foundation for subsequent mounting.

[0003] Existing technology employs a phased control mode. First, a vision system extracts PCBA edge features to calculate the initial rotation angle. Then, a mechanical rotation platform is used to adjust the overall orientation. During transport, physical limits via guide grooves maintain directional stability. Finally, placement instructions are generated based on preset coordinates. Each stage operates independently, and attitude correction is achieved through discrete parameter transmission.

[0004] Existing technologies are susceptible to PCBA structural deformation due to the susceptibility of edge feature recognition, resulting in deviations in initial angle calculations. Furthermore, the lack of dynamic feedback mechanisms in mechanical adjustments and guide slot limits makes it impossible to correct directional deviations during transport in real time. In addition, the absence of a spatial correlation model between attitude control and placement execution leads to the accumulation of errors at each stage, ultimately affecting placement accuracy and product consistency. Summary of the Invention

[0005] To overcome the above-mentioned defects, this invention is proposed to provide a solution or at least a partial solution to the technical problems of the prior art, which are that edge feature recognition is easily affected by PCBA structural deformation, resulting in deviations in initial angle calculation, and that mechanical adjustment and guide slot limit lack dynamic feedback mechanisms, making it impossible to correct directional deviations in the conveying process in real time. In addition, the attitude control and placement execution have not established a spatial correlation model, and the errors of each link accumulate layer by layer, ultimately affecting the placement accuracy and product consistency.

[0006] In a first aspect, the present invention provides a PCBA surface mount optimization control method based on dynamic material feeding scheduling, the method comprising: Obtain the spatial position information of the PCBA's chamfer, and based on the chamfer spatial position information, construct the spatial direction vector and calculate the angle in the preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA. Obtain the material feeding reference direction parameter of the pick-and-place machine, calculate the angle difference data between the direction corresponding to the initial attitude angle parameter and the direction corresponding to the material feeding reference direction parameter, and perform attitude compensation calculation on the initial attitude angle parameter based on the angle difference data to obtain the material feeding target direction angle; The guide trough conveying direction angle is obtained, and the deviation is calculated based on the feeding target direction angle and the guide trough conveying direction angle to obtain the direction angle residual value. Then, the feeding posture adjustment control information is generated based on the direction angle residual value. Based on the feeding posture adjustment control information, the guide trough conveying mechanism adjusts the conveying posture of the PCBA, and collects the real-time posture angle data of the PCBA after adjustment. Based on the real-time posture angle data and the feeding target direction angle, the direction consistency is determined, and the determination result is obtained. If the judgment result does not meet the preset feeding accuracy requirement, the feeding attitude adjustment control information is updated based on the real-time attitude angle data and the feeding target direction angle, and the guide groove conveying mechanism is re-controlled to adjust the conveying attitude of the PCBA until the judgment result meets the preset feeding accuracy requirement. The current posture data of the PCBA is obtained, and spatial matching calculation is performed based on the current posture data and the preset placement position data to generate a placement execution control signal. The placement machine is then controlled to perform placement operations based on the placement execution control signal.

[0007] In a second aspect, the present invention provides a PCBA surface mount optimization control system based on dynamic material feeding scheduling, the system comprising: The attitude angle confirmation module is used to obtain the spatial position information of the PCBA's chamfer. Based on the chamfer spatial position information, it performs spatial direction vector construction and angle calculation in a preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA. The feeding direction confirmation module is used to obtain the pick-and-place machine's suction reference direction parameters, calculate the angle difference data between the direction corresponding to the initial attitude angle parameters and the direction corresponding to the suction reference direction parameters, and perform attitude compensation calculation on the initial attitude angle parameters based on the angle difference data to obtain the feeding target direction angle. The material feeding adjustment information confirmation module is used to obtain the conveying direction angle of the guide trough, perform deviation calculation based on the material feeding target direction angle and the conveying direction angle of the guide trough, obtain the direction angle residual value, and generate material feeding posture adjustment control information based on the direction angle residual value. The judgment module is used to control the guide trough conveying mechanism to adjust the conveying posture of the PCBA based on the feeding posture adjustment control information, and to collect the real-time posture angle data of the PCBA after adjustment. Based on the real-time posture angle data and the feeding target direction angle, the module makes a direction consistency judgment to obtain a judgment result. The adjustment module is used to update the feeding posture adjustment control information based on the real-time posture angle data and the feeding target direction angle if the judgment result does not meet the preset feeding accuracy requirements, and re-control the guide groove conveying mechanism to adjust the conveying posture of the PCBA until the judgment result meets the preset feeding accuracy requirements. The placement control module is used to acquire the current posture data of the PCBA, perform spatial matching calculations based on the current posture data and preset placement position data, generate a placement execution control signal, and control the placement machine to perform placement operations based on the placement execution control signal.

[0008] In a third aspect, an electronic device is provided, comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, the program or instructions being loaded and run by the processor to perform the steps of the aforementioned PCBA surface mount optimization control method based on dynamic feed scheduling.

[0009] In a fourth aspect, a computer-readable storage medium is provided, wherein a plurality of program codes are stored therein, the program codes being adapted to be loaded and run by a processor to perform the steps of the above-described PCBA placement optimization control method based on dynamic feed scheduling.

[0010] The above-described technical solutions of the present invention have at least one or more of the following beneficial effects: In implementing the technical solution of this invention, the feeding and mounting accuracy is improved by attitude closed-loop control and spatial matching compensation, the directional consistency and stability are enhanced, the position deviation and error accumulation are reduced, the mounting alignment effect is optimized, the production yield and automation level are improved, and the cost of manual intervention and debugging is reduced. Attached Figure Description

[0011] The disclosure of this invention will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. Furthermore, similar numbers in the drawings are used to denote similar components, wherein: Figure 1 This is a flowchart illustrating the first main steps of a PCBA surface mount optimization control method based on dynamic material supply scheduling according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating the second main step of a PCBA surface mount optimization control method based on dynamic material supply scheduling according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the main structure of a PCBA surface mount optimization control system based on dynamic material supply scheduling according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0012] Some embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0013] In the description of this invention, "module" and "processor" can include hardware, software, or a combination of both. A module can include hardware circuitry, various suitable sensors, communication ports, memory, and may also include software components, such as program code, or a combination of software and hardware. A processor can be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and / or signal processing capabilities. The processor can be implemented in software, in hardware, or a combination of both. Non-transitory computer-readable storage media includes any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The singular terms "a" or "this" can also include plural forms.

[0014] See appendix Figure 1 , Figure 1 This is a schematic flowchart of the first main steps of a PCBA surface mount optimization control method based on dynamic material supply scheduling according to an embodiment of the present invention. Figure 1 As shown, a PCBA surface mount optimization control method based on dynamic material supply scheduling in an embodiment of the present invention mainly includes the following steps S101-S106.

[0015] Step S101: Obtain the spatial position information of the PCBA's chamfer, and based on the spatial position information of the chamfer, construct the spatial direction vector and calculate the angle in the preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA.

[0016] PCBA (Printed Circuit Board Assembly) is a printed circuit board assembly that has been mounted and soldered with components. It carries electronic components and has electrical connection functions.

[0017] The chamfer spatial location information is the set of location information of the chamfered structural region on the PCBA used for attitude recognition in a three-dimensional coordinate system. It includes the spatial coordinate data of the chamfered feature points and the geometric distribution information of these feature points.

[0018] The default PCBA reference coordinate system is a spatial reference coordinate system established based on the structural features of the PCBA itself. It is mainly used to uniformly describe the attitude and orientation parameters of the PCBA. This reference coordinate system is usually constructed by selecting the geometric center of the PCBA or a specific structural feature point as the origin, and then using the structural boundary direction or standard assembly direction of the PCBA as the reference axis.

[0019] The initial attitude angle parameters are obtained by constructing direction vectors and solving angle calculations based on the tangent spatial position information in the aforementioned preset PCBA reference coordinate system, ultimately yielding the current spatial attitude angle data of the PCBA.

[0020] Image acquisition and spatial feature recognition are performed on PCBAs transported to the mounting station. Industrial vision acquisition equipment is used to continuously sample high-resolution images of the PCBA surface area. The acquired image data is then preprocessed with noise reduction and enhancement to improve the recognizability of the chamfered edges. Edge detection and contour segmentation are performed on the preprocessed image data to identify the boundary features of the chamfered areas in the PCBA structure. Sub-pixel-level feature point extraction is then performed on the geometric contours of the chamfered areas to obtain the two-dimensional pixel coordinates of key feature points at the chamfered boundaries.

[0021] By combining the spatial calibration parameters of the vision system with the mapping relationship between three-dimensional coordinates, these two-dimensional pixel coordinates are converted into corresponding three-dimensional spatial coordinate data. The set of position coordinates of the chamfer boundary feature points in the actual physical space is calculated, thereby forming the chamfer spatial position information. Based on the multiple spatial feature points included in the chamfer spatial position information, key feature points located at different positions on the chamfer boundary are selected to construct the geometric direction reference of the chamfer boundary.

[0022] Spatial vectors are constructed for these key feature points, and the spatial difference vectors between adjacent feature points are calculated. Then, vector fitting is performed on multiple difference vectors to extract the direction vector that represents the main direction of the chamfered structure. Since the chamfered structure itself possesses asymmetrical geometric characteristics, combined with the two boundary direction vectors of the chamfer extracted by visual recognition, and after spatial constraint verification of these two vectors, the final determined main direction vector can uniquely represent the spatial orientation of the chamfered structure at the geometric level, thereby achieving the unique determination of the PCBA's rotation angle around the Z-axis.

[0023] In the preset PCBA reference coordinate system, this direction vector is projected onto the coordinate axis plane, and the vector direction is normalized to ensure that the direction vector satisfies the unit vector constraint, thus completing the construction of the spatial direction vector. After the spatial direction vector is constructed, a spatial geometric relationship is established based on this direction vector and the reference axis vector of the preset PCBA reference coordinate system. The direction cosine value is obtained by calculating the dot product of the two, and then the corresponding initial value of the spatial rotation angle is solved by combining the inverse trigonometric function. Further, based on the sign of the projection components of the direction vector in each coordinate axis direction, the initial value of the rotation angle is determined by spatial quadrant determination and interval correction to resolve quadrant ambiguity problems that may occur in the inverse trigonometric function calculation. Subsequently, based on the quadrant determination result, the rotation angle is corrected by sign and the angle interval is reconstructed, mapping the angle data to a unified standard interval. At the same time, the corrected rotation angle is numerically normalized to ensure that the angle expression form meets the constraint requirements of the preset attitude parameters. Finally, the rotation angle data of the PCBA around each axis direction of the preset PCBA reference coordinate system is obtained, and these data are used as the initial attitude angle parameters of the PCBA.

[0024] Based on the above technical solution, optionally, spatial direction vector construction and angle calculation are performed in a preset PCBA reference coordinate system based on the chamfered spatial position information to obtain the initial attitude angle parameters of the PCBA, including: Based on the spatial location information of the chamfer, the chamfer boundary features are extracted in the preset PCBA reference coordinate system to obtain the chamfer boundary contour data. Multi-point sampling is performed based on the chamfered boundary contour data to obtain a set of chamfered boundary feature points; Based on the set of feature points of the chamfer boundary, a main direction fitting operation is performed to obtain the main direction vector representing the spatial orientation of the chamfer boundary. The vector direction difference is calculated based on the main direction vector and the reference axis vector of the preset PCBA reference coordinate system to obtain the angle data between the two. Angle mapping calculations are performed based on the included angle data to obtain the initial attitude angle parameters of the PCBA.

[0025] In this scheme, the chamfer boundary contour data is based on the spatial location data of the PCBA chamfer. Under a preset PCBA reference coordinate system, it is formed by performing feature recognition and boundary extraction on the edge of the chamfer region, resulting in continuous spatial geometric boundary information. It consists of a sequence of coordinate points of continuous spatial curves or polylines describing the shape structure of the chamfer region, representing the geometric shape and boundary distribution of the chamfer structure in three-dimensional space.

[0026] The chamfer boundary feature point set is a collection of representative key geometric points extracted from the chamfer boundary contour data after spatial discretization sampling of the contour. It selects locations where the curvature of the chamfer boundary changes significantly, boundary inflection points, or equally spaced sampling points, and presents them in three-dimensional coordinates within a preset PCBA reference coordinate system.

[0027] The main direction vector is a direction vector that represents the overall spatial extension direction of the chamfer boundary, determined by spatial fitting and direction optimization operations based on the set of feature points of the chamfer boundary.

[0028] The reference axis vector is the standard coordinate axis direction vector used for direction comparison and angle calculation in the preset PCBA reference coordinate system. It includes the X-axis direction vector, Y-axis direction vector, or Z-axis direction vector of the reference coordinate system, and its vector direction remains fixed in the system.

[0029] The included angle data is a spatial angle value obtained by calculating the directional similarity between the principal direction vector and the reference axis vector through vector dot product operation. It reflects the degree of spatial directional deviation between the principal direction of the tangent boundary and the reference coordinate axis.

[0030] Based on the previously acquired chamfered corner spatial location data, a geometric structure analysis is performed on this data under a preset PCBA reference coordinate system. First, spatial filtering is applied to the point cloud or coordinate sequence in the spatial location data to remove outliers and noise points, and the spatial continuity between adjacent spatial coordinate points is detected. According to the geometric features of the chamfered corner boundary, edge clustering and spatial connectivity judgment are performed on the coordinate data to identify the effective set of spatial points belonging to the chamfered corner boundary region. Continuous boundary curves are then constructed according to the spatial coordinate arrangement order, thereby forming the chamfered corner boundary contour data.

[0031] After obtaining the chamfered boundary contour data, the continuous contour curve is subjected to equally spaced spatial sampling. The sampling interval is calculated based on the contour curve length, and multiple uniformly distributed spatial coordinate points are extracted along the contour curve direction. The three-dimensional spatial coordinate information and local curvature information of each sampling point are retained, forming a geometrically representative set of chamfered boundary feature points. This set of feature points reflects the key morphological distribution of the chamfered structure in space, providing basic data for direction fitting.

[0032] After obtaining the set of feature points for the chamfered boundary, vector construction is performed on the spatial coordinates of the points in the set. The spatial coordinate differences between adjacent feature points are used as local direction vectors, and direction consistency analysis is performed on multiple local direction vectors. For cases of dispersed directions, a least-squares fitting method is introduced to fit the spatial direction of all local direction vectors. By constructing an objective function that minimizes the direction error, the fitting result is made to fit the overall boundary orientation as closely as possible, ultimately extracting the principal direction vector that represents the overall extension trend of the chamfered boundary. This principal direction vector is output as a unit vector in the preset PCBA reference coordinate system to represent the spatial orientation of the chamfered structure.

[0033] After determining the principal direction vector, it is compared with the reference axis vector in the preset PCBA reference coordinate system. A dot product operation is performed on the principal direction vector and the selected reference axis vector to calculate their direction cosine values. Combined with the vector magnitude normalization result, an intermediate quantity representing the cosine relationship of the direction angle is obtained. Based on the inverse cosine function, this intermediate quantity is used to inversely calculate the angle between the principal direction vector and the reference axis vector. This angle data reflects the degree of directional offset of the principal direction of the chamfered structure relative to the reference axis of the reference coordinate system. After obtaining the angle data, the angle value is transformed according to the axial distribution rules of the reference coordinate system. Based on the quadrant of the principal direction vector and the axial projection relationship, the angle data is corrected for sign and axial assignment is determined. Finally, the corrected angle value is converted into the rotation angle parameters of the PCBA around the corresponding axis of the reference coordinate system, forming the initial attitude angle parameters of the PCBA.

[0034] In this solution, a principal direction vector is constructed based on the geometric features of the chamfer and the attitude angle is calculated to achieve automatic spatial orientation and precise calibration, thereby improving the accuracy and consistency of mounting alignment.

[0035] Step S102: Obtain the material feeding reference direction parameter of the pick-and-place machine, calculate the angle difference data between the direction corresponding to the initial attitude angle parameter and the direction corresponding to the material feeding reference direction parameter, and perform attitude compensation calculation on the initial attitude angle parameter based on the angle difference data to obtain the material feeding target direction angle.

[0036] A pick-and-place machine is an automated device used to precisely mount electronic components to designated positions on a PCBA (Printed Circuit Board Assembly). Through a series of actions involving pick-up, positioning, and placement, it completes the spatial orientation adjustment and mounting operation of the components. Core components include a nozzle mechanism, motion control system, vision alignment system, and drive control unit.

[0037] The material suction reference direction parameter is a standard directional reference parameter set by the pick-and-place machine during the PCBA suction process. It is used to represent the spatial orientation and desired suction posture of the nozzle or suction mechanism. It can be defined by the internal coordinate system of the pick-and-place machine, including directional angle information or directional vector data around each axis.

[0038] The angle difference data is the directional deviation calculated by spatial vector calculation or angle operation based on the direction corresponding to the initial posture angle parameters of the PCBA and the direction corresponding to the pick-and-place machine's material suction reference direction parameters. It is used to represent the spatial rotation difference between the two directions.

[0039] The target feeding direction angle is calculated through attitude compensation after comprehensively considering the directional differences between the initial attitude angle parameters and the suction reference direction parameters. This target direction angle meets the matching requirements of the pick-and-place machine's pick-and-place and conveying functions. It is used to control the guide chute conveying mechanism's attitude adjustment of the PCBA, ensuring that the PCBA's orientation is consistent with the pick-and-place machine's pick-and-place requirements, thereby achieving stable feeding and precise alignment.

[0040] The system acquires the preset suction reference direction parameters within the internal coordinate system of the pick-and-place machine. These parameters consist of spatial direction reference data pre-set by the machine's motion control system, typically presented as direction vectors or direction angles around each coordinate axis. Simultaneously, it reads the directional expression in a unified spatial reference coordinate system. Based on these suction reference direction parameters, its spatial direction vector components are extracted and mapped to a preset PCBA reference coordinate system, completing a coordinate system transformation. This ensures that the suction direction and the initial PCBA orientation are within a directly comparable spatial framework.

[0041] After coordinate unification, the directions corresponding to the initial attitude angle parameters are calculated into direction vectors based on the attitude angle parameters. Trigonometric transformations and rotation matrix operations are then used to convert the initial attitude angle parameters into three-dimensional direction vectors. Subsequently, the spatial angle between this direction vector and the direction vector corresponding to the pick-up reference direction parameter is calculated. The cosine values ​​of the two direction vectors are obtained through vector dot product operations, and then, combined with vector magnitude normalization, the specific numerical value of the direction angle is solved. This yields the angle difference data between the two directions, which represents the degree of spatial deviation between the current PCBA attitude direction and the pick-up reference direction of the placement machine.

[0042] After acquiring the angle difference data, an attitude correction value is constructed based on this data and used as the input parameter for rotation compensation. Attitude compensation calculations are then performed on the initial attitude angle parameters. Specifically, the rotation correction value for the corresponding axis is superimposed or subtracted from the original attitude angle. Afterward, the direction vector is recalculated for the corrected attitude angle to verify whether the compensated direction vector is consistent with the material feeding reference direction parameter within a preset error range. If residual direction deviation still exists, the compensation value is iteratively fine-tuned until the direction deviation meets the preset convergence condition. Finally, the compensated and corrected attitude angle data is output and used as the target direction angle for material feeding.

[0043] Based on the above technical solution, optionally, the angle difference data between the direction corresponding to the initial attitude angle parameter and the direction corresponding to the material suction reference direction parameter is calculated, and attitude compensation calculation is performed on the initial attitude angle parameter based on the angle difference data to obtain the material feeding target direction angle, including: Based on the initial attitude angle parameters and the suction reference direction parameters, direction vectors are constructed in a unified spatial reference coordinate system to obtain an initial direction vector corresponding to the initial attitude angle parameters and a reference direction vector corresponding to the suction reference direction parameters. A vector projection operation is performed based on the initial direction vector and the reference direction vector to obtain the projection component of the initial direction vector in the direction of the reference direction vector; Based on the projection components and the reference direction vector, the direction matching degree is calculated to obtain the direction matching ratio, which represents the degree of spatial consistency between the two. Based on the direction matching ratio and the preset conversion rule, the angle conversion process is performed to obtain the angle difference data between the direction corresponding to the initial posture angle parameter and the direction corresponding to the suction reference direction parameter. Based on the angle difference data, a spatial direction error vector is constructed, and the spatial direction error vector is decomposed into axes to obtain the lateral error component and the longitudinal error component. Independent rotation corrections are calculated based on the lateral and longitudinal error components to obtain lateral axis rotation correction parameters and longitudinal axis rotation correction parameters. A split-axis attitude compensation matrix is ​​then constructed based on the lateral axis rotation correction parameters and longitudinal axis rotation correction parameters. Based on the split-axis attitude compensation matrix, a rotation transformation operation is performed on the initial attitude angle parameters to obtain the feeding target direction angle.

[0044] In this scheme, the unified spatial reference coordinate system is a standard three-dimensional coordinate reference system used for unified expression and spatial calculation of initial attitude angle parameters and material suction reference direction parameters. It includes fixed X-axis, Y-axis, and Z-axis directions. The initial orientation vector is a spatial orientation vector constructed based on the initial attitude angle parameters in a unified spatial reference coordinate system. It is used to represent the orientation information corresponding to the current attitude of the PCBA.

[0045] The reference direction vector is a target direction expression vector constructed in a unified spatial reference coordinate system based on the material suction reference direction parameters. It is used to represent the standard spatial direction corresponding to the material suction action of the pick-and-place machine.

[0046] The projection component is the direction mapping result obtained by performing vector projection operation on the direction of the reference direction vector from the initial direction vector. It is used to reflect the degree of overlap between the initial direction vector and the direction of the reference direction vector.

[0047] The orientation matching ratio is a similarity value calculated based on the degree of directional consistency between the projected components of the initial orientation vector and the reference orientation vector. It is usually expressed as the cosine of the angle between the vectors or the projection ratio, and its value ranges from 0 to 1, used to quantify the degree of matching between the two spatial orientations.

[0048] The preset conversion rules are parameter mapping relationships or mathematical conversion models used to convert direction matching ratios into angle difference data. Linear mapping models, nonlinear function models, or empirical calibration models can be used, serving as the basis for converting the metric results of direction similarity into corresponding spatial angle deviation values.

[0049] The spatial orientation error vector is a orientation deviation vector constructed based on angle difference data in a unified spatial reference coordinate system. It is used to describe the overall orientation offset between the initial orientation and the reference orientation in space.

[0050] The lateral error component is the decomposition result of the spatial orientation error vector in the direction perpendicular to the reference direction. It reflects the magnitude of the orientation deviation error in the lateral plane.

[0051] The longitudinal error component is the decomposition result of the spatial direction error vector in the direction parallel to the reference direction or in the longitudinal projection direction, reflecting the degree of error of the direction deviation in the longitudinal space.

[0052] The horizontal axis rotation correction parameter is an independent rotation control parameter calculated based on the lateral error component. It is used to correct lateral deviations and to control the rotation compensation amount in the horizontal axis direction of the attitude compensation matrix.

[0053] The longitudinal axis rotation correction parameter is an independent rotation control parameter calculated based on the longitudinal error component. It is used to correct longitudinal direction deviations and to control the rotation compensation amount in the longitudinal direction of the attitude compensation matrix.

[0054] The split-axis attitude compensation matrix is ​​a spatial rotation transformation matrix constructed based on the horizontal axis rotation correction parameters and the vertical axis rotation correction parameters. It is used to perform spatial rotation transformation on the initial attitude angle parameters to achieve split-axis compensation for direction errors.

[0055] Under a unified spatial reference coordinate system, the initial attitude angle parameters and the material suction reference direction parameters are first subjected to spatial coordinate transformation. Based on the rotation matrix construction method, the attitude angle parameters are converted into a directional expression in a three-dimensional coordinate system and mapped into a spatial vector with directional attributes, forming an initial direction vector corresponding to the current attitude state; at the same time, the same spatial coordinate mapping is performed on the material suction reference direction parameters, converting them into a directional expression in a unified coordinate system, thus constructing the reference direction vector.

[0056] After obtaining two direction vectors, they are spatially normalized to standardize their lengths to unit length, eliminating the influence of dimensional differences on subsequent direction comparisons. Then, a dot product operation is performed on the two unit vectors to calculate the cosine of the angle between the directions, and the projection length is solved using geometric relationships. This projection process is not simply a numerical calculation; rather, it involves spatially projecting the initial direction vector onto the direction of the reference direction vector, thus obtaining projection component data to describe the spatial coverage of the direction in the target direction. Based on the projection component results, the magnitude relationship with the reference direction vector is proportionally expressed to construct a directional consistency quantification index. By calculating the ratio of the projection component to the vector length and combining it with directional offset trend analysis, the direction matching ratio is obtained. This ratio reflects the degree of overlap between the two vectors in the spatial direction and serves as the input basis for subsequent error derivation.

[0057] After the direction matching ratio is determined, it is input into the ratio-angle mapping relationship model defined in the preset conversion rules for transformation processing. This process first determines the range of the ratio value, then performs numerical mapping based on the function relationship or parameter curve defined in the model. By looking up model parameters or executing function fitting expressions, the ratio value is converted into the corresponding spatial angle deviation value. Simultaneously, correction processing is performed based on the direction change trend, and finally, the angle difference data between the initial attitude angle parameter and the suction reference direction is output. The training process of the ratio-angle mapping relationship model is based on historical direction matching ratio data and corresponding actual angle deviation samples to construct a training dataset. After cleaning and normalizing the data, regression fitting or curve fitting methods are used to establish the mapping relationship between ratio and angle. The model parameters are iteratively optimized and converged training is performed using the error minimization criterion, ultimately obtaining a stable ratio-angle mapping relationship model.

[0058] Based on the aforementioned angle difference data, instead of simply expanding the numerical values, a spatial structure for the direction error is constructed within a unified spatial reference coordinate system. The angle difference is decomposed into corresponding three-dimensional direction deviation expressions according to the spatial rotation axis distribution rules, and a spatial direction error vector is constructed. This error vector is then projected onto the spatial components along the horizontal axis and parallel to the vertical axis, respectively. The projection values ​​of the error in different principal directions are extracted using a spatial vector decomposition method, thus forming the horizontal and vertical error components. The spatial rotation axis distribution rules refer to a spatial convention for axial decomposition and correction of the direction error within a unified spatial reference coordinate system, following a fixed rotation execution order. This rule, based on a preset coordinate axis system, sequentially performs independent rotation decomposition of the angle difference data along selected principal axis directions, while extracting the corresponding rotation component separately in each axis direction. This decomposes the overall direction deviation into separately controllable horizontal and vertical axis rotation deviations, ensuring a clear execution order and a unique spatial expression result for the rotation correction process.

[0059] After obtaining the two error components, an independent rotation compensation calculation process is performed for each component. Based on the magnitude and direction of the error component, the required rotation correction angle for the corresponding axis is determined. The lateral error component is converted into a lateral axis rotation correction parameter, and the longitudinal error component is converted into a longitudinal axis rotation correction parameter. A sub-axis attitude compensation matrix is ​​constructed based on the two independent rotation parameters, generating a lateral axis rotation matrix and a longitudinal axis rotation matrix. These matrices are then cascaded and combined according to the spatial rotation order to form the overall attitude compensation matrix. The constructed sub-axis attitude compensation matrix is ​​applied to the spatial representation corresponding to the initial direction vector, performing a spatial rotation transformation to correct the original direction vector under the matrix's influence. The corrected spatial direction representation is then converted back into angle parameter form, and the output is the target feeding direction angle.

[0060] In this scheme, a direction matching ratio is constructed through spatial coordinate transformation and vector projection, and then a compensation matrix is ​​generated through ratio mapping and error decomposition to achieve accurate correction of direction deviation.

[0061] Step S103: Obtain the conveying direction angle of the guide trough, calculate the deviation based on the target feeding direction angle and the conveying direction angle of the guide trough, obtain the direction angle residual value, and generate feeding posture adjustment control information based on the direction angle residual value.

[0062] The guide channel conveying direction angle is the tangent direction of the PCBA's movement trajectory within the guide channel. Specifically, it represents the actual direction of the PCBA's movement along the guide channel conveying path, reflecting the relationship between the PCBA's movement trajectory during conveying and the geometric installation direction of the guide channel structure.

[0063] The directional angle residual value is the directional deviation calculated between the target feeding direction angle and the guide trough conveying direction angle through directional difference operations or spatial angle comparison. It is used to quantify the spatial rotational difference between the current conveying direction and the target feeding direction, and the magnitude of the value reflects the degree of inconsistency between the two directions.

[0064] The feeding posture adjustment control information is a set of control command data calculated based on the directional angle residual value, used to control the guide trough conveying mechanism to perform posture correction. It includes directional adjustment range, rotation compensation parameters, conveying speed adjustment commands, and posture correction execution flags.

[0065] The spatial position data of the guide channel conveying mechanism in its current installation state is acquired. The three-dimensional spatial coordinates of key geometric feature points along the conveying path of the guide channel structure are collected in a preset PCBA reference coordinate system. These spatial feature points are then sorted by coordinate and connected to form a spatial point sequence describing the actual conveying trajectory of the guide channel. Based on this spatial point sequence, the three-dimensional spatial difference vector between adjacent feature points is calculated, which involves performing difference operations on the X-axis, Y-axis, and Z-axis coordinates of adjacent points to obtain multiple local direction vectors. After normalizing these local direction vectors, a least-squares fitting method is used to perform direction consistency fitting calculations on the multiple direction vectors to obtain the principal direction vector that represents the overall orientation of the guide channel. This principal direction vector is then multiplied by the reference axis vector of the preset PCBA reference coordinate system, and the cosine of the angle between them is calculated. This cosine is then combined with inverse trigonometric functions to solve for the corresponding spatial direction angle, obtaining the guide channel conveying direction angle, which is used to quantify the current actual spatial attitude of the guide channel.

[0066] After obtaining the conveying direction angle of the guide channel, it is converted into a corresponding direction vector expression. Simultaneously, the target material feeding direction angle is also converted into a three-dimensional direction vector. Using a unified coordinate system, the two can be directly compared spatially. A dot product operation is performed on the two direction vectors to calculate their direction cosine and obtain the spatial angle. Then, the components of the two direction vectors in each axis are further subtracted to obtain the axial offset. The spatial angle result and the axial offset are then integrated to construct a direction angle residual value reflecting the overall degree of directional deviation. This residual value is obtained by weighted summation of the absolute value of the angle and the difference between the direction components, thus accurately representing the degree of spatial difference between the current guide channel conveying direction and the target material feeding direction.

[0067] Based on the residual value, a reverse correction calculation is performed on the conveying direction of the guide trough. The residual value is decomposed into corresponding rotational compensation amounts according to the axial decomposition principle, and the compensation direction is determined according to the positive or negative sign of the residual angle. The guide trough attitude control parameters are then incrementally updated. The calculated axial compensation amounts are converted into an executable control data format to generate feeding attitude adjustment control information.

[0068] Based on the above technical solution, optionally, feeding posture adjustment control information is generated based on the direction angle residual value, including: Based on the direction angle residual value, a sub-axis residual vector is constructed, and error features are extracted based on the sub-axis residual vector to obtain the residual change rate parameter; Based on the residual rate of change parameter and the preset adjustment rule, an adaptive adjustment coefficient is obtained by matching and calculating. The weighted calculation is performed based on the adaptive adjustment coefficient and the sub-axis residual vector to obtain the sub-axis attitude correction parameters; Based on the split-axis attitude correction parameters, a guide groove attitude drive control matrix is ​​constructed, and based on the guide groove attitude drive control matrix, feeding attitude adjustment control information is generated.

[0069] In this scheme, the split-axis residual vector is a three-dimensional error expression vector formed by decomposing the direction angle residual value according to the spatial coordinate axis direction. This vector decomposes the overall directional deviation into independent error components in the horizontal axis direction, the vertical axis direction, and the possible vertical axis direction, which are used to represent the degree of deviation between the conveying direction of the receiving trough and the target feeding direction in different axial directions.

[0070] The residual change rate parameter is an error change rate index obtained by analyzing the change trend of the partial axis residual vector in the time dimension or in the continuous adjustment process. It is used to reflect whether the attitude deviation is in a convergent or divergent state.

[0071] The preset adjustment rules are established based on system control experience, historical debugging data, or engineering calibration results. They are a set of rules used to map the residual change trend to adjustment intensity parameters. These rules include error interval division criteria, change rate threshold settings, and corresponding adjustment strategies, guiding the calculation process of the adaptive adjustment coefficients.

[0072] The adaptive adjustment coefficient is a dynamic adjustment ratio parameter obtained by matching the residual change rate parameter with the preset adjustment rule. It is used to represent the degree to which the system amplifies or reduces the correction force under the current error state, and can automatically adjust the control weight according to the error change trend.

[0073] The axis-specific attitude correction parameters are the final correction values ​​in each axis direction obtained by weighting the axis-specific residual vectors based on adaptive adjustment coefficients. Error components in different axes are dynamically amplified or reduced to form spatial correction control values ​​that can be directly used to control the actuators.

[0074] The guide channel attitude drive control matrix is ​​a spatial rotation control matrix constructed based on the split-axis attitude correction parameters, used to drive the attitude adjustment of the guide channel conveying mechanism. This matrix transforms the correction parameters of the horizontal and vertical axes into a spatial rotation transformation form, and generates an overall attitude control expression form through matrix combination.

[0075] After obtaining the directional angle residual values, these residual values ​​are first spatially decomposed according to the axial distribution relationship of a unified spatial reference coordinate system. This transforms them into spatial deviation expressions along the horizontal, vertical, and possibly vertical axes, and then expresses them in a structured vector form to construct the axial residual vectors. This process, based on the coordinate axis projection method, maps the overall directional deviation into independently adjustable axial error components, thus forming a spatial expression of the error with directional attributes.

[0076] After constructing the partial axis residual vector, time series analysis and continuous sampling comparison are performed on it. Difference operations are then performed between the residual vectors of the current period and the previous period to extract trend information on the magnitude and direction of error changes. By statistically analyzing the magnitude and determining the consistency of the direction of the gradient change in the residual vector, a residual change rate parameter reflecting the dynamic characteristics of error changes is obtained. This parameter not only describes the rate of change of the error magnitude but also reflects the convergence or divergence trend of the error during system adjustment, providing a dynamic basis for subsequent adaptive adjustment.

[0077] Based on the residual rate of change parameter, a matching analysis is performed with a pre-established set of adjustment rules. These adjustment rules, based on historical debugging data and engineering operation experience, set corresponding adjustment strategy ranges and weight parameters for different error change ranges. When the residual rate of change parameter is input, the system determines its corresponding range and searches for the corresponding adjustment strategy, obtaining the control weight value that matches the current error state, thus obtaining the adaptive adjustment coefficient. This coefficient is used to dynamically adjust the attitude correction intensity, enabling the adjustment process to automatically amplify or attenuate the correction ratio according to the error change trend.

[0078] After obtaining the adaptive adjustment coefficients, a weighted calculation is performed on the error components of each axis in the axis-by-axis residual vector. The error value of each axis is multiplied by the corresponding adjustment coefficient to achieve dynamic scaling of the error intensity. Through this weighted calculation process, axis-by-axis attitude correction parameters that reflect the current control requirements are generated, enabling the correction amounts in the horizontal and vertical axes to have adaptive characteristics and avoiding overshoot or oscillation problems caused by fixed-proportion corrections.

[0079] Based on the aforementioned axis attitude correction parameters, a guide channel attitude drive control matrix is ​​constructed. First, the horizontal and vertical axis correction parameters are converted into spatial rotation transformation expressions, generating corresponding axis rotation matrices. Then, matrix cascading operations are performed according to a preset rotation order, combining multiple axis rotation matrices into a single overall attitude transformation matrix, thus forming a drive control matrix that can be used to control the spatial attitude changes of the guide channel. Finally, the constructed guide channel attitude drive control matrix is ​​converted into executable control command parameters, mapped to drive motor angle commands or position adjustment commands, and feeding attitude adjustment control information is generated.

[0080] In this scheme, dynamic compensation of the guide groove attitude is achieved through residual split axis and adaptive weighted adjustment, which improves the control accuracy and response speed of the feeding direction, enhances the error convergence capability, and reduces oscillation and over-adjustment phenomena.

[0081] Step S104: Based on the feeding posture adjustment control information, control the guide trough conveying mechanism to adjust the conveying posture of the PCBA, and collect the real-time posture angle data of the PCBA after adjustment. Based on the real-time posture angle data and the feeding target direction angle, determine the direction consistency and obtain the determination result.

[0082] The guide trough conveyor mechanism is a combination system of mechanical structure and drive device used to carry and transport PCBAs along a preset trajectory. Through the guide trough structure and drive power source, it realizes the directional movement and attitude constraint of the PCBA in space. It includes guide rails, limiting structures, drive transmission units, and attitude adjustment actuators, and its function is to dynamically adjust the spatial attitude of the PCBA.

[0083] Conveying posture refers to the spatial orientation of the PCBA as it moves along the conveying path under the action of the guide trough conveying mechanism, including the rotation angle of the PCBA around each spatial axis and the directional deviation during the conveying process.

[0084] Real-time attitude angle data refers to the attitude angle parameters obtained by dynamically collecting and measuring the current spatial attitude state of the PCBA during the attitude adjustment process of the guide trough conveyor mechanism. This includes the rotation angle information of the PCBA around the X, Y, and Z axes, used to represent the actual spatial attitude of the PCBA under the current conveying state.

[0085] The judgment result refers to the judgment status result output based on the directional consistency analysis between real-time attitude angle data and the feeding target direction angle. This judgment result is used to indicate whether the current conveying attitude meets the preset feeding accuracy requirements, and is presented as a status indicator of directional consistency or directional inconsistency.

[0086] The drive parameters of the guide trough conveying mechanism are updated based on the feeding posture adjustment control information. These control parameters are then written into the guide trough drive control system, enabling the guide trough conveying mechanism to dynamically adjust the conveying trajectory and spatial direction of the PCBA according to the corrected posture parameters. After the control parameters are loaded, the guide trough conveying mechanism adjusts the motion trajectory of its guiding structure and transmission mechanism according to the new direction control command, causing the PCBA to generate a preset rotational correction motion around the spatial axis during conveying, thereby changing the current conveying posture of the PCBA.

[0087] During the conveying attitude adjustment process, real-time data acquisition of the spatial attitude state of the PCBA is performed. Combined with vision acquisition devices deployed above or to the side of the guide channel, continuous image sampling is conducted on the PCBA surface feature points. Feature point recognition and spatial coordinate calculation are then performed on the acquired images. The identified key attitude feature points are mapped to a preset PCBA reference coordinate system, and their current spatial coordinate distribution is calculated. Based on continuous multi-frame sampling data, trajectory tracking of the spatial positions of the attitude feature points is performed. Difference operations are conducted on the coordinates of feature points at adjacent time points to calculate the rotational changes of the PCBA in the X, Y, and Z axes. The current spatial attitude angle data is then inferred from the rotational changes, thus forming real-time attitude angle data reflecting the actual attitude state during the conveying process.

[0088] After acquiring real-time attitude angle data, this data and the previously calculated target feeding direction angle are converted into a unified coordinate expression. The rotational angle components of both are extracted along each spatial axis, and the corresponding axial angle differences are calculated. The absolute value of the differences is calculated, and their signs are determined to obtain axial direction deviation parameters. Based on these axial direction deviation parameters, a weighted summation operation is performed according to a preset axial weight ratio to obtain a comprehensive direction deviation value, which represents the overall directional difference between the current real-time attitude angle data and the target feeding direction angle. When the comprehensive direction deviation value is less than or equal to a preset directional consistency threshold, the current conveying attitude is determined to meet the directional consistency requirement, and a directional consistency determination result is output. When the comprehensive direction deviation value is greater than the threshold, the directional consistency requirement is determined to be unmet, and a directional inconsistency determination result is output.

[0089] Based on the above technical solution, optionally, a direction consistency determination is performed based on the real-time attitude angle data and the feeding target direction angle to obtain a determination result, including: The directional deviation parameter is obtained by calculating the directional deviation based on the real-time attitude angle data and the feeding target direction angle. A direction error vector is constructed based on the direction deviation parameter, and the magnitude of the direction error vector is solved to obtain the direction error amount. Based on the directional error and the preset directional consistency threshold, a threshold comparison analysis is performed to generate a directional consistency judgment state, and a judgment result is output based on the directional consistency judgment state.

[0090] In this scheme, the directional deviation parameter is a parameter expressed as the directional offset obtained by calculating the difference between real-time attitude angle data and the target feeding direction angle. It is usually expressed in the form of the difference between the angles of each axis or the spatial direction difference, and is used to quantify the degree of deviation between the current attitude direction and the target direction.

[0091] The orientation error vector is a three-dimensional spatial error expression vector constructed based on the orientation deviation parameters in a unified spatial reference coordinate system. It maps the orientation deviation parameters into a vector form with directional attributes and spatial structure, used to comprehensively reflect the orientation deviation state along multiple axes.

[0092] The direction error is a scalar error value obtained by calculating the vector magnitude or solving the spatial amplitude of the direction error vector. It is used to represent the comprehensive strength of the overall direction deviation.

[0093] The preset directional consistency threshold is the maximum permissible error boundary value set by the system during the material feeding posture control process to measure whether the directional error meets the accuracy requirements. When the directional error is less than or equal to this threshold, the system considers the direction to meet the consistency requirements; when the directional error exceeds this threshold, the system determines that the directional deviation exceeds the limit and posture adjustment is required.

[0094] The directional consistency judgment status is the output result after comparing and analyzing the directional error amount with the preset directional consistency threshold. This status typically includes two cases: "meets consistency requirements" and "does not meet consistency requirements," indicating whether the current feeding direction has reached the allowable error range.

[0095] After obtaining the real-time attitude angle data and the target feeding direction angle, the two sets of angle parameters are first uniformly converted to an angle expression form under a preset spatial reference coordinate system to ensure that they are in the same spatial reference system. Then, axis-by-axis difference calculations are performed on the angle parameters of the corresponding axes to calculate the angular offset between the real-time attitude angle and the target direction angle in the X, Y, and Z axes. The differences of each axis are then structured to form a direction deviation parameter. This parameter is presented in the form of a multi-axis angle difference set to quantify the directional deviation between the current attitude and the target attitude.

[0096] After obtaining the directional deviation parameters, they are mapped into a three-dimensional spatial error expression form, and a directional error vector is constructed according to a unified coordinate axis direction. During the construction process, the angular deviations of each axis are arranged and combined as vector components to form a spatial error structure with directional attributes. The vector components are then standardized to ensure consistent numerical expression. Subsequently, the magnitude of this directional error vector is calculated, i.e., the squares of each component are summed and the square root is taken to obtain the directional error quantity. This directional error quantity is in scalar form and is used to represent the comprehensive strength of the overall directional deviation.

[0097] After the directional error is determined, it is numerically compared with a preset directional consistency threshold. The system determines whether the directional error is within the allowable error range. When the error is less than or equal to the threshold, the current direction is considered to meet the accuracy requirements; when the error is greater than the threshold, the directional deviation is determined to exceed the allowable range. A directional consistency judgment status is generated through this threshold comparison logic. This status is output in Boolean or status identifier form to indicate whether the direction meets the consistency standard. A judgment result is output based on the directional consistency judgment status. When the judgment status indicates that the consistency requirements are met, a "directional consistency met" result is output, allowing subsequent mounting processes to proceed; when the judgment status indicates that the consistency requirements are not met, a "directional consistency not met" result is output, and an attitude adjustment or closed-loop correction process is triggered.

[0098] In this scheme, an error vector is constructed by quantifying the deviation between real-time attitude and target direction, and the magnitude is judged to achieve dynamic evaluation and threshold control of directional consistency, thereby improving the accuracy of feeding attitude judgment and response efficiency.

[0099] Step S105: If the judgment result does not meet the preset feeding accuracy requirement, the feeding posture adjustment control information is updated based on the real-time posture angle data and the feeding target direction angle, and the guide groove conveying mechanism is re-controlled to adjust the conveying posture of the PCBA until the judgment result meets the preset feeding accuracy requirement.

[0100] The preset feeding accuracy requirement is a quantitative indicator set for the directional consistency and spatial deviation tolerance range of the PCBA's posture adjustment results during the feeding stage. It is used to constrain the convergence standard of the guide channel conveyor mechanism's posture adjustment. It is usually set in the form of an angle error threshold, a spatial posture deviation threshold, or a comprehensive directional deviation evaluation index. It is used to judge whether the difference between the real-time posture angle data and the target feeding direction angle meets the conditions for entering the placement stage. When the calculated directional deviation result is lower than or equal to the preset feeding accuracy requirement, the system determines that the feeding posture meets the accuracy standard and allows entry into the next process; when the deviation exceeds the accuracy requirement, posture adjustment and closed-loop correction operations continue.

[0101] When the judgment result shows that the current conveying posture does not meet the preset feeding accuracy requirements, the system first reads the latest real-time posture angle data from the control system buffer, and at the same time retrieves the determined feeding target direction angle. The two sets of posture angle data are organized and unified according to the preset PCBA reference coordinate system, and decomposed into rotation angle values ​​around the X-axis, Y-axis and Z-axis respectively, to establish the correspondence between the current posture and the target posture.

[0102] Then, the angle values ​​in each axis direction are compared one by one to clarify the magnitude of the deviation and the direction of rotation for each axis. Based on the sign of the deviation value, it is determined whether the guide channel structure needs to rotate clockwise or counterclockwise. The deviation angles of each axis are then converted into the actual mechanical displacement that the guide channel conveyor mechanism can perform, or the number of motor rotation pulses. The converted execution parameters are written into the control register of the motion control driver, and the motor drive frequency, pulse count, and acceleration / deceleration curve parameters are updated simultaneously, allowing the guide channel conveyor mechanism to initiate attitude correction actions according to the updated control parameters.

[0103] Driven by a motor, the guide rail conveying mechanism changes the spatial angle of the guide structure, causing the PCBA to rotate and adjust its posture along the conveying path. During this adjustment, the vision acquisition device continuously samples the surface features of the PCBA, performs feature point recognition and spatial coordinate reconstruction on the acquired images, and recalculates the current posture angle data of the PCBA. The newly acquired real-time posture angle data is compared again with the feeding target direction angle to re-determine whether the directional deviation still exceeds the preset feeding accuracy requirement. If the deviation still exceeds the limit, the process of posture deviation conversion, drive parameter refresh, and guide rail posture adjustment is repeated to gradually bring the PCBA posture closer to the feeding target direction angle. If the posture deviation is less than or equal to the preset feeding accuracy requirement, the writing of new correction instructions to the driver is stopped, the current guide rail posture is kept stable, and a judgment result that the posture meets the accuracy requirement is output, completing the closed-loop convergence process of the feeding posture.

[0104] Step S106: Obtain the current posture data of the PCBA, perform spatial matching calculation based on the current posture data and preset placement position data, generate a placement execution control signal, and control the placement machine to perform placement operation based on the placement execution control signal.

[0105] The current posture data is the stable spatial posture data acquired before the placement operation after the PCBA has completed its feeding posture adjustment and met the preset feeding accuracy requirements. It includes the rotation angle information of the PCBA around the X-axis, Y-axis and Z-axis of the preset reference coordinate system, as well as the spatial position coordinate information of the PCBA in the reference coordinate system, indicating the spatial posture state of the PCBA in the placement station.

[0106] Preset placement position data is the target placement spatial position information pre-set based on product process design or placement program. It includes the spatial coordinates of the target placement point in the equipment reference coordinate system, the rotation angle parameters corresponding to the target placement direction, and the directional reference information required for placement execution.

[0107] The placement execution control signal is a set of control instructions generated after spatial matching calculations are performed based on the current posture data and the preset placement position data. These instructions are used to drive the placement machine to perform placement actions. The signals include spatial position compensation parameters, posture angle corrections, motion path control commands, and placement action trigger commands, which guide the placement machine to adjust the motion trajectory of the actuator and the placement posture.

[0108] After the PCBA completes the closed-loop adjustment of its feeding posture and meets the preset feeding accuracy requirements, its spatial pose state is first confirmed and acquired. A vision acquisition device installed above the placement station samples images of preset reference marks on the PCBA surface. The acquired image data enters the processing flow and undergoes distortion correction and camera calibration parameter compensation, converting the pixel coordinates of the identified feature points into three-dimensional spatial coordinates in the equipment reference coordinate system. Combining the spatial geometric relationships between multiple feature points, the current spatial position coordinates of the PCBA are reconstructed, and its rotation angles around the X, Y, and Z axes are determined, forming current pose data that includes spatial position and rotation direction information.

[0109] After the current attitude data is generated, the preset placement position data corresponding to the current product model is retrieved from the placement process program stored in the pick-and-place machine. This data includes the spatial coordinates of the target placement point in the equipment reference coordinate system and the rotation angle parameters of the target placement direction. Then, the current attitude data and the preset placement position data are unified to the same equipment reference coordinate system for spatial alignment. The current spatial coordinates are compared with the target spatial coordinates axis by axis to obtain the displacement difference in the X, Y, and Z directions. At the same time, the current rotation angle is compared with the target rotation angle axis by axis to obtain the angular offset around each axis.

[0110] As soon as the displacement difference and angular offset are determined, the placement execution control signal begins to be constructed. First, the displacement differences in the X, Y, and Z directions are converted into target movement distance parameters that the placement machine's motion platform needs to execute, and written into the target position register area of ​​the placement machine's motion control system, forming displacement control signals for controlling the placement machine's movement. Simultaneously, the rotational offsets of each axis are converted into target angle correction parameters for the placement machine's rotation mechanism, and written into the placement machine's rotation drive control parameter area, forming rotation control signals for controlling the placement machine's attitude adjustment. At this point, the placement execution control signal has been concretized into a combined instruction of the placement machine's position control parameters and attitude control parameters.

[0111] Subsequently, the placement execution control signal is sent to the pick-and-place machine control system. Based on the updated control parameters, the pick-and-place machine moves its lateral and longitudinal motion platforms to the compensated target position. Simultaneously, it drives the rotary mechanism to adjust the spatial orientation of the placement head or nozzle, ensuring that the overall spatial posture of the pick-and-place machine's execution mechanism is consistent with the preset placement position data. During the movement, the position detection device inside the pick-and-place machine continuously provides feedback on the current movement status. The control system updates the status flag in the placement execution control signal based on the feedback results to confirm whether the pick-and-place machine has reached the set target position and angle. When the pick-and-place machine's motion platform reaches the compensated target coordinates and the rotary mechanism reaches the target correction angle, the placement trigger flag in the placement execution control signal is set to an active state. The pick-and-place machine then executes the placement action, enabling the placement head to complete the crimping or placement operation, accurately placing the PCBA or related components to the target position.

[0112] Based on the above steps S101-S106, the feeding and placement accuracy is improved by attitude closed-loop control and spatial matching compensation, the directional consistency and stability are enhanced, the position deviation and error accumulation are reduced, the placement alignment effect is optimized, the production yield and automation level are improved, and the cost of manual intervention and debugging is reduced.

[0113] Based on the above technical solution, optionally, spatial matching calculations are performed based on the current posture data and preset mounting position data to generate mounting execution control signals, including: The current spatial pose parameters are extracted based on the current pose data, and the target spatial pose parameters are extracted based on the preset mounting position data. A spatial error vector is constructed based on the current spatial pose parameters and the target spatial pose parameters; Based on the spatial error vector, the axis-splitting error is decomposed to obtain the position error component and the attitude error component. Spatial coupling calculation is performed based on the position error component and the attitude error component to obtain the spatial matching deviation parameter; A spatial matching result is generated based on the spatial matching deviation parameter, and a placement execution control signal is generated based on the spatial matching result.

[0114] In this solution, the current spatial pose parameters are a set of spatial position coordinates and spatial rotational attitude parameters of the PCBA in the mounting station reference coordinate system, calculated based on the current attitude data. This includes the three-dimensional spatial position coordinates and rotation angles around each axis.

[0115] The target spatial pose parameters are a set of spatial position and spatial attitude parameters of the PCBA under ideal mounting conditions, determined based on preset mounting position data, including the spatial coordinates of the target mounting point and the desired rotation direction.

[0116] The spatial error vector is a three-dimensional spatial deviation vector constructed by calculating the axis-by-axis difference between the current spatial pose parameters and the target spatial pose parameters. It includes position deviation components and attitude deviation components, and can comprehensively represent the spatial difference between the current pose and the target pose.

[0117] The position error component is a numerical component in the spatial error vector used to represent the three-dimensional spatial position offset, and is used to describe the spatial translation error of the PCBA in the X, Y, and Z directions.

[0118] The attitude error component is the numerical component in the spatial error vector used to represent the deviation in rotation direction. It is calculated by the difference between the current spatial rotation angle and the target rotation angle, and is used to describe the degree of attitude deviation of the PCBA around each axis.

[0119] The spatial matching deviation parameter is a comprehensive deviation quantification result obtained after spatially coupling the position error component and the attitude error component. It is used to comprehensively reflect the overall spatial alignment error level.

[0120] The spatial matching result is the alignment status result output after consistency judgment or error convergence analysis based on the spatial matching deviation parameter. This result is usually expressed in the form of "match passed" or "match failed".

[0121] Based on the current posture data, the data is first analyzed for spatial coordinates and transformed into a spatial representation in the unified reference coordinate system of the mounting station. Combining the detection results of the PCBA reference marks by the visual recognition system, a three-dimensional reconstruction calculation is performed on the spatial position coordinates. Based on the angle measurement results, the rotation angles around the X, Y, and Z axes are calculated, integrating these to form the current spatial pose parameters, which include both spatial translation and rotational posture information.

[0122] For the preset placement position data, the target placement coordinates and target attitude angle information pre-stored in the pick-and-place machine process program are read, and a coordinate system transformation is performed to bring the target spatial parameters and the current spatial parameters into the same reference system. The position coordinates and rotation angle of the target placement point are spatially reconstructed to form the target spatial pose parameters.

[0123] After obtaining two sets of spatial pose parameters, the corresponding axial parameters are calculated by inter-axis difference. The position coordinates in the X, Y, and Z directions are subtracted, and the rotation angles of each axis are calculated by angle difference. The position deviation and attitude deviation are combined into a three-dimensional difference structure according to the structural order, and defined as a spatial error vector to represent the spatial deviation between the current pose and the target pose.

[0124] The spatial error vector is decomposed along its axes, and its position and attitude components are extracted separately and divided into independent error components according to their axial attributes. The three-dimensional translational deviation is calculated for the position error components, and the rotational offset of each axis is calculated for the attitude error components, thus achieving structural separation of the errors in a physical sense.

[0125] After error decomposition, spatial coupling calculations are performed on position and attitude errors. Based on preset axial weighting coefficients and the proportional relationship between error influence, the two error components are weighted and fused, and then comprehensively calculated using spatial rigid body transformation relationships to obtain a spatial matching deviation parameter that represents the overall spatial alignment deviation intensity. This parameter is in scalar or low-dimensional parameter set form and reflects the current spatial matching accuracy level.

[0126] The system compares the spatial matching deviation parameter with a preset allowable deviation threshold. When the spatial matching deviation parameter is less than or equal to the preset allowable deviation threshold, the system determines the spatial matching result as a successful match and outputs a placement execution permission signal. This signal triggers the pick-and-place machine to perform placement actions such as nozzle descent, bonding, and release, ensuring the normal progress of the placement process. When the spatial matching deviation parameter exceeds the threshold range, the system determines the spatial matching as a failure and outputs a posture correction trigger signal to prohibit the placement action from executing. At the same time, based on the current spatial matching deviation parameter, the system reverse-engineers the corresponding posture and position correction amounts, performs axial decomposition of the deviation amount, and calculates new compensation parameters by combining them with preset control rules. These parameters are then converted into executable control commands and sent to the pick-and-place machine motion platform or guide slot actuator to drive the equipment to precisely adjust the spatial pose of the PCBA. After the adjustment is completed, the system will collect the real-time pose data of the PCBA again, re-execute the spatial matching calculation, and update the spatial matching result. Through this continuous iterative cycle of error detection, parameter correction, and result determination, a complete closed-loop control mechanism is formed until the spatial matching result meets the threshold requirements and turns into a successful matching state, ultimately achieving dynamic accuracy convergence and automatic compensation in the mounting process.

[0127] In this solution, the mounting deviation is accurately quantified through spatial pose analysis and error vector decomposition, and the spatial alignment accuracy and mounting stability are improved by combining threshold judgment and dynamic control signal output.

[0128] See appendix Figure 2 , Figure 2 This is a schematic flowchart of the second main step of a PCBA surface mount optimization control method based on dynamic material feeding scheduling according to an embodiment of the present invention. Figure 2 As shown, a PCBA surface mount optimization control method based on dynamic material supply scheduling in an embodiment of the present invention mainly includes the following steps S201-S208.

[0129] Step S201: Obtain the spatial position information of the PCBA's chamfer, and based on the spatial position information of the chamfer, construct the spatial direction vector and calculate the angle in the preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA.

[0130] Step S202: Obtain the material feeding reference direction parameter of the pick-and-place machine, calculate the angle difference data between the direction corresponding to the initial attitude angle parameter and the direction corresponding to the material feeding reference direction parameter, and perform attitude compensation calculation on the initial attitude angle parameter based on the angle difference data to obtain the material feeding target direction angle.

[0131] Step S203: Obtain the conveying direction angle of the guide trough, calculate the deviation based on the target feeding direction angle and the conveying direction angle of the guide trough, obtain the direction angle residual value, and generate feeding posture adjustment control information based on the direction angle residual value.

[0132] Step S204: Based on the feeding posture adjustment control information, control the guide trough conveying mechanism to adjust the conveying posture of the PCBA, and collect the real-time posture angle data of the PCBA after adjustment. Based on the real-time posture angle data and the feeding target direction angle, determine the direction consistency and obtain the determination result.

[0133] Step S205: If the determination result does not meet the preset feeding accuracy requirements, then construct an attitude error vector based on the real-time attitude angle data and the feeding target direction angle.

[0134] Step S206: Perform incremental calculation based on the attitude error vector to obtain the attitude control increment.

[0135] Step S207: Based on the attitude control increment, the feeding attitude adjustment control information is recursively updated to obtain the updated feeding attitude adjustment control information, and the guide trough conveying mechanism is re-controlled to adjust the conveying attitude of the PCBA until the judgment result meets the preset feeding accuracy requirements.

[0136] Step S208: Obtain the current posture data of the PCBA, perform spatial matching calculation based on the current posture data and preset placement position data, generate a placement execution control signal, and control the placement machine to perform placement operation based on the placement execution control signal.

[0137] In this embodiment, the attitude error vector is a three-dimensional spatial error expression vector constructed by performing difference calculations on real-time attitude angle data and the feeding target direction angle in a unified spatial reference coordinate system. The angular deviations along each axis are used as components to comprehensively represent the degree of deviation between the current feeding attitude and the target attitude in the spatial rotation dimension.

[0138] The attitude control increment is the control correction amount used to correct the feeding attitude, obtained after dynamic proportional calculation or incremental iterative operation based on the attitude error vector. It reflects the additional correction magnitude required for attitude adjustment control information within the current control cycle.

[0139] After acquiring the real-time attitude angle data and the target feeding direction angle, the two sets of angle data are first converted to an angle expression form under a preset spatial reference coordinate system to ensure that the two sets of data are comparable in the same reference system. Then, the angle values ​​in the X-axis, Y-axis and Z-axis directions are calculated one-way difference, that is, the numerical difference between the real-time attitude angle and the target direction angle on each axis is calculated, and the differences in the three axes are arranged in a fixed order to form a three-dimensional difference set.

[0140] After calculating the axial difference, the set of differences is encapsulated into a vector structure. That is, the three axial angle deviations are combined as vector components to construct the attitude error vector. During the construction process, the signs and directions of each vector component are standardized to ensure that the error vector can truly reflect the spatial orientation offset state and is not deviated by differences in coordinate orientation definitions.

[0141] After the attitude error vector is constructed, it undergoes incremental calculation. First, the attitude error vector stored in the previous control cycle is retrieved and differentially calculated with the current cycle's error vector to determine the error change. Then, based on the system-defined control gain coefficient, proportional adjustment and trend compensation calculations are performed on the current error vector and the error change. Specifically, the error component is multiplied by a proportional coefficient to determine the base correction, while the error change is multiplied by a trend suppression coefficient to suppress oscillations. The two results are then superimposed to obtain the attitude control increment for the current cycle.

[0142] After obtaining the attitude control increment, a safety constraint judgment is performed. The system detects the amplitude of the increment value for each axis. If the increment exceeds the preset maximum correction range, it is truncated according to the boundary limiting rule to keep it within the executable range. Simultaneously, the increment value after the limiting process is numerically superimposed with the corresponding axis correction parameter in the original feeding attitude adjustment control information to achieve recursive updating of the control parameters. The recursive process is completed using the method of "current control information = previous cycle control information + current cycle attitude control increment", allowing the control parameters to be continuously iterated and optimized over time. The boundary limiting rule is as follows: preset maximum and minimum allowable values ​​are set for the attitude control increment of each axis. When the increment exceeds the corresponding range, it is limited to the boundary value; otherwise, the original value remains unchanged to ensure that the correction amount is within the safe executable range.

[0143] After parameter superposition, the updated feeding posture adjustment control information undergoes consistency verification and status refresh, its status flag is updated, and the latest control information is output to the execution layer to drive the guide channel posture adjustment mechanism or related execution structure to adjust the posture according to the newly calculated correction amount. Through the continuous processing of error construction, incremental calculation, and recursive update, dynamic closed-loop optimization and cycle-by-cycle convergence control of the feeding posture control information are achieved.

[0144] Based on the above steps S201-S208, by constructing an error vector and recursively updating the attitude control increment, dynamic closed-loop adjustment of the feeding attitude is realized, the directional deviation is corrected in real time and the accumulation of errors is suppressed, the continuity and stability of attitude control are improved, the system response accuracy and convergence speed are enhanced, and the mounting alignment error is reduced.

[0145] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not necessarily have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders, and these variations are all within the scope of protection of the present invention.

[0146] Furthermore, the present invention also provides a PCBA surface mount optimization control system based on dynamic material feeding scheduling.

[0147] See appendix Figure 3 , Figure 3 This is a main structural block diagram of a PCBA surface mount optimization control system based on dynamic material feeding scheduling according to an embodiment of the present invention. Figure 3 As shown, it specifically includes: The attitude angle confirmation module 301 is used to obtain the spatial position information of the cut angle of the PCBA, and to construct the spatial direction vector and calculate the angle based on the spatial position information of the cut angle in the preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA. The feeding direction confirmation module 302 is used to obtain the material suction reference direction parameter of the pick-and-place machine, calculate the angle difference data between the direction corresponding to the initial posture angle parameter and the direction corresponding to the material suction reference direction parameter, and perform posture compensation calculation on the initial posture angle parameter based on the angle difference data to obtain the feeding target direction angle. The feeding adjustment information confirmation module 303 is used to obtain the conveying direction angle of the guide trough, perform deviation calculation based on the feeding target direction angle and the conveying direction angle of the guide trough, obtain the direction angle residual value, and generate feeding posture adjustment control information based on the direction angle residual value. The judgment module 304 is used to control the guide trough conveying mechanism to adjust the conveying posture of the PCBA based on the feeding posture adjustment control information, and to collect the real-time posture angle data of the PCBA after adjustment. Based on the real-time posture angle data and the feeding target direction angle, the module performs a direction consistency judgment to obtain a judgment result. The adjustment module 305 is used to update the feeding posture adjustment control information based on the real-time posture angle data and the feeding target direction angle if the judgment result does not meet the preset feeding accuracy requirements, and re-control the guide groove conveying mechanism to adjust the conveying posture of the PCBA until the judgment result meets the preset feeding accuracy requirements. The placement control module 306 is used to acquire the current posture data of the PCBA, perform spatial matching calculations based on the current posture data and preset placement position data, generate a placement execution control signal, and control the placement machine to perform placement operations based on the placement execution control signal.

[0148] The PCBA placement optimization control system provided in this application embodiment can achieve... Figure 1 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0149] Those skilled in the art will understand that all or part of the processes in the method of the above embodiment of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0150] Furthermore, the present invention also provides an electronic device 400, including a processor 401, a memory 402, and a program or instructions stored in the memory 402 and executable on the processor 401. When the program or instructions are executed by the processor 401, they implement the various processes of the above-described embodiment of the PCBA surface mount optimization control method based on dynamic material supply scheduling and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0151] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0152] Furthermore, the present invention also provides a computer-readable storage medium. In one embodiment of the computer-readable storage medium according to the present invention, the computer-readable storage medium can be configured to store a program for executing a PCBA surface mount optimization control method based on dynamic feed scheduling according to the above-described method embodiments. This program can be loaded and run by a processor to implement the above-described PCBA surface mount optimization control method based on dynamic feed scheduling. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The computer-readable storage medium can be a storage device comprising various electronic devices. Optionally, in the embodiments of the present invention, the computer-readable storage medium is a non-transitory computer-readable storage medium.

[0153] Furthermore, it should be understood that since the various modules are only provided to illustrate the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the processor's software, hardware, or a combination of software and hardware. Therefore, the number of modules shown in the figures is merely illustrative.

[0154] Those skilled in the art will understand that the various modules in the device can be adaptively split or combined. Such splitting or combining of specific modules will not cause the technical solution to deviate from the principles of the present invention; therefore, the technical solutions after splitting or combining will fall within the protection scope of the present invention.

[0155] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A PCBA surface mount optimization control method based on dynamic material feeding scheduling, characterized in that, The method includes: Obtain the spatial position information of the PCBA's chamfer, and based on the chamfer spatial position information, construct the spatial direction vector and calculate the angle in the preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA. Obtain the material feeding reference direction parameter of the pick-and-place machine, calculate the angle difference data between the direction corresponding to the initial attitude angle parameter and the direction corresponding to the material feeding reference direction parameter, and perform attitude compensation calculation on the initial attitude angle parameter based on the angle difference data to obtain the material feeding target direction angle; The guide trough conveying direction angle is obtained, and the deviation is calculated based on the feeding target direction angle and the guide trough conveying direction angle to obtain the direction angle residual value. Then, the feeding posture adjustment control information is generated based on the direction angle residual value. Based on the feeding posture adjustment control information, the guide trough conveying mechanism adjusts the conveying posture of the PCBA, and collects the real-time posture angle data of the PCBA after adjustment. Based on the real-time posture angle data and the feeding target direction angle, the direction consistency is determined, and the determination result is obtained. If the judgment result does not meet the preset feeding accuracy requirement, the feeding attitude adjustment control information is updated based on the real-time attitude angle data and the feeding target direction angle, and the guide groove conveying mechanism is re-controlled to adjust the conveying attitude of the PCBA until the judgment result meets the preset feeding accuracy requirement. The current posture data of the PCBA is obtained, and spatial matching calculation is performed based on the current posture data and the preset placement position data to generate a placement execution control signal. The placement machine is then controlled to perform placement operations based on the placement execution control signal.

2. The PCBA surface mount optimization control method based on dynamic material supply scheduling according to claim 1, characterized in that, in, Based on the aforementioned chamfered spatial position information, spatial direction vectors are constructed and angle calculations are performed in a preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA, including: Based on the spatial location information of the chamfer, the chamfer boundary features are extracted in the preset PCBA reference coordinate system to obtain the chamfer boundary contour data. Multi-point sampling is performed based on the chamfered boundary contour data to obtain a set of chamfered boundary feature points; Based on the set of feature points of the chamfer boundary, a main direction fitting operation is performed to obtain the main direction vector representing the spatial orientation of the chamfer boundary. The vector direction difference is calculated based on the main direction vector and the reference axis vector of the preset PCBA reference coordinate system to obtain the angle data between the two. Angle mapping calculations are performed based on the included angle data to obtain the initial attitude angle parameters of the PCBA.

3. The PCBA surface mount optimization control method based on dynamic material supply scheduling according to claim 1, characterized in that, in, Calculate the angle difference between the direction corresponding to the initial attitude angle parameter and the direction corresponding to the material suction reference direction parameter, and perform attitude compensation calculation on the initial attitude angle parameter based on the angle difference data to obtain the target feeding direction angle, including: Based on the initial attitude angle parameters and the suction reference direction parameters, direction vectors are constructed in a unified spatial reference coordinate system to obtain an initial direction vector corresponding to the initial attitude angle parameters and a reference direction vector corresponding to the suction reference direction parameters. A vector projection operation is performed based on the initial direction vector and the reference direction vector to obtain the projection component of the initial direction vector in the direction of the reference direction vector; Based on the projection components and the reference direction vector, the direction matching degree is calculated to obtain the direction matching ratio, which represents the degree of spatial consistency between the two. Based on the direction matching ratio and the preset conversion rule, the angle conversion process is performed to obtain the angle difference data between the direction corresponding to the initial posture angle parameter and the direction corresponding to the suction reference direction parameter. Based on the angle difference data, a spatial direction error vector is constructed, and the spatial direction error vector is decomposed into axes to obtain the lateral error component and the longitudinal error component. Independent rotation corrections are calculated based on the lateral and longitudinal error components to obtain lateral axis rotation correction parameters and longitudinal axis rotation correction parameters. A split-axis attitude compensation matrix is ​​then constructed based on the lateral axis rotation correction parameters and longitudinal axis rotation correction parameters. Based on the split-axis attitude compensation matrix, a rotation transformation operation is performed on the initial attitude angle parameters to obtain the feeding target direction angle.

4. The PCBA surface mount optimization control method based on dynamic material supply scheduling according to claim 1, characterized in that, in, Based on the aforementioned direction angle residual value, feeding posture adjustment control information is generated, including: Based on the direction angle residual value, a sub-axis residual vector is constructed, and error features are extracted based on the sub-axis residual vector to obtain the residual change rate parameter; Based on the residual rate of change parameter and the preset adjustment rule, an adaptive adjustment coefficient is obtained by matching and calculating. The weighted calculation is performed based on the adaptive adjustment coefficient and the sub-axis residual vector to obtain the sub-axis attitude correction parameters; Based on the split-axis attitude correction parameters, a guide groove attitude drive control matrix is ​​constructed, and based on the guide groove attitude drive control matrix, feeding attitude adjustment control information is generated.

5. The PCBA surface mount optimization control method based on dynamic material supply scheduling according to claim 1, characterized in that, in, Based on the real-time attitude angle data and the feeding target direction angle, a direction consistency determination is performed to obtain the determination result, including: The directional deviation parameter is obtained by calculating the directional deviation based on the real-time attitude angle data and the feeding target direction angle. A direction error vector is constructed based on the direction deviation parameter, and the magnitude of the direction error vector is solved to obtain the direction error amount. Based on the directional error and the preset directional consistency threshold, a threshold comparison analysis is performed to generate a directional consistency judgment state, and a judgment result is output based on the directional consistency judgment state.

6. The PCBA surface mount optimization control method based on dynamic material supply scheduling according to claim 1, characterized in that, in, The feeding attitude adjustment control information is updated based on the real-time attitude angle data and the feeding target direction angle, including: An attitude error vector is constructed based on the real-time attitude angle data and the feeding target direction angle. Based on the attitude error vector, the attitude control increment is calculated. The feeding posture adjustment control information is recursively updated based on the posture control increment to obtain the updated feeding posture adjustment control information.

7. The PCBA surface mount optimization control method based on dynamic material supply scheduling according to claim 1, characterized in that, in, Based on the current posture data and preset mounting position data, spatial matching calculations are performed to generate mounting execution control signals, including: The current spatial pose parameters are extracted based on the current pose data, and the target spatial pose parameters are extracted based on the preset mounting position data. A spatial error vector is constructed based on the current spatial pose parameters and the target spatial pose parameters; Based on the spatial error vector, the axis-splitting error is decomposed to obtain the position error component and the attitude error component. Spatial coupling calculation is performed based on the position error component and the attitude error component to obtain the spatial matching deviation parameter; A spatial matching result is generated based on the spatial matching deviation parameter, and a placement execution control signal is generated based on the spatial matching result.

8. A PCBA surface mount optimization control system based on dynamic material feeding scheduling, characterized in that, The system includes: The attitude angle confirmation module is used to obtain the spatial position information of the PCBA's chamfer. Based on the chamfer spatial position information, it performs spatial direction vector construction and angle calculation in a preset PCBA reference coordinate system to obtain the initial attitude angle parameters of the PCBA. The feeding direction confirmation module is used to obtain the pick-and-place machine's suction reference direction parameters, calculate the angle difference data between the direction corresponding to the initial attitude angle parameters and the direction corresponding to the suction reference direction parameters, and perform attitude compensation calculation on the initial attitude angle parameters based on the angle difference data to obtain the feeding target direction angle. The material feeding adjustment information confirmation module is used to obtain the conveying direction angle of the guide trough, perform deviation calculation based on the material feeding target direction angle and the conveying direction angle of the guide trough, obtain the direction angle residual value, and generate material feeding posture adjustment control information based on the direction angle residual value. The judgment module is used to control the guide trough conveying mechanism to adjust the conveying posture of the PCBA based on the feeding posture adjustment control information, and to collect the real-time posture angle data of the PCBA after adjustment. Based on the real-time posture angle data and the feeding target direction angle, the module makes a direction consistency judgment to obtain a judgment result. The adjustment module is used to update the feeding posture adjustment control information based on the real-time posture angle data and the feeding target direction angle if the judgment result does not meet the preset feeding accuracy requirements, and re-control the guide groove conveying mechanism to adjust the conveying posture of the PCBA until the judgment result meets the preset feeding accuracy requirements. The placement control module is used to acquire the current posture data of the PCBA, perform spatial matching calculations based on the current posture data and preset placement position data, generate a placement execution control signal, and control the placement machine to perform placement operations based on the placement execution control signal.

9. An electronic device comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, characterized in that, The program or instructions are adapted to be loaded and run by the processor to perform a PCBA surface mount optimization control method based on dynamic feed scheduling as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform a PCBA surface mount optimization control method based on dynamic feed scheduling as described in any one of claims 1 to 7.

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