A PCB board placement collaborative planning method and system for a multi-nozzle device

Abstract

This application discloses a collaborative planning method and system for PCB board placement in multi-head suction equipment, which improves the real executability of PCB board placement planning results for multi-head suction equipment. The method includes: obtaining identification information of PCB boards located on the conveyor belt in the current batch and the operating parameters of the multi-head suction equipment; determining the set of plannable boards and the number of plannable boards based on the identification information and operating parameters; generating a set of placement positions within the lateral available range of the conveyor belt based on the operating parameters, and determining a subset of placement positions for the current batch from the set of placement positions; generating candidate operation plans based on the set of suction heads, the set of plannable boards, and the subset of placement positions for the current batch within the corresponding execution partition; performing joint safety screening on the candidate operation plans to obtain executable operation plans; selecting a target operation plan from the executable operation plans, and generating a partitioned action plan for the suction head set based on the target operation plan.

Description

Technical Field

[0001] This application relates to the field of PCB board processing technology, and in particular to a collaborative planning method and system for PCB board placement in multi-head suction devices. Background Technology

[0002] In automated production lines, PCB boards typically need to be handled in processes such as conveying, buffering, loading / unloading, and positioning. To improve handling efficiency, multi-head suction handling mechanisms are often used in related equipment. These mechanisms combine visual recognition results to obtain the position of the PCB boards on the conveyor belt, and then the control system controls the suction heads to complete the gripping and placement actions.

[0003] During the placement of multi-head PCBs, the equipment typically needs to determine the placement plan by considering the PCB's position on the conveyor belt, the equipment's available operating range, and the current status of the suction heads. Since multiple suction heads operate within a limited equipment space, the plan must not only specify the PCB's placement location but also accommodate the constraints of suction head movement and control execution.

[0004] However, in existing multi-head PCB placement planning, the placement results obtained from the planning side can be valid at the position allocation level, but additional adjustments may still be needed when the suction head is actually executing or when an idle suction head is docked, resulting in insufficient actual executability of the planning results. Summary of the Invention

[0005] This application provides a collaborative planning method and system for PCB board placement in multi-head suction devices, which can be used to improve the real feasibility of PCB board placement planning results for multi-head suction devices.

[0006] The first aspect of this application provides a collaborative planning method for PCB board placement in multi-head suction devices, including:

[0007] Obtain the identification information of the PCB boards in the current batch located on the conveyor belt and the operating parameters of the multi-head suction device; Based on the identification information and the operating parameters, determine the set of planable boards and the number of planable boards from the set of PCB boards in the current batch located on the conveyor belt; A set of placement positions within the lateral available range of the belt is generated based on the operating parameters, and a subset of placement positions for this batch is determined from the set of placement positions. The grab position of the planarable board set and the placement position of the subset of placement positions for this batch are both within the lateral available range of the belt. Based on the set of suction heads in the execution partition corresponding to the current batch, the set of planarable boards, and the subset of placement positions in this batch, candidate job schemes are generated. The candidate job schemes include active suction head allocation relationships, idle suction head handling methods, and board placement correspondence relationships. Among them, suction heads in the suction head set that have established a correspondence with PCB boards are active suction heads, and suction heads in the suction head set that have not established a correspondence with PCB boards are idle suction heads. Based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence, the candidate operation schemes are jointly screened for safety. If at least one executable operation plan among the candidate operation plans that has undergone joint safety screening meets the safety requirements for suction head execution and the requirements for handling idle suction heads, then the target operation plan is selected from the executable operation plans. Generate a partitioned action plan for the suction head set based on the target operation plan.

[0008] Optionally, the joint safety screening of the candidate operation schemes based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence includes: Based on the active suction head allocation relationship and the board placement correspondence, the candidate operation scheme is subjected to an active suction head execution safety judgment; After the candidate job scheme meets the safety judgment of the active suction head, the idle suction head processing safety judgment is performed on the candidate job scheme according to the idle suction head processing method; The candidate operation schemes that satisfy the safety judgment for active suction head execution and the safety judgment for idle suction head processing are determined as executable operation schemes.

[0009] Optionally, the step of performing a safety judgment on the active suction head execution of the candidate operation scheme based on the active suction head allocation relationship and the board placement correspondence includes: Based on the active suction head allocation relationship and the board placement correspondence relationship, determine the path corridor of each active suction head from the waiting position through the gripping position to the placement position; Based on the path corridor, determine whether each active suction head meets the minimum safe distance requirement.

[0010] Optionally, the step of performing a safety judgment on idle head handling for the candidate job schemes based on the idle head handling method includes: Based on the path corridor, determine whether the idle suction head corresponding to the idle suction head processing method satisfies the legality of waiting in place; When the idle suction head satisfies the in-situ waiting legality, the candidate operation plan is determined to satisfy the idle suction head processing safety judgment; When the idle suction head does not meet the legality of the in-situ waiting requirement, an avoidance position is determined within the legal range of the suction head center; When the avoidance position is determined, the idle suction head handling method is updated according to the avoidance position, and the candidate operation plan is determined to meet the safety judgment of the idle suction head handling. If the avoidance position is not determined, the candidate operation plan is determined to not meet the safety judgment of idle suction head processing.

[0011] Optionally, generating candidate job schemes based on the suction head set within the execution partition corresponding to the current batch, the set of planarable boards, and the subset of placement positions for this batch includes: Establish the board placement correspondence between PCB boards and placement locations according to the board sequence of the planarable board set and the placement position sequence of the current batch placement position subset; Establish the active suction head allocation relationship between the PCB board and the suction heads according to the suction head order in the suction head set and the board order in the planarable board set; Based on the active nozzle allocation relationship, the board placement correspondence, and the waiting position of the idle nozzle, an idle nozzle handling method is generated; Based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence, candidate job schemes are generated.

[0012] Optionally, establishing the active reader allocation relationship between the PCB board and the readers according to the reader order in the reader head set and the board order in the planarable board set includes: Based on the suction head sequence and the board sequence, a sequence-restricted allocation state is constructed, which is used to represent the allocation progress between the number of preceding suction heads and the number of preceding PCB boards. In the allocation state, candidate allocation results are generated, including candidate results where the current suction head does not correspond to the PCB board, or candidate results where the current suction head establishes a correspondence with the current PCB board. Based on the cumulative movement cost corresponding to the candidate allocation results, candidate allocation results that meet the preset cost conditions are retained; wherein, the cumulative movement cost is the total distance traveled by all active suction heads from the waiting position through the grabbing position to the placement position; Based on the retained candidate allocation results, the active suction head allocation relationship is obtained by backtracking.

[0013] Optionally, selecting a target job plan from the executable job plans includes: The executable job schemes are sorted from smallest to largest based on the cumulative movement cost; The optimal total cost is calculated based on the sorting order of the first executable job plan; wherein, the actual total cost includes the cumulative movement cost and the avoidance cost of all idle suction heads; The true total cost of subsequent executable job plans is calculated sequentially according to the sorting order. When the true total cost of the current executable job plan is less than the optimal total cost, the optimal total cost is updated. If the cumulative movement cost of the current executable job plan is greater than or equal to the optimal total cost, then stop calculating the true total cost and updating the optimal total cost; otherwise, calculate the true total cost of the next executable job plan and update the optimal total cost. The executable job scheme corresponding to the optimal total cost is taken as the target job scheme.

[0014] Optionally, after generating the partitioned action plan for the suction head set based on the target operation plan, the method further includes: When executing the partition action plan, according to the idle suction head handling method corresponding to the partition action plan, the idle suction head corresponding to the idle suction head handling method is controlled to either remain in its original position and wait or move to the avoidance position and enter the waiting start state. When the idle suction head completes the avoidance or does not need to avoid, the longitudinal actuator of the current batch corresponding to the execution zone is controlled to establish a synchronous relationship with the belt regarding movement, and the synchronous trigger position is locked; During the period of maintaining the synchronization relationship, the active suction heads corresponding to the active suction head allocation relationship are controlled to complete the gripping, handling and placement of the PCB board according to the execution order in the partition action plan; After the active suction head completes the gripping, transporting and placing, the synchronization relationship between the longitudinal actuator and the belt is released, and the suction heads that need to return to their waiting positions are controlled to return to the waiting positions according to the idle suction head handling method.

[0015] Optionally, the step of generating a set of placement positions within the available lateral range of the belt based on the operating parameters, and determining a subset of placement positions for this batch from the set of placement positions, includes: Based on the current board width matching board width grading rules in the operating parameters, determine the maximum allowed number of boards in a single batch corresponding to the current board width; The usable lateral range of the belt is determined based on the total belt width and edge allowance in the operating parameters. Based on the maximum allowable number of plates per batch, multiple placement positions are generated within the lateral available range of the belt to obtain the set of placement positions; Based on the number of planarable boards, a corresponding number of placement positions are selected from the set of placement positions according to the order constraint to obtain a subset of placement positions for this batch; wherein, the order constraint includes strictly increasing placement position indices; the subset of placement positions for this batch is either a continuous subset or a non-contiguous subset of the set of placement positions.

[0016] A second aspect of this application provides a PCB board placement collaborative planning system for multi-head suction devices, used to implement the method of the first aspect and any possible implementation of the first aspect, the PCB board placement collaborative planning system comprising: The acquisition unit is used to acquire the identification information of the PCB boards in the current batch located on the conveyor belt and the operating parameters of the multi-head suction device; The determining unit is used to determine the set of planable boards and the number of planable boards from the set of PCB boards located on the conveyor belt in the current batch, based on the identification information and the operating parameters. The first generation unit is used to generate a set of placement positions within the lateral available range of the belt according to the operating parameters, and to determine a subset of placement positions for this batch from the set of placement positions. The grab position of the planarable board set and the placement position of the subset of placement positions for this batch are both within the lateral available range of the belt. The second generation unit is used to generate candidate job schemes based on the set of suction heads in the execution partition corresponding to the current batch, the set of planarable boards, and the subset of placement positions in the current batch. The candidate job schemes include active suction head allocation relationships, idle suction head handling methods, and board placement correspondence relationships. Among them, suction heads in the suction head set that have established a correspondence with PCB boards are active suction heads, and suction heads in the suction head set that have not established a correspondence with PCB boards are idle suction heads. The screening unit is used to perform joint safety screening of the candidate operation schemes based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence. The third generation unit is used to select a target operation scheme from the candidate operation schemes if there is at least one executable operation scheme that meets the suction head execution safety requirements and idle suction head processing requirements among the candidate operation schemes after joint safety screening. The fourth generation unit is used to generate a partitioned action plan for the suction head set based on the target operation plan.

[0017] A third aspect of this application provides an electronic device, comprising: Processor, memory, input / output units, and bus; The processor is connected to the memory, the input / output unit, and the bus; The memory stores a program, and the processor calls the program to execute the method of the first aspect and any possible implementation of the first aspect.

[0018] The fourth aspect of this application provides a computer-readable storage medium storing a program that, when executed on a computer, causes the computer to perform the methods of the first aspect and any possible implementation thereof.

[0019] As can be seen from the above technical solutions, this application has the following advantages: In this application, the set of PCB boards located on the conveyor belt in the current batch, the set of placement positions within the lateral available range of the conveyor belt, and the set of suction heads within the corresponding execution partition of the current batch are uniformly organized into candidate operation schemes. This makes the planable board determination, placement position selection, active suction head allocation, idle suction head processing, and board placement correspondence form the same planning object. On this basis, joint safety screening directly acts on the candidate operation schemes, ensuring that the selected target operation scheme satisfies the collaborative constraints of board placement, suction head execution, and idle suction head processing before generating the partition action plan. This improves the real executability of the multi-suction head PCB board placement planning results and maintains the consistency between the planning side output results and the execution side action semantics. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating an embodiment of the PCB board placement collaborative planning method for multi-head suction devices in this application; Figure 2 This is a flowchart illustrating the first sub-implementation of the PCB board placement collaborative planning method for multi-head suction devices in this application; Figure 3 This is a flowchart illustrating the second sub-implementation of the PCB board placement collaborative planning method for multi-head suction devices in this application; Figure 4 This is a flowchart illustrating the third sub-implementation of the PCB board placement collaborative planning method for multi-head suction devices in this application; Figure 5 This is a flowchart illustrating the fourth sub-implementation of the PCB board placement collaborative planning method for multi-head suction devices in this application. Figure 6This is a flowchart illustrating the fifth sub-implementation of the PCB board placement collaborative planning method for multi-head suction devices in this application. Figure 7 This is a flowchart illustrating the sixth sub-implementation of the PCB board placement collaborative planning method for multi-head suction devices in this application. Figure 8 This is a flowchart illustrating the seventh sub-implementation of the PCB board placement collaborative planning method for multi-head suction devices in this application. Figure 9 This is a schematic diagram of the structure of an embodiment of the PCB board placement collaborative planning system for multi-head suction devices in this application; Figure 10 This is a schematic diagram of the structure of one embodiment of the electronic device in this application. Detailed Implementation

[0022] This application provides a collaborative planning method and system for PCB board placement in multi-head suction devices, which improves the real executability of PCB board placement planning results for multi-head suction devices.

[0023] The method described in this application can be applied to servers, terminals, or other devices with logic processing capabilities; therefore, this application does not limit its application. For ease of description, the following description uses a PCB board placement collaborative planning system as the executing entity. 2 The embodiments of this application will now be described with reference to the accompanying drawings.

[0024] Please see Figure 1 , Figure 1 An embodiment of the PCB board placement collaborative planning method for multi-head suction devices provided in this application includes: 101. Obtain the identification information of the PCB boards located on the conveyor belt in the current batch and the operating parameters of the multi-head suction device; The current batch refers to a group of PCBs that need to be picked up and placed by a multi-head suction device within the same planning cycle. The PCB placement collaborative planning system obtains the identification information of the PCBs in the current batch located on the conveyor belt. This identification information may include the PCB board's component identification, batch identification, identification status, picking position, and component geometry information related to placement planning. The operating parameters of the multi-head suction device may include parameters related to the lateral available range of the conveyor belt, parameters related to the suction head set, parameters related to the execution zone, parameters related to the suction head waiting position, and parameters related to safety constraints. The identification information is used to determine the actual input status of each PCB board in the current batch on the conveyor belt, and the operating parameters are used to limit the equipment boundaries that the multi-head suction device can perform picking, handling, and placement actions in the current batch.

[0025] 102. Based on the identification information and operating parameters, determine the set of planarable boards and the number of planarable boards from the set of PCB boards located on the conveyor belt in the current batch; After acquiring the identification information for the current batch, the PCB placement collaborative planning system organizes the planning input for the set of PCBs located on the conveyor belt in the current batch based on the PCB's identification status, gripping position, and the operating parameters of the multi-head suction device. PCBs whose identification status meets the planning requirements and whose gripping position conforms to the current operating boundary of the multi-head suction device are included in the plannable board set; PCBs that do not meet the planning input conditions for the current batch are not included in the plannable board set. After the plannable board set is determined, the number of PCBs in the set is counted to obtain the number of plannable boards. The number of plannable boards is used to constrain the size of the subsequent placement position subset and the range of the number of suction heads participating in the current batch operation.

[0026] 103. Generate a set of placement locations within the available lateral range of the belt according to the operating parameters, and determine a subset of placement locations for this batch from the set of placement locations; The PCB placement collaborative planning system determines the available lateral range of the conveyor belt based on the operating parameters of the multi-head suction equipment, and generates a set of placement positions within this range. This set represents candidate lateral positions available for PCB placement under the current operating conditions. Subsequently, based on the number of plannable boards, the system determines a subset of placement positions from the set that matches the current batch, ensuring that the number of placement positions in this subset matches the actual number of PCBs involved in the planning for the current batch.

[0027] In this embodiment, the gripping positions of each PCB board in the planarable board set are all within the lateral available range of the conveyor belt, and the placement positions in the current batch placement position subset are also all within the lateral available range of the conveyor belt. Thus, when generating candidate job plans subsequently, the gripping input position and placement output position of the PCB board are constrained to the same lateral executable space, avoiding situations where the gripping position is executable but the placement position is out of bounds, or the placement position is valid but the gripping position does not meet the equipment operating boundaries.

[0028] 104. Based on the set of suction heads, the set of planarable boards, and the subset of placement locations for this batch within the execution partition corresponding to the current batch, generate candidate job plans; After determining the execution partition corresponding to the current batch, the PCB board placement collaborative planning system obtains the set of suction heads within that execution partition that can participate in the planning of the current batch. It then processes the suction head set, the set of plannable boards, and the subset of placement positions for the current batch as a single candidate object. The execution partition limits the range of suction heads participating in the generation of the same partition's action plan within the current batch; the set of plannable boards limits the range of PCB boards that can participate in the gripping and placement planning within the current batch; and the subset of placement positions for the current batch limits the range of placement positions that can actually be used within the current batch.

[0029] When generating candidate job plans, the PCB placement collaborative planning system determines the board placement correspondence between PCBs and placement locations based on the correspondence between the set of plannable boards and the subset of placement locations in the current batch; and determines the active reader allocation relationship between PCBs and readers based on the correspondence between the reader head set and the set of plannable boards. For readers in the reader head set that have already established a correspondence with a PCB, they are identified as active readers, which are used to perform the gripping and placement of the corresponding PCB in the current candidate job plan; for readers in the reader head set that have not established a correspondence with a PCB, they are identified as idle readers, which do not undertake the gripping and placement of PCBs in the current candidate job plan.

[0030] The PCB placement collaborative planning system also generates idle head handling methods based on the active reader allocation relationship, board placement correspondence, and the waiting status of idle readers within the current execution partition. The idle head handling method represents the processing arrangement of idle readers in the current candidate job plan, ensuring that readers not involved in PCB board picking and placement are also included in the planning expression of the current batch.

[0031] Therefore, the candidate job plan is not simply a result of placement location selection, nor is it simply a result of reader assignment. Rather, it is a combination of active reader assignment relationships, idle reader handling methods, and board placement correspondences. The candidate job plan can characterize which readers in the current execution partition are involved in PCB board operations, which readers are in an idle state, which active readers are handling each PCB board, and which placement locations correspond to each PCB board, thus providing a complete batch planning object for subsequent processing.

[0032] 105. Based on the active suction head allocation relationship, idle suction head handling method and board placement correspondence, conduct joint safety screening of candidate operation schemes; After generating candidate job plans, the PCB placement collaborative planning system does not directly output the candidate job plans as executable results. Instead, it performs joint safety screening based on the active nozzle allocation relationship, idle nozzle handling method, and board placement correspondence in the candidate job plans. The nozzle execution safety requirements are used to constrain the execution safety of active nozzles participating in the current batch of jobs during the gripping, handling, and placement processes; the idle nozzle handling requirements are used to constrain whether the handling method of idle nozzles not participating in the current batch of jobs under the current candidate job plan meets the equipment safety operation requirements.

[0033] When a candidate job plan simultaneously meets both the safety requirements for reader execution and the requirements for handling idle readers, the candidate job plan is determined as an executable job plan; when a candidate job plan cannot simultaneously meet the above requirements, it is not considered an executable result for the current batch. Therefore, the plans that proceed to the subsequent selection stage already encompass the board placement relationship, the active reader execution relationship, and the idle reader handling relationship, and satisfy the joint safety constraints of the current batch.

[0034] 106. If there is at least one executable operation plan among the candidate operation plans that meets the safety requirements for suction head execution and the requirements for handling idle suction heads after joint safety screening, then select the target operation plan from the executable operation plans. After completing the joint safety screening of candidate job schemes, the PCB board placement collaborative planning system evaluates the screening results. If at least one executable job scheme exists among the candidate job schemes after joint safety screening, it means that at least one candidate job scheme simultaneously meets the head execution safety requirements and idle head handling requirements, and can be used as the basis for generating the subsequent partition action plan for the current batch.

[0035] When multiple executable job plans exist, the PCB placement collaborative planning system can select one as the target job plan based on preset selection criteria. These preset selection criteria can be configured according to the planning requirements of the current batch, used to determine the subsequent plan among executable job plans that already meet safety requirements. The target job plan retains its corresponding active pick-up head allocation relationship, idle pick-up head handling method, and board placement correspondence, enabling subsequent partition action plans to be generated based on the same set of planning relationships.

[0036] 107. Generate a partitioned action plan for the suction head set based on the target operation plan.

[0037] After determining the target operation plan, the PCB board placement collaborative planning system generates a partition action plan for the suction head set within the corresponding execution partition of the current batch, based on the target operation plan. The partition action plan represents the action arrangement of the suction head set in the current batch and corresponds to the active suction head allocation relationship, idle suction head handling method, and board placement correspondence in the target operation plan.

[0038] For active readers in the target job plan, the zoning action plan determines their corresponding PCB boards based on the active reader allocation relationship and the placement position of the corresponding PCB boards based on the board placement correspondence, enabling the active readers to perform the corresponding PCB board gripping and placement arrangements according to the target job plan. For idle readers in the target job plan, the zoning action plan determines their processing arrangement in the current batch based on the idle reader handling method, ensuring that readers not participating in PCB board operations also have clear zoning plan content.

[0039] Therefore, the target operation plan is converted into a partition action plan that matches the execution partition corresponding to the current batch. The partition action plan inherits the target operation plan after joint safety screening, so that both active and idle suction heads in the suction head set form the execution basis according to the same target operation plan, thereby avoiding inconsistencies between the planning results and the partition action plan.

[0040] In this embodiment, the set of PCB boards located on the conveyor belt in the current batch, the set of placement positions within the available lateral range of the conveyor belt, and the set of suction heads within the corresponding execution partition of the current batch are uniformly organized into candidate operation schemes. This makes the planable board determination, placement position selection, active suction head allocation, idle suction head processing, and board placement correspondence form the same planning object. Based on this, joint safety screening directly applies to the candidate operation schemes, ensuring that the selected target operation scheme satisfies the collaborative constraints of board placement, suction head execution, and idle suction head processing before generating the partition action plan. This improves the actual executability of the multi-suction head PCB board placement planning results and maintains the consistency between the planning side output results and the execution side action semantics.

[0041] Please see Figure 2 In some embodiments of this application, step 105 in the above embodiments, based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence, performs joint safety screening of candidate operation schemes, which may include the following steps: 201. Based on the active suction head allocation relationship and the corresponding board placement relationship, make a safety judgment on the active suction head execution of the candidate operation plan; After obtaining candidate job plans, the PCB placement collaborative planning system first reads the active suction head allocation relationship and board placement correspondence relationship from the candidate job plans. The active suction head allocation relationship is used to characterize the correspondence between the suction heads participating in the gripping and placement actions in the current batch and the PCB boards, while the board placement correspondence relationship is used to characterize the correspondence between each PCB board and the placement position in the subset of placement positions in the current batch. Based on the above correspondence, the PCB placement collaborative planning system can determine the PCB boards that each active suction head needs to process under the current candidate job plan and the corresponding placement target.

[0042] The active nozzle execution safety judgment is used to determine whether the active nozzles participating in the current candidate job plan meet the execution safety requirements of the current batch. If the active nozzle job arrangement determined according to the active nozzle allocation relationship and board placement correspondence does not meet the execution safety requirements, the candidate job plan will not enter the idle nozzle processing safety judgment; if the candidate job plan meets the active nozzle execution safety requirements, it will continue to the subsequent judgment.

[0043] 202. After the candidate operation plan meets the safety judgment for active suction head execution, perform a safety judgment for idle suction head processing on the candidate operation plan according to the idle suction head processing method; After a candidate job plan meets the safety criteria for active read / write head execution, the PCB placement collaborative planning system further reads the idle read / write head handling methods within that candidate job plan. The idle read / write head handling methods characterize the processing arrangements for read / write heads in the current batch that are not involved in PCB board gripping and placement under this candidate job plan. Since idle read / write heads, although not performing PCB board gripping and placement actions in the current batch, are still within the device operating space of the current execution partition, it is necessary to determine whether their processing arrangements meet the safety operation requirements of the current batch.

[0044] The idle head handling safety judgment is used to determine whether the idle head handling method in the candidate job plan meets the idle head handling requirements. If the idle head handling method meets the requirements, the candidate job plan is retained; if the idle head handling method does not meet the requirements, the candidate job plan is not considered an executable job plan.

[0045] 203. Candidate operation schemes that meet the safety judgment requirements for active suction heads and idle suction heads are determined as executable operation schemes.

[0046] After completing the above judgments, the PCB placement collaborative planning system determines the candidate operation plan that simultaneously satisfies the safety judgments for active head execution and idle head processing as an executable operation plan. Candidate operation plans that only satisfy one type of safety judgment, or those that fail to pass either safety judgment, are not determined as executable operation plans.

[0047] Therefore, before outputting an executable work plan, the PCB placement collaborative planning system has already completed safety constraint verification from two aspects: the execution relationship of active suction heads and the processing relationship of idle suction heads. The executable work plan includes not only the operation relationship between the PCB board and the suction head, and the placement relationship between the PCB board and the placement location, but also the processing arrangement of idle suction heads in the current batch. Furthermore, the operation relationship, placement relationship, and processing arrangement together meet the safety requirements of the current batch.

[0048] In this embodiment, the active head execution safety judgment first filters out candidate operation schemes that do not meet the active head operation requirements. The idle head handling safety judgment further verifies the idle head handling method after the active head operation arrangement has met the requirements. This ensures that a candidate operation scheme is only determined as an executable operation scheme if it simultaneously meets both the head execution safety requirements and the idle head handling requirements, thereby improving the safety integrity of executable operation schemes and the reliability of subsequent partition action plans. At the same time, judging the active head execution safety first and then the idle head handling safety can reduce the subsequent processing of obviously unexecutable candidate operation schemes and reduce the overhead of invalid safety judgments.

[0049] Please see Figure 3 In some embodiments of this application, step 201 in the above embodiments, which performs a safety judgment on the active suction head execution of candidate operation schemes based on the active suction head allocation relationship and the board placement correspondence, may include the following steps: 301. Based on the active suction head allocation relationship and the board placement correspondence, determine the path corridor for each active suction head from the waiting position through the grab position to the placement position; The PCB placement collaborative planning system reads the active suction head allocation relationship in the candidate job schemes to determine each active suction head participating in the PCB board gripping and placement actions in the current candidate job scheme, as well as the PCB board corresponding to each active suction head. The system also reads the board placement correspondence relationship in the candidate job schemes to determine the placement position of each PCB board. For any active suction head, the system determines the movement coverage range of that active suction head in the current candidate job scheme based on its waiting position, the gripping position of its corresponding PCB board, and the placement position of the PCB board. This movement coverage range is then used as the path corridor for the active suction head from its waiting position through the gripping position to its placement position.

[0050] The path corridor characterizes the lateral space that an active reader may occupy when performing gripping, carrying, and placing actions under the current candidate job scenario. Since the waiting position, gripping position, and placing position all affect the movement coverage of the active reader, the PCB placement collaborative planning system determines the path corridor using all three types of positions, rather than relying solely on the gripping or placing position for safety judgment. Therefore, the active reader's safety judgment can cover the continuous movement space of the active reader from the start of the action to the completion of placement.

[0051] 302. Determine whether each active suction head meets the minimum safe distance requirement based on the path corridor.

[0052] After determining the path corridors of each active suction head, the PCB placement collaborative planning system determines the minimum safety distance requirement based on the operating parameters of the multi-head device, and judges whether the current candidate operation plan meets the minimum safety distance requirement based on the path corridors of each active suction head. For any two active suction heads within the same execution partition, if they can maintain a distance of not less than the minimum safety distance within the movement coverage area corresponding to their respective path corridors, then the two active suction heads are considered to meet the safety distance constraint; if the distance between any two active suction heads within the movement coverage area corresponding to their path corridors is less than the minimum safety distance, then the current candidate operation plan is considered not to meet the active suction head execution safety judgment.

[0053] When all active nozzles in a candidate job plan meet the minimum safety distance requirement, the PCB placement collaborative planning system determines that the candidate job plan meets the safety judgment for active nozzle execution and allows the candidate job plan to proceed to the subsequent idle nozzle processing safety judgment. When the minimum safety distance requirement is not met between any active nozzles, the PCB placement collaborative planning system determines that the candidate job plan does not meet the safety judgment for active nozzle execution and excludes the candidate job plan from the candidate range of executable job plans.

[0054] In this embodiment, the safety judgment performed by the active suction head is not limited to its final placement position. Instead, it is based on the minimum safety distance judgment according to the path corridor formed by the active suction head from the waiting position through the gripping position to the placement position. This ensures that all candidate operation schemes meet safety constraints within the complete movement coverage of the active suction head, thereby reducing the risk of interference during the movement process caused by judging only a single point position and improving the execution reliability of candidate operation schemes when entering subsequent safety screening. At the same time, the path corridor is jointly determined by the active suction head allocation relationship and the board placement correspondence, which enables consistent safety judgment criteria between suction head allocation, board gripping, and board placement.

[0055] Please see Figure 4In some embodiments of this application, step 202 in the above embodiments, after the candidate job scheme meets the active head execution safety judgment, performs an idle head processing safety judgment on the candidate job scheme according to the idle head processing method, which may include the following steps: 401. Based on the path corridor, determine whether the idle reader corresponding to the idle reader processing method satisfies the legality of waiting in place; After the candidate job plan has met the safety criteria for active read / write head execution, the PCB board placement collaborative planning system obtains the path corridors of each active read / write head as determined above, and reads the idle read / write head handling methods from the candidate job plan. The idle read / write heads corresponding to the idle read / write head handling methods refer to read / write heads within the execution partition of the current batch that have not been assigned to PCB board gripping and placement actions. Since these idle read / write heads do not participate in the current batch of PCB board handling, but are still within the movable space or waiting space of the execution partition, it is necessary to determine whether their in-situ waiting will affect the safe execution of the active read / write heads.

[0056] The PCB placement collaborative planning system determines whether the in-situ waiting validity is satisfied when the idle suction head remains stationary at its original waiting position, based on the positional relationship between the waiting position of the idle suction head and the path corridor of each active suction head. If the waiting position of the idle suction head does not have a safety impact on the movement coverage of the active suction head from the waiting position through the grab position to the placement position, then the idle suction head is determined to satisfy the in-situ waiting validity; if the waiting position of the idle suction head has a positional relationship with the path corridor of any active suction head that does not meet the safety operation requirements, then the idle suction head is determined not to satisfy the in-situ waiting validity.

[0057] 402. When an idle suction head meets the legality requirement of waiting in place, the candidate operation plan shall be determined as one that meets the safety judgment for handling idle suction heads. When all idle pipette heads in the candidate job scheme meet the legality of waiting in place, the PCB board placement collaborative planning system does not need to change the handling method of idle pipette heads in the candidate job scheme. It can retain the handling arrangement of idle pipette heads at the original waiting position and determine the candidate job scheme as meeting the safety judgment of idle pipette head handling.

[0058] In this scenario, there is no safety conflict between the waiting state of the idle suction head and the path corridor of the active suction head. Candidate job plans can be included in the range of executable job plans without increasing the movement of the idle suction head. Therefore, the safety judgment for handling idle suction heads can prioritize retaining the low-overhead method of waiting in place.

[0059] 403. When an idle suction head does not meet the legality of waiting in place, determine an avoidance position within the legal range of the suction head's center; When an idle suction head does not meet the legality requirement of waiting in place, the PCB placement collaborative planning system does not directly reject the candidate operation plan. Instead, it determines an avoidance position for the idle suction head within the legal range of the suction head's center. The legal range of the suction head's center is used to limit the lateral range that the suction head's center is allowed to dock or move to under the current equipment operating parameters. The avoidance position should be located within the legal range of the suction head's center and meet the safe operation requirements with the path corridor of the active suction head.

[0060] For idle suction heads that need to be avoided, the PCB placement collaborative planning system can determine whether there is an avoidance position that allows the idle suction head to safely stop, based on the waiting position of the idle suction head, the legal range of the suction head center, and the path corridor of each active suction head. If there are multiple idle suction heads that need to be avoided in the current candidate operation plan, the corresponding avoidance positions can be determined for each one, so that each idle suction head meets the safety operation requirements of the current batch after avoiding the avoidance.

[0061] 404. When determining the avoidance position, update the idle suction head handling method according to the avoidance position, and determine the candidate operation plan as one that meets the safety judgment of idle suction head handling; After the PCB placement collaborative planning system determines an avoidance position for an idle reader that does not meet the legality of waiting in place, it updates the idle reader handling method in the candidate job scheme based on the avoidance position. The updated idle reader handling method indicates that the idle reader will no longer remain in place and wait, but will move to the corresponding avoidance position before or during the execution of the current batch.

[0062] Once the avoidance positions of all idle pipette tips that need to be avoided have been determined, and the updated idle pipette tip handling method meets the idle pipette tip handling requirements, the PCB board placement collaborative planning system identifies the candidate operation plan as one that satisfies the safety judgment for idle pipette tip handling. At this point, although the in-situ waiting arrangement in the original idle pipette tip handling method does not meet the requirements, the handling method after the avoidance position update can eliminate the safety impact between the idle pipette tip and the active pipette tip path corridor. Therefore, this candidate operation plan can still be retained within the candidate range of executable operation plans.

[0063] 405. If the avoidance position is not determined, the candidate operation plan is determined to be unsatisfactory for handling idle suction heads.

[0064] When an idle suction head does not meet the legality requirement of waiting in place, and the PCB placement collaborative planning system cannot determine a safe avoidance position within the legal range of the suction head's center, it indicates that the idle suction head under this candidate operation plan can neither wait in place nor complete a safe avoidance within the current equipment's allowed operating range. In this case, the PCB placement collaborative planning system determines that the candidate operation plan does not meet the safety judgment for handling idle suction heads.

[0065] For candidate work plans that do not meet the safety criteria for handling idle suction heads, even if they meet the safety criteria for executing active suction heads, they will not be determined as executable work plans. Therefore, executable work plans must simultaneously ensure that active suction heads can execute safely and that idle suction heads have legitimate waiting or avoidance arrangements.

[0066] In this embodiment, the safety judgment for handling idle suction heads first determines whether the idle suction head can wait in place based on the path corridor. If waiting in place is legal, the original handling method is retained. If waiting in place is illegal, an avoidance position is determined within the legal range of the suction head center. After determining the avoidance position, the idle suction head handling method is updated, allowing the idle suction head handling method to adapt to the safety constraints of the active suction head path corridor, thereby improving the safety integrity of candidate operation schemes in the actual execution space. At the same time, candidate operation schemes that cannot wait in place and whose avoidance position cannot be determined are excluded, preventing infeasible idle suction head handling schemes from entering the set of executable operation schemes.

[0067] Please see Figure 5 In some embodiments of this application, step 104 in the above embodiments generates candidate job schemes based on the suction head set, the planarable board set, and the subset of placement positions in the current batch within the execution partition, and may include the following steps: 501. Establish the board placement correspondence between PCB boards and placement locations according to the board sequence of the planarable board set and the placement position sequence of the current batch placement position subset; After determining the set of plannable boards, the PCB placement collaborative planning system sorts the PCBs participating in the current batch planning according to their board order within the set. The board order can be determined based on the identification order of the PCBs in the current batch, their arrangement order on the conveyor belt, or a preset batch sorting rule. Once the placement location subset for this batch is determined, the PCB placement collaborative planning system sorts the actual placement locations used in the current batch according to the placement position order within this subset.

[0068] When establishing the correspondence between PCB placements, the PCB placement collaborative planning system establishes a correspondence between the sorted PCBs and their sorted placement positions, ensuring that each PCB in the plannable PCB set corresponds to a placement position in the current batch's placement position subset. This correspondence characterizes the target placement position of each PCB under the current candidate work plan, establishing a definite correspondence between the PCB sequence and the order of their placement positions.

[0069] 502. Establish the active reader allocation relationship between PCB boards and readers according to the reader order in the reader head set and the board order in the planarable board set; The PCB placement collaborative planning system sorts the suction heads that can participate in the planning of the current batch according to the suction head set in the execution partition corresponding to the current batch, and sorts the PCB boards to be established with suction head correspondences according to the board order of the plannable board set. The suction head order can be determined according to the suction head number order, the horizontal arrangement order of the suction heads in the execution partition, or the preset execution order of the equipment.

[0070] When establishing active reader head assignment relationships, the PCB board placement collaborative planning system establishes a correspondence between PCB boards and the active readers used for PCB board gripping and placement, according to the reader head sequence and board sequence. The active reader head assignment relationship characterizes which active readers in the current candidate job scheme will perform gripping and placement for each PCB board. Because the active reader head assignment relationship is established according to the reader head sequence and board sequence, it reduces the complexity of motion organization caused by disordered cross-assignment and ensures a stable assignment caliber for subsequent candidate job schemes.

[0071] 503. Generate an idle head handling method based on the active head allocation relationship, board placement correspondence, and idle head waiting position; After the active suction head allocation relationship and board placement correspondence are determined, the PCB board placement collaborative planning system determines the correspondence between active suction heads and PCB boards based on the active suction head allocation relationship, and the correspondence between PCB boards and placement positions based on the board placement correspondence relationship. It also reads the waiting position of idle suction heads within the current execution partition. The waiting position of idle suction heads represents their initial docking position when they are not participating in PCB board gripping and placement in the current batch.

[0072] The PCB placement collaborative planning system generates idle reader handling methods based on the active reader allocation relationship, board placement correspondence, and the waiting positions of idle readers. These idle reader handling methods represent the processing arrangement of idle readers in the current candidate job scheme, ensuring that idle readers not involved in PCB board operations are also included in the candidate job scheme expression for the current batch. The idle reader handling methods generated here can serve as the basis for subsequent joint safety screening.

[0073] 504. Generate candidate job plans based on the active suction head allocation relationship, idle suction head handling method, and board placement correspondence.

[0074] After obtaining the active pick-up head allocation relationship, idle pick-up head handling method, and board placement correspondence, the PCB board placement collaborative planning system organizes these three factors into candidate job schemes. A candidate job scheme represents a job arrangement for the set of plannable boards in the current batch within the current execution partition.

[0075] In the candidate job schemes, the board placement correspondence determines the relationship between the PCB board and its placement location, the active nozzle allocation relationship determines the relationship between the PCB board and the active nozzle, and the idle nozzle handling method determines the processing arrangement of the idle nozzle in the current candidate job scheme. Thus, the PCB boards, placement locations, active nozzles, and idle nozzles in the current batch are all uniformly included in the same candidate job scheme, providing a complete scheme object for subsequent joint safety screening.

[0076] In this embodiment, the PCB board placement collaborative planning system establishes a correspondence between board placement according to the board sequence of the planarable board set and the placement position order of the current batch's placement position subset. It also establishes an active suction head allocation relationship according to the suction head order in the suction head set and the board sequence of the planarable board set. Furthermore, it generates idle suction head handling methods by combining the waiting positions of idle suction heads. This allows candidate job schemes to simultaneously cover three types of relationships: board placement, active suction head execution, and idle suction head handling. This improves the completeness of the current batch's candidate job scheme expression and the accuracy of subsequent joint safety screening. Simultaneously, establishing the correspondence sequentially reduces the complexity of unordered combinations during candidate job scheme generation and enhances the sequential consistency during partition action plan generation.

[0077] In some embodiments of this application, step 502 in the above embodiments, which establishes the active reader allocation relationship between the PCB board and the readers according to the reader order in the reader head set and the board order in the planarable board set, may include the following steps: 5021. Based on the nozzle sequence and board sequence, construct a sequence-restricted allocation state. The allocation state is used to represent the allocation progress between the number of preceding nozzles and the number of preceding PCB boards. The PCB placement collaborative planning system constructs a sequence-constrained allocation state based on the suction head sequence within the execution partition corresponding to the current batch and the PCB board sequence within the plannable board set. This allocation state represents the number of preceding suction heads already considered and the number of preceding PCB boards already allocated at the current allocation progress, thereby confining the correspondence between PCB boards and suction heads within a sequential allocation framework.

[0078] In this allocation state, the number of preceding picks represents how many picks in the pick set have been included in the current allocation decision, and the number of preceding PCBs represents how many PCBs in the set of plannable boards have been included in the current allocation result. Since the allocation state is constrained by both the pick order and the board order, the subsequent generated allocation relationships can maintain relative consistency between the pick order and the PCB board order, avoiding disordered cross-allocation when establishing active pick allocation relationships.

[0079] 5022. In the allocation state, generate candidate allocation results. Candidate allocation results include candidate results where the current suction head does not correspond to the PCB board, or candidate results where the current suction head establishes a correspondence with the current PCB board. In each allocation state, the PCB board placement collaborative planning system generates candidate allocation results based on the current suction head and the current PCB board. The candidate allocation results fall into two categories: one category is candidate results where the current suction head does not correspond to a PCB board, meaning the current suction head is not determined to serve the current PCB board in this allocation state; the other category is candidate results where a correspondence is established between the current suction head and the current PCB board, meaning the current suction head is determined to serve the current PCB board in this allocation state.

[0080] When a candidate result is generated indicating that the current reader head does not correspond to a PCB board, the allocation progress continues along the reader head sequence, and the number of PCB boards already allocated does not increase due to the current reader head. When a candidate result is generated indicating that the current reader head and the current PCB board are associated, the current reader head is included in the active reader head allocation range, and the current PCB board is considered to have been associated with that reader head. Therefore, the PCB board placement collaborative planning system can perform bounded candidate expansion regarding whether a reader head should participate in the current PCB board operation under a sequence-constrained allocation state.

[0081] 5023. Based on the cumulative movement cost corresponding to the candidate allocation results, retain the candidate allocation results that meet the preset cost conditions; After generating candidate allocation results, the PCB placement collaborative planning system calculates the cumulative movement cost corresponding to each candidate allocation result. For any candidate allocation result, if there are multiple active suction heads, the system determines the waiting position, the gripping position of the corresponding PCB board, and the placement position of each active suction head. It then calculates the movement distance of each active suction head from the waiting position to the gripping position and then from the gripping position to the placement position. The sum of the movement distances corresponding to all active suction heads is the cumulative movement cost corresponding to that candidate allocation result.

[0082] For example, for a given active suction head, its waiting position is the first lateral position, the corresponding PCB board gripping position is the second lateral position, and the corresponding PCB board placement position is the third lateral position. The travel distance corresponding to this active suction head can be determined based on the distance between the first and second lateral positions, and the distance between the second and third lateral positions. The travel distance for each active suction head in the candidate allocation results is calculated in the above manner, and the cumulative travel distances are summed to obtain the cumulative travel cost.

[0083] The PCB placement collaborative planning system filters and retains candidate allocation results based on cumulative movement costs and preset cost conditions. Preset cost conditions can be used to retain candidate allocation results whose cumulative movement costs meet preset ranges, preset sorting requirements, or preset optimal requirements. Candidate allocation results that do not meet the preset cost conditions are no longer used as the basis for subsequent backtracking to obtain active pick-up head allocation relationships; candidate allocation results that meet the preset cost conditions are retained.

[0084] Therefore, the retention of candidate allocation results is not based solely on whether a correspondence between the PCB board and the active suction head can be established, but is further constrained by the total movement distance of all active suction heads from the waiting position through the gripping position to the placement position, so that the retained candidate allocation results meet the allocation requirements of the current batch in terms of the movement overhead of the active suction head.

[0085] 5024. Based on the retained candidate allocation results, backtrack to obtain the active suction head allocation relationship.

[0086] After retaining the candidate allocation results with restricted order, the PCB placement collaborative planning system backtracks based on the retained candidate allocation results to determine the correspondence between each PCB board and the suction head. During the backtracking process, based on the correlation between the candidate allocation results, it reversely determines which suction heads have established a correspondence with the PCB board and which suction heads have not established a correspondence with the PCB board, and thus obtains the active suction head allocation relationship between the PCB board and the suction head.

[0087] The active pick-up head allocation relationship obtained through backtracking is used to indicate which pick-up heads will perform the picking and placing actions for each planarable PCB board in the current batch. Since this active pick-up head allocation relationship is derived from the order-constrained allocation state and the candidate allocation results that meet the preset cost conditions, it maintains the allocation constraints between the pick-up head order and the board order, while also taking into account the allocation rationality under the cumulative movement cost conditions.

[0088] In this embodiment, the PCB placement collaborative planning system constructs an allocation state with restricted order based on the order of the pick-up nozzles and the board sequence. In each allocation state, it generates only candidate allocation results where the current pick-up nozzle does not correspond to a PCB board or where a correspondence is established between the current pick-up nozzle and the current PCB board. Then, based on the cumulative movement cost, it retains candidate allocation results that meet preset cost conditions. Finally, it backtracks to obtain the active pick-up nozzle allocation relationship. This ensures that the generation process of the active pick-up nozzle allocation relationship is subject to both order constraints and cost constraints, thereby reducing the computational complexity caused by unordered enumeration of PCB board and pick-up nozzle correspondences and improving the consistency between the active pick-up nozzle allocation results and the current batch board sequence and pick-up nozzle order. Simultaneously, retaining candidate allocation results that meet preset cost conditions provides a cost-efficient allocation basis for generating subsequent candidate job schemes.

[0089] Please see Figure 6 In some embodiments of this application, step 106 in the above embodiments, which selects a target job scheme from executable job schemes, may include the following steps: 601. Sort the executable job plans in ascending order of cumulative movement cost; After determining at least one executable job plan, the PCB board placement collaborative planning system reads the cumulative movement cost corresponding to each executable job plan. The cumulative movement cost is the total distance traveled by all active pick-up heads in the executable job plan from the waiting position through the pick-up position to the placement position, and is used to characterize the basic movement overhead required for the active pick-up heads to complete the pick-up and placement task of the current batch of PCB boards.

[0090] The PCB placement collaborative planning system sorts all executable job schemes in ascending order of cumulative movement cost, resulting in a sequence of executable job schemes. The executable job scheme with the lower the cumulative movement cost is ranked higher in the sequence. Therefore, subsequent calculations of the actual total cost can prioritize executable job schemes with lower basic movement costs for the active pick-up heads.

[0091] 602. Calculate the true total cost of the first executable job plan according to the sorting order as the optimal total cost; where the true total cost includes the cumulative movement cost and the avoidance cost of all idle suction heads; The PCB placement collaborative planning system reads the first executable job plan from the sequence of executable job plans and calculates the true total cost of that first executable job plan. The true total cost includes the cumulative movement cost corresponding to the executable job plan, as well as the avoidance cost of all idle suction heads in the executable job plan.

[0092] The avoidance cost of idle readers is used to characterize the additional movement overhead incurred by idle readers due to their handling method. If an idle reader remains in place and waits in the executable job plan, the avoidance cost for that idle reader can be zero. If an idle reader needs to move to an avoidance position in the executable job plan, the avoidance cost for that idle reader can be determined based on the distance traveled by the idle reader from the waiting position to the avoidance position. The avoidance costs corresponding to all idle readers are combined with the cumulative movement costs to obtain the true total cost of the executable job plan.

[0093] The PCB placement collaborative planning system uses the actual total cost of the first executable job plan as the initial optimal total cost, and uses the first executable job plan as the executable job plan corresponding to the current optimal total cost.

[0094] 603. Calculate the true total cost of subsequent executable job plans in the sorting order. If the true total cost of the current executable job plan is less than the optimal total cost, update the optimal total cost. After obtaining the initial optimal total cost, the PCB placement collaborative planning system continues to read subsequent executable job plans according to the sorting order and calculates the true total cost of the current executable job plan. For the current executable job plan, the PCB placement collaborative planning system also merges the cumulative movement cost corresponding to the executable job plan with the avoidance cost of all idle suction heads to obtain the true total cost of the current executable job plan.

[0095] When the actual total cost of the current executable job plan is less than the recorded optimal total cost, the PCB placement collaborative planning system updates the actual total cost of the current executable job plan to the new optimal total cost and records the current executable job plan as the executable job plan corresponding to the new optimal total cost. When the actual total cost of the current executable job plan is not less than the recorded optimal total cost, the PCB placement collaborative planning system keeps the optimal total cost unchanged.

[0096] 604. If the cumulative movement cost of the current executable job plan is greater than or equal to the optimal total cost, then stop calculating the actual total cost and updating the optimal total cost; otherwise, calculate the actual total cost of the next executable job plan and update the optimal total cost. When processing executable job plans according to the sorting order, the PCB board placement collaborative planning system compares the cumulative movement cost of the current executable job plan with the recorded optimal total cost. Since the true total cost includes the cumulative movement cost and the avoidance cost of all idle pick-up heads, and the avoidance cost of idle pick-up heads does not reduce the cumulative movement cost, the cumulative movement cost of the current executable job plan can be used as the lower limit of the true total cost of the executable job plan.

[0097] When the cumulative movement cost of the current executable job plan is greater than or equal to the recorded optimal total cost, it indicates that the current executable job plan, and the executable job plans that follow it in the sorting order, are unlikely to yield a true total cost less than the optimal total cost, even without considering the avoidance cost of idle pick-up heads. In this case, the PCB placement collaborative planning system stops calculating the true total cost of subsequent executable job plans and stops updating the optimal total cost.

[0098] When the cumulative movement cost of the current executable job plan is less than the recorded optimal total cost, it indicates that the current executable job plan may still yield a smaller actual total cost after factoring in the avoidance cost of idle pick-up heads. The PCB placement collaborative planning system continues to calculate the actual total cost of the next executable job plan and determines whether to update the optimal total cost based on the calculation results.

[0099] 605. Take the executable job plan corresponding to the optimal total cost as the target job plan.

[0100] After the actual total cost calculation and optimal total cost update are completed, the PCB board placement collaborative planning system reads the currently recorded optimal total cost and uses the executable job plan corresponding to the optimal total cost as the target job plan. The target job plan retains its corresponding active pick-up head allocation relationship, idle pick-up head handling method, and board placement correspondence, so as to generate a partitioned action plan for the pick-up head set based on the target job plan in the future.

[0101] In this embodiment, the PCB placement collaborative planning system first sorts the executable job schemes according to the cumulative movement cost, then initializes the optimal total cost with the actual total cost of the first executable job scheme, and updates the optimal total cost when the actual total cost of subsequent executable job schemes is less than the optimal total cost. Simultaneously, the cumulative movement cost serves as a lower limit for the actual total cost; when the cumulative movement cost of the current executable job scheme is greater than or equal to the optimal total cost, subsequent calculations of the actual total cost and updates to the optimal total cost cease. This ensures that the selection of the target job scheme can simultaneously consider the total movement distance of active read / write heads and the avoidance cost of idle read / write heads, thereby reducing unnecessary calculations of the actual total cost and improving the efficiency of the target job scheme selection process. Furthermore, the target job schemes are derived from executable job schemes that already meet the read / write head execution safety requirements and idle read / write head handling requirements, maintaining consistency between the scheme selection results and the aforementioned joint safety screening results.

[0102] Please see Figure 7 In some embodiments of this application, after step 107 in the above embodiments selects a target job plan from executable job plans and generates a partitioned action plan for the suction head set according to the target job plan, the method may further include the following steps: 701. When executing a partition action plan, based on the idle head handling method corresponding to the partition action plan, control the idle head corresponding to the idle head handling method to either remain in its original position and wait or move to an avoidance position and enter a waiting start state. After the target job plan is converted into a partitioned action plan for the pick-up head set, the PCB board placement collaborative planning system or its cooperating execution control unit enters the execution preparation phase according to the partitioned action plan. The partitioned action plan includes the idle pick-up head handling method corresponding to the current batch. This idle pick-up head handling method is used to indicate the processing arrangement of idle pick-up heads in the current execution partition that are not involved in the PCB board picking and placement action in this batch.

[0103] When the idle head handling mode indicates that the idle head can wait in place, the idle head is kept in the waiting position and enters the waiting start state. When the idle head handling mode indicates that the idle head needs to move to a clearance position, the idle head is moved from the waiting position to the corresponding clearance position and enters the waiting start state after reaching the clearance position. Thus, before the active head officially performs PCB board picking, handling, and placement actions, the idle head is already in a safe waiting state that matches the current partition action plan.

[0104] 702. When the idle suction head has completed the avoidance or does not need to avoid, control the longitudinal actuator of the corresponding execution zone of the current batch to establish a synchronous relationship with the belt regarding motion, and lock the synchronous trigger position; When the idle suction head has completed its avoidance maneuver, or when the idle suction head handling method determines that it does not need to avoid maneuver, the longitudinal actuator of the current batch's corresponding execution zone establishes a synchronization relationship with the conveyor belt. This synchronization relationship enables the longitudinal actuator of the current execution zone to cooperate with the active suction head to complete the PCB board processing action according to the zone's action plan while the conveyor belt is in motion.

[0105] When establishing a synchronization relationship, the synchronization trigger position is locked. The synchronization trigger position represents the trigger benchmark for the current execution partition to enter the synchronous execution state, enabling subsequent active pick-up heads to perform grabbing, moving, and placing under the defined synchronization benchmark. Thus, the partition action plan for the current batch transitions from the waiting-to-start state to the synchronous execution state.

[0106] 703. During the synchronization period, according to the execution order in the partition action plan, control the active suction head corresponding to the active suction head allocation relationship to complete the gripping, handling and placement of the PCB board; While maintaining the synchronization between the longitudinal actuator and the belt, the active suction heads corresponding to the active suction head allocation relationships are controlled to sequentially perform the gripping, transporting, and placement of PCB boards according to the execution sequence in the partition action plan. The active suction head allocation relationship is used to determine the PCB board corresponding to each active suction head, and the execution sequence in the partition action plan is used to determine the order in which the active suction heads perform their actions within the current execution partition.

[0107] For each active suction head, its gripping position on the corresponding PCB board is controlled to complete the gripping process. The corresponding placement position is determined according to the board placement correspondence in the target work plan, and the active suction head is controlled to complete the PCB board handling and placement. During the synchronization period, the actions of each active suction head proceed according to the zone action plan, ensuring that the suction head allocation and board placement results in the target work plan are implemented as actual actions within the current execution zone.

[0108] 704. After the active suction head completes the gripping, transporting and placing, the synchronization relationship between the longitudinal actuator and the belt is released, and the suction heads that need to return to their waiting positions are controlled according to the idle suction head handling method.

[0109] Once the active suction head in the partition action plan completes the gripping, transporting, and placement of the PCB board, the longitudinal actuator of the corresponding partition for the current batch is desynchronized from the belt's movement. After the synchronization is desynchronized, the corresponding partition for the current batch ends its synchronized execution state and enters the final processing stage.

[0110] During the final processing phase, it is determined whether any readers need to return to their original positions based on the idle reader handling method. For idle readers that have moved to an avoidance position according to the idle reader handling method, they are controlled to return to the waiting position; for idle readers that remain in their original positions and do not need to return, no return control is performed. Thus, after the current batch is completed, readers that need to return to their original positions can be restored to the waiting position, providing initial position conditions for the execution of the partition action plan of subsequent batches.

[0111] In this embodiment, when executing the partitioned action plan, the idle suction heads are first controlled to wait in place or move to an avoidance position according to the idle suction head handling method. Then, after the idle suction heads have completed the avoidance or no avoidance is required, a synchronization relationship between the longitudinal actuator and the belt is established regarding the movement. During the period of maintaining the synchronization relationship, the active suction heads are controlled to complete the gripping, handling, and placement of PCB boards according to the execution sequence. Finally, the synchronization relationship is released and the suction heads that need to return to their waiting positions are controlled to return to their waiting positions. This allows the target operation plan to be implemented according to the execution chain of "safe waiting of idle suction heads - establishment of partitioned synchronization - orderly execution of active suction heads - release of synchronization and return to their positions", thereby improving the consistency between the planning results and the equipment execution process and the stability of the current batch of actions. At the same time, the arrangement of the idle suction heads to avoid or wait in place is completed before the synchronous execution, which can reduce the risk of the idle suction heads interfering with the execution process of the active suction heads; the locking of the synchronous trigger position can enhance the timing controllability of the gripping and placement actions when the belt is in motion.

[0112] Please see Figure 8In some embodiments of this application, step 103 in the above embodiments, which generates a set of placement positions within the lateral available range of the belt based on operating parameters and determines a subset of placement positions for this batch from the set of placement positions, may include the following steps: 801. Based on the current board width matching board width grading rules in the operating parameters, determine the maximum allowable number of boards in a single batch corresponding to the current board width; The PCB placement collaborative planning system reads the current board width from the operating parameters and matches it with preset board width grading rules. These rules characterize the correspondence between different board width ranges and the maximum allowed number of boards per batch. Once the current board width falls within a certain range, the system determines the maximum allowed number of boards per batch corresponding to that range and uses this as a quantity constraint for generating the placement location set for the current batch.

[0113] The maximum allowed number of boards per batch is used to limit the maximum number of PCBs that can be planned in the same batch under the current board width. Since the width of the PCB board affects the number of placement positions that can be accommodated in the lateral space of the conveyor belt, determining the maximum allowed number of boards per batch based on the current board width first can ensure that the subsequent set of placement positions is adapted to the actual size of the current PCB board, avoiding insufficient placement space or unreasonable use of placement space under the current board width due to the use of a fixed number of placement positions.

[0114] 802. Determine the usable lateral range of the belt based on the total belt width and edge allowance in the operating parameters; The PCB placement collaborative planning system reads the total belt width and edge allowance from the operating parameters, and determines the usable lateral range of the belt based on the total belt width and edge allowance. The edge allowance is used to reserve non-planned areas from both sides of the belt laterally, while the usable lateral range of the belt is the lateral area that allows for the generation of placement positions after deducting the edge allowance.

[0115] After determining the available lateral range of the conveyor belt, all subsequent placement positions are limited to this range. Therefore, the PCB placement plan for this batch will not directly occupy the reserved area at the edge of the conveyor belt, ensuring that the set of placement positions conforms to the lateral space constraints under the current operating conditions of the multi-head suction equipment.

[0116] 803. Based on the maximum allowable number of plates per batch, generate multiple placement positions within the available lateral range of the belt to obtain a set of placement positions; The PCB placement collaborative planning system generates multiple placement positions within the available lateral range of the conveyor belt based on the maximum allowable number of boards per batch corresponding to the current board width, resulting in a set of placement positions. The number of placement positions matches the maximum allowable number of boards per batch, ensuring that this set of placement positions represents the maximum range of placement positions available for the current batch under the current board width conditions.

[0117] When generating placement positions, each placement position is located within the available lateral range of the belt and can be arranged in an ordered manner according to its lateral position. This set of placement positions serves as the base set for selecting the actual placement positions for the current batch. Subsequent subsets of placement positions for this batch are determined from this set, rather than from arbitrary positions without a defined lateral available range.

[0118] 804. Based on the number of planarable boards, select the corresponding number of placement positions from the placement position set according to the order constraints to obtain the placement position subset for this batch.

[0119] After obtaining the set of placement locations, the PCB placement collaborative planning system determines the number of placement locations to be selected in the current batch based on the number of plannable boards. The set of placement locations includes multiple placement locations arranged in a preset order, each with a corresponding placement location index. The number of plannable boards is used to limit the number of placement locations in the subset of placement locations in this batch, ensuring that the subset of placement locations in this batch matches the actual number of PCBs participating in the planning in the current batch.

[0120] When selecting a subset of placement locations for this batch, the PCB placement collaborative planning system selects a corresponding number of placement locations from the set of placement locations according to order constraints. These order constraints include a strict ascending order of placement location indices; that is, if the subset of placement locations for this batch includes multiple placement locations, the index of the later selected placement location is greater than the index of the previous selected placement location. Therefore, the placement locations in the subset of placement locations for this batch maintain a consistent order with the set of placement locations.

[0121] The subset of placement positions in this batch can be either a contiguous subset or a non-contiguous subset of the set of placement positions. A contiguous subset is formed when the selected placement positions have consecutive indices in the set of placement positions. A non-contiguous subset is formed when the selected placement positions have indices that are not completely consecutive but still satisfy the strict increasing order of indices. For example, if the set of placement positions includes a first, second, third, and fourth placement position arranged sequentially, then selecting the first and second placement positions forms a contiguous subset, while selecting the first and third placement positions forms a non-contiguous subset.

[0122] Therefore, when selecting a subset of placement locations for the current batch based on the number of plannable boards, the PCB placement collaborative planning system does not require the subset to consist of adjacent placement locations. It only requires that the number of selected placement locations corresponds to the number of plannable boards, and that the indices of the selected placement locations satisfy a strictly increasing order constraint. This improves the flexibility of selecting a subset of placement locations for the current batch while maintaining a stable board placement order.

[0123] In this embodiment, the PCB board placement collaborative planning system first determines the maximum allowable number of boards per batch based on the current board width matching the board width grading rules. Then, it determines the available lateral range of the conveyor belt based on the total belt width and edge allowance. A set of placement positions is generated within this lateral range according to the maximum allowable number of boards per batch. Finally, a subset of placement positions is selected from this set based on the number of plannable boards to form the current batch's placement position subset. This ensures that the number of placement positions in the current batch is constrained by the current board width and matches the actual number of plannable boards, thereby improving the consistency between placement position planning and the current batch's board dimensions, conveyor belt lateral space, and batch processing scale. Simultaneously, since all placement positions are generated within the available lateral range of the conveyor belt, the risk of placement exceeding the boundary is reduced. Generating a set of placement positions before selecting the current batch's placement position subset provides a unified basis for selecting placement positions for batches with different plannable board numbers.

[0124] In a specific example of this application, the PCB placement collaborative planning system is deployed on a backend application server and communicates with a vision recognition device, a multi-head suction device controller, and a belt encoder. The multi-head suction device includes six suction heads, denoted as... h 1. h 2. h 3. h 4. h 5 and h 6. It is divided into two execution partitions according to shared vertical execution constraints, wherein the first execution partition includes... h 1. h 2 and h 3. The second execution partition includes h 4. h 5 and h 6. This example illustrates the collaborative planning for placing PCBs in the current batch within the first execution partition.

[0125] In the current operating parameters, the total number of suction heads on the device is... m = 6, total belt width = 800mm, left edge margin = 35mm, right edge margin = 35mm, current board width = 145mm, effective suction head radius = 20mm, mechanical safety margin = 10mm. The PCB board placement collaborative planning system determines the available lateral width of the belt according to the following formula: usable_width = belt_width - edge_margin_left - edge_margin_right Substituting the above parameters, we get usable_width = 800 - 35 - 35 = 730mm, therefore the usable lateral range of the belt is 35mm to 765mm. The PCB board placement collaborative planning system also determines the minimum safety clearance according to the following formula: safe_gap = 2 × head_radius + mechanical_margin Substituting the above parameters, we get safe_gap = 2 × 20 + 10 = 50mm. This minimum safety gap is used to constrain the execution safety relationship of active suction heads within the same execution zone, and also to determine whether the waiting or avoidance arrangement of idle suction heads meets the safety requirements.

[0126] The PCB placement collaborative planning system matches the current board width (board_width = 145mm) with the board width grading rules. In the board width grading rules, the board width range is [...]. w q min , w q max [Corresponding to the maximum allowable number of boards per batch] N q The current board width meets the conditions for matching the corresponding segment: w q min ≤ board_width ≤ w q max In this example, board_width=145mm falls within the board width range of 121.67mm to 146.00mm. Therefore, the maximum allowable number of boards per batch corresponding to the current board width is... N q = 5. PCB board placement collaborative planning system based on N q = 5 Generate a set of placement locations within the available lateral range of the belt, based on the total number of suction heads. m = 6 Generates the default waiting position for each suction head.

[0127] For any suction head h i Its default waiting position w i Determine using the following formula: w i = edge_margin_left + usable_width × (2 i- 1) / (2 m ), i = 1, 2, ..., m Will m Substituting 6, edge_margin_left = 35mm, and usable_width = 730mm, we get... h 1 to h The default waiting positions for 6 are as follows: w 1 = 95.83mm, w 2 = 217.50mm, w 3 = 339.17 mm w 4 = 460.83 mm w 5 = 582.50 mm w 6 = 704.17 mm.

[0128] For the current board width level, the first j Each placement position has a horizontal coordinate slot. j Determine using the following formula: slot j = edge_margin_left + usable_width × (2 j - 1) / (2 × N q ), j = 1, 2, ..., N q Will N q Substituting the values ​​of 5, edge_margin_left = 35mm, and usable_width = 730mm, we obtain the placement position set P = {slot1, slot2, slot3, slot4, slot5}, where slot1 = 108.00mm, slot2 = 254.00mm, slot3 = 400.00mm, slot4 = 546.00mm, and slot5 = 692.00mm. All five placement positions fall within the usable lateral range of the belt, from 35mm to 765mm.

[0129] The visual recognition device identified two PCBs located on the conveyor belt in the current batch, and recorded them as follows: b 1 and b 2. b Part number 1 is identified as B001, batch number is A01, identification status is valid, and the horizontal coordinate of the grab position is [not specified]. k 1 = 120.00mm, attitude angle is 1.5°;b Part number 2 is identified as B002, batch number is A01, identification status is valid, and the horizontal coordinate of the grab position is [not specified]. k 2 = 300.00mm, attitude angle is -0.8°. The PCB board placement collaborative planning system receives the above identification information and combines it with the available lateral range of the conveyor belt to perform planning input processing. Due to b 1 and b The recognition status of 2 is valid, and k 1 = 120.00mm k 2=300.00mm are all within the usable lateral range of belts from 35mm to 765mm, therefore... b 1 and b 2. Include the planarable board set B = { b 1, b 2} Number of planarable boards c = 2.

[0130] Due to the number of planarable boards in the current batch c = 2. The PCB board placement collaborative planning system selects two placement positions from the placement position set P according to order constraints, forming a subset of placement positions for this batch. Let the placement position index sequence corresponding to this subset of placement positions be s1. s 2, ..., s c Then the index sequence satisfies the following order constraint: 1 ≤ s 1< s 2<...< s c ≤ N q In this example, the PCB placement collaborative planning system can select... s 1 = 1、 s 2 = 2, thus obtaining the subset P of placement locations for this batch. sub = {slot1, slot2}, i.e., P sub = {108.00mm, 254.00mm}. This subset is a contiguous subset of the placement location set P. It can also be selected from other current batches. s 1 = 1、 s 2 = 3, resulting in non-contiguous subsets like {slot1, slot3}, which can be obtained as long as the index of the placement position satisfies strict increasing.

[0131] The PCB board placement collaborative planning system plans the board sequence of the plannable board set B and the placement location subset P of this batch. sub The placement order in the diagram establishes the correspondence between the PCB board and its placement location. In this example,b 1 corresponds to slot 1, which is the placement position. p 1 = 108.00 mm; b 2 corresponds to slot 2, which is the placement position. p 2 = 254.00mm. Therefore, both PCBs in the current batch have definite target placement positions, and both the gripping position and the placement position are within the usable lateral range of the conveyor belt.

[0132] Subsequently, the PCB placement collaborative planning system is based on the suction head set H1={ within the first execution partition. h 1, h 2, h 3} and the set of planarable boards B = { b 1, b 2) Establish active pick-up head allocation relationships. To maintain the correspondence between pick-up head order and board order, the PCB board placement collaborative planning system constructs a sequence-constrained allocation state dp[ i ][ j ], where dp[ i ][ j ] indicates the preceding i Before each candidate suction head service j The minimum cumulative movement cost when using a block PCB board. This allocation status is used to indicate the allocation progress between the number of preceding pick-up heads and the number of preceding PCB boards.

[0133] In each allocation state, the PCB board placement collaborative planning system generates only two types of candidate allocation results: the current suction head does not correspond to a PCB board, or a correspondence is established between the current suction head and the current PCB board. When a correspondence is established between the current suction head and the current PCB board, the travel distance of the active suction head is determined as follows: | w i - k i | + | k i - p i | in, w i This is the waiting position of the currently active suction head. k i This indicates the current gripping position on the PCB board. p i This represents the current placement position of the PCB board. The cumulative movement cost corresponding to the candidate assignment result is the total distance traveled by all active suction heads from the waiting position through the grab position to the placement position.

[0134] In this example, if h 1 corresponds to b 1, thenh The corresponding distance traveled is |95.83 - 120.00| + |120.00 -108.00| = 36.17 mm; if h 2 correspondence b 2, then h The corresponding distance traveled is |217.50 - 300.00| + |300.00 - 254.00| = 128.50 mm; if h 3 correspondence b 2, then h The corresponding travel distance for 3 is |339.17 - 300.00| + |300.00 - 254.00| = 85.17 mm. Under the condition of satisfying the suction head sequence and plate sequence, the candidate allocation results can include... h 1 corresponds to b 1 and h 2 correspondence b 2. h 1 corresponds to b 1 and h 3 correspondence b 2. h 2 correspondence b 1 and h 3 correspondence b 2. The PCB board placement collaborative planning system retains candidate allocation results that meet preset cost conditions based on the cumulative movement costs corresponding to the candidate allocation results. Assuming that in this example, the candidate allocation result with the smaller cumulative movement cost is retained, then... h 1 corresponds to b 1 and h 3 correspondence b The cumulative movement cost of position 2 is 36.17mm + 85.17mm = 121.34mm, which meets the preset cost condition and is therefore retained. The PCB board placement collaborative planning system backtracks based on the retained candidate allocation results to obtain the active pick-up head allocation relationship: h 1 corresponds to b 1, h 3 correspondence b 2.

[0135] As defined above, the suction head set H1 in the first execution partition corresponds to the PCB board. h 1 and h 3 represents an active suction head that has not yet been associated with the PCB board. h 2 represents idle suction heads. The PCB board placement collaborative planning system uses active suction head allocation relationships, board placement correspondence relationships, and idle suction heads as a basis for its system. h Waiting position 2 w 2 = 217.50mm, generating an idle suction head handling method. At this point, candidate operation schemes include:b Place 1 into slot 1. b Place 2 into slot 2; h 1 Execution b 1. Grabbing and placing h 3 Execution b 2. Grabbing and placing; h The initial processing method for option 2 is to be positioned at the waiting position of 217.50mm and await subsequent safety assessment. At this point, the planarable board set, placement location subset, active suction head allocation relationship, idle suction head processing method, and board placement correspondence are all uniformly organized into the same candidate operation plan.

[0136] The PCB placement collaborative planning system performs joint safety screening of candidate job schemes. First, based on the active suction head allocation relationship and the board placement correspondence, it determines the path corridor for each active suction head from its waiting position through its gripping position to its placement position. For any active suction head… h i Its path corridor sweep i Determine using the following formula: sweep i = [min( w i , k i , p i ), max( w i , k i , p i )] for h 1, w 1 = 95.83 mm k 1 = 120.00 mm p 1 = 108.00 mm, therefore sweep1 = [95.83 mm, 120.00 mm]. For h 3, w 3 = 339.17 mm k 3 = 300.00 mm p Since 3 = 254.00mm, sweep3 = [254.00mm, 339.17mm]. The PCB placement collaborative planning system determines whether the active suction head meets the minimum safe distance requirement based on sweep1 and sweep3. Since the right boundary of sweep1 is 120.00mm and the left boundary of sweep3 is 254.00mm, the gap between them is 134.00mm, which is greater than safe_gap = 50mm. Therefore, this candidate operation plan meets the safety requirements for active suction head execution.

[0137] After the candidate job plan satisfies the active nozzle execution safety judgment, the PCB placement collaborative planning system determines the idle nozzles based on the path corridor h 2 to determine whether it meets the legality of in-situ waiting. For any horizontal position x , if its minimum distance to the path corridor sweep i of the current active nozzle satisfies the following conditions, then this position belongs to the safety envelope restricted area formed by the path corridor of the corresponding active nozzle: dist( x , sweep i ) < safe_gap In this example, h the waiting position of 2 is 217.50 mm. h The distance from the waiting position 217.50 mm of 2 to sweep1 = [95.83 mm, 120.00 mm] is 97.50 mm, which is greater than safe_gap = 50 mm; but h the distance from the waiting position 217.50 mm of 2 to sweep3 = [254.00 mm, 339.17 mm] is 36.50 mm, which is less than safe_gap = 50 mm. Therefore, h the in-situ waiting of 2 at 217.50 mm does not meet the legality of in-situ waiting.

[0138] In h the case where 2 does not meet the legality of in-situ waiting, the PCB placement collaborative planning system determines the avoidance position within the legal range of the nozzle center. In this example, the legal range of the nozzle center is taken as 35 mm to 765 mm. After sweep1 = [95.83 mm, 120.00 mm] is expanded to both sides according to safe_gap = 50 mm, the no-go range formed for the idle nozzle is [45.83 mm, 170.00 mm]; after sweep3 = [254.00 mm, 339.17 mm] is expanded to both sides according to safe_gap = 50 mm, the no-go range formed for the idle nozzle is [204.00 mm, 389.17 mm]. After deducting the above no-go ranges within the legal range of the nozzle center, the legal boundary point close to h the default waiting position 217.50 mm of 2 is 204.00 mm. This avoidance position is within the legal range of the nozzle center, and the distance from its left boundary 254.00 mm of sweep3 is 50.00 mm, which does not meet the no-go condition of dist(x, sweep i ) < safe_gap. Therefore, the PCB placement collaborative planning system determines 204.00 mm as h the avoidance position of 2.

[0139] The PCB placement collaborative planning system updates the idle suction head handling method based on the avoidance position of 204.00mm. h The handling method for option 2 has been updated from waiting in place to moving to 204.00mm and then waiting. After the update, this candidate operation plan simultaneously meets the safety requirements for the suction head and the requirements for handling idle suction heads, and is therefore determined to be an executable operation plan. If the idle suction head in another candidate operation plan cannot wait in place, nor can a relocation position be determined within the legal range of the suction head center, then this other candidate operation plan will not be determined to be an executable operation plan.

[0140] Assuming the PCB placement collaborative planning system obtains multiple executable operation plans after joint safety screening, the target operation plan is selected based on the cumulative movement cost and the actual total cost. The PCB placement collaborative planning system first sorts the executable operation plans according to their cumulative movement cost from smallest to largest. For the executable operation plan ranked first, its actual total cost is calculated and used as the initial optimal total cost. The actual total cost includes the cumulative movement cost and the avoidance cost of all idle suction heads. For the executable operation plan in this example, the cumulative movement cost is 121.34 mm. If the idle suction heads... h 2. After moving from 217.50mm to 204.00mm, wait, and then need to return to 217.50mm later. h The cost of avoiding obstacle 2 can be calculated based on the round-trip distance as |217.50 - 204.00| + |204.00 - 217.50| = 27.00mm. Therefore, the actual total cost of this feasible operation plan is 121.34mm + 27.00mm = 148.34mm.

[0141] The PCB placement collaborative planning system continues to calculate the true total cost of subsequent executable job plans according to the sorting order. When the true total cost of the current executable job plan is less than the recorded optimal total cost, the optimal total cost is updated. Since the true total cost includes the cumulative movement cost and the avoidance cost of all idle pick-up heads, and the avoidance cost is not negative, the cumulative movement cost of the current executable job plan can be used as the lower limit of its true total cost. If the cumulative movement cost of the current executable job plan is greater than or equal to the optimal total cost, then the current executable job plan and all subsequent executable job plans do not need to continue calculating their true total costs, and the PCB placement collaborative planning system stops calculating the true total cost and updating the optimal total cost. Finally, the PCB placement collaborative planning system uses the executable job plan corresponding to the optimal total cost as the target job plan.

[0142] Once the target operation plan is determined, the PCB board placement collaborative planning system generates a partition action plan for the first execution partition based on the target operation plan. This partition action plan includes active suction head plans and idle suction head plans. h The plan includes the corresponding PCB board. b 1. Waiting position 95.83mm, gripping position 120.00mm, and placement position 108.00mm; active suction head. h The plan for 3 includes the corresponding PCB board. b 2. Waiting position 339.17mm, gripping position 300.00mm, and placement position 254.00mm; idle suction head. h The plan for step 2 includes a waiting position of 217.50mm and a avoidance position of 204.00mm. The execution order in the zone action plan can correspond to the active suction head allocation relationship and the execution order of the current batch.

[0143] When executing the partition action plan, the controller first controls the idle suction head according to the idle suction head handling method corresponding to the partition action plan. h 2. Move from the waiting position 217.50mm to the avoidance position 204.00mm, and enter the waiting start state after reaching the avoidance position. When the idle suction head... h 2. After completing the avoidance maneuver, the controller controls the longitudinal actuator of the first execution zone to establish a synchronous relationship with the belt in terms of motion, and locks the synchronous trigger position based on feedback from the belt encoder. During the period of maintaining the synchronous relationship, the controller controls the active suction head according to the execution sequence in the zone's action plan. h 1 Completed b 1. Grasping, transporting, and placing, and controlling the active suction head. h 3 Completed b 2. Grabbing, moving, and placing. Idle suction head. h 2. During the synchronization period, it stays at the avoidance position of 204.00mm and does not participate in the PCB board gripping and placement actions.

[0144] When the active suction head h 1 and active suction head h 3. After completing the gripping, handling, and placement of the corresponding PCB board, the controller releases the synchronization relationship between the longitudinal actuator of the first execution zone and the belt regarding movement, and controls the idle suction head that needs to return to its original position according to the idle suction head handling method. h 2. Return from the avoidance position 204.00mm to the waiting position 217.50mm. At this point, the current batch has completed the entire process within the first execution zone, from input identification, planarable board determination, placement location subset selection, candidate operation plan generation, joint safety screening, target operation plan selection, to zone action plan execution.

[0145] In the foregoing embodiments, the specific implementation process of the method provided in this application has been described in detail. It should be understood that, to implement the above method, this application also provides corresponding devices and computer-readable storage media, the technical concepts of which are consistent with the foregoing method embodiments, and both are used to implement all or part of the steps in the foregoing method. The technical solutions of the devices and computer-readable storage media involved in this application will be further described below in conjunction with specific embodiments.

[0146] Please see Figure 9 , Figure 9 An embodiment of the PCB board placement collaborative planning system for multi-head suction devices provided in this application is used to implement the method in any of the possible implementations of the foregoing embodiments, and the embodiment includes: The acquisition unit 901 is used to acquire the identification information of the PCB boards located on the conveyor belt in the current batch and the operating parameters of the multi-head suction device; The determining unit 902 is used to determine the set of planable boards and the number of planable boards from the set of PCB boards located on the conveyor belt in the current batch based on the identification information and operating parameters. The first generation unit 903 is used to generate a set of placement positions within the lateral available range of the belt according to the operating parameters, and to determine a subset of placement positions for this batch from the set of placement positions. The grab position of the planarable plate set and the placement position of the subset of placement positions for this batch are both within the lateral available range of the belt. The second generation unit 904 is used to generate candidate job schemes based on the set of suction heads, the set of planarable boards, and the subset of placement positions in the current batch within the execution partition corresponding to the current batch. The candidate job schemes include active suction head allocation relationships, idle suction head handling methods, and board placement correspondence relationships. Among them, suction heads in the suction head set that have established a correspondence with the PCB board are active suction heads, and suction heads in the suction head set that have not established a correspondence with the PCB board are idle suction heads. The screening unit 905 is used to perform joint safety screening of candidate operation schemes based on the active suction head allocation relationship, the idle suction head handling method and the board placement correspondence. The third generation unit 906 is used to select the target operation scheme from the executable operation schemes if there is at least one executable operation scheme that meets the safety requirements for suction head execution and the requirements for idle suction head processing among the candidate operation schemes after joint safety screening. The fourth generation unit 907 is used to generate a partitioned action plan for the suction head set based on the target operation plan.

[0147] Please see Figure 10 , Figure 10 One embodiment of the electronic device provided in this application includes: Processor 1001, memory 1002, input / output unit 1003, and bus 1004; The processor 1001 is connected to the memory 1002, the input / output unit 1003, and the bus 1004; The memory 1002 stores a program, which the processor 1001 calls to execute. Figures 1 to 8 The steps in the illustrated embodiment.

[0148] In this embodiment, the function of processor 1001 is the same as described above. Figures 1 to 8 The steps in the illustrated embodiments are the same and will not be repeated here.

[0149] This application also provides a computer-readable storage medium on which a program is stored. When the program is executed on a computer, it causes the computer to perform the aforementioned actions. Figures 1 to 8 The method in any possible implementation.

[0150] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0151] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0152] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0153] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0154] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A collaborative planning method for PCB board placement in multi-head suction devices, characterized in that, include: Obtain the identification information of the PCB boards in the current batch located on the conveyor belt and the operating parameters of the multi-head suction device; Based on the identification information and the operating parameters, determine the set of planable boards and the number of planable boards from the set of PCB boards in the current batch located on the conveyor belt; A set of placement positions within the lateral available range of the belt is generated based on the operating parameters, and a subset of placement positions for this batch is determined from the set of placement positions. The grab position of the planarable board set and the placement position of the subset of placement positions for this batch are both within the lateral available range of the belt. Based on the set of suction heads in the execution partition corresponding to the current batch, the set of planarable boards, and the subset of placement positions in this batch, candidate job schemes are generated. The candidate job schemes include active suction head allocation relationships, idle suction head handling methods, and board placement correspondence relationships. Among them, suction heads in the suction head set that have established a correspondence with PCB boards are active suction heads, and suction heads in the suction head set that have not established a correspondence with PCB boards are idle suction heads. Based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence, the candidate operation schemes are jointly screened for safety. If at least one executable operation plan among the candidate operation plans that has undergone joint safety screening meets the safety requirements for suction head execution and the requirements for handling idle suction heads, then the target operation plan is selected from the executable operation plans. Generate a partitioned action plan for the suction head set based on the target operation plan.

2. The method according to claim 1, characterized in that, The joint safety screening of the candidate work plans based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence includes: Based on the active suction head allocation relationship and the board placement correspondence, the candidate operation scheme is subjected to an active suction head execution safety judgment; After the candidate job scheme meets the safety judgment of the active suction head, the idle suction head processing safety judgment is performed on the candidate job scheme according to the idle suction head processing method; The candidate operation schemes that satisfy the safety judgment for active suction head execution and the safety judgment for idle suction head processing are determined as executable operation schemes.

3. The method according to claim 2, characterized in that, The step of performing a safety assessment of active suction head execution for the candidate work plan based on the active suction head allocation relationship and the board placement correspondence includes: Based on the active suction head allocation relationship and the board placement correspondence relationship, determine the path corridor of each active suction head from the waiting position through the gripping position to the placement position; Based on the path corridor, determine whether each active suction head meets the minimum safe distance requirement.

4. The method according to claim 3, characterized in that, The step of performing a safety assessment of idle suction head handling for the candidate job schemes based on the idle suction head handling method includes: Based on the path corridor, determine whether the idle suction head corresponding to the idle suction head processing method satisfies the legality of waiting in place; When the idle suction head satisfies the in-situ waiting legality, the candidate operation plan is determined to satisfy the idle suction head processing safety judgment; When the idle suction head does not meet the legality of the in-situ waiting requirement, an avoidance position is determined within the legal range of the suction head center; When the avoidance position is determined, the idle suction head handling method is updated according to the avoidance position, and the candidate operation plan is determined to meet the safety judgment of the idle suction head handling. If the avoidance position is not determined, the candidate operation plan is determined to not meet the safety judgment of idle suction head processing.

5. The method according to claim 1, characterized in that, The process of generating candidate job schemes based on the suction head set within the execution partition corresponding to the current batch, the set of planarable boards, and the subset of placement positions for this batch includes: Establish the board placement correspondence between PCB boards and placement locations according to the board sequence of the planarable board set and the placement position sequence of the current batch placement position subset; Establish the active suction head allocation relationship between the PCB board and the suction heads according to the suction head order in the suction head set and the board order in the planarable board set; Based on the active nozzle allocation relationship, the board placement correspondence, and the waiting position of the idle nozzle, an idle nozzle handling method is generated; Based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence, candidate job schemes are generated.

6. The method according to claim 5, characterized in that, The step of establishing the active suction head allocation relationship between PCB boards and suction heads according to the suction head order in the suction head set and the board order in the planarable board set includes: Based on the suction head sequence and the board sequence, a sequence-restricted allocation state is constructed, which is used to represent the allocation progress between the number of preceding suction heads and the number of preceding PCB boards. In the allocation state, candidate allocation results are generated, including candidate results where the current suction head does not correspond to the PCB board, or candidate results where the current suction head establishes a correspondence with the current PCB board. Based on the cumulative movement cost corresponding to the candidate allocation results, candidate allocation results that meet the preset cost conditions are retained; wherein, the cumulative movement cost is the total distance traveled by all active suction heads from the waiting position through the grabbing position to the placement position; Based on the retained candidate allocation results, the active suction head allocation relationship is obtained by backtracking.

7. The method according to claim 6, characterized in that, The step of selecting a target job plan from the executable job plans includes: The executable job schemes are sorted from smallest to largest based on the cumulative movement cost; The optimal total cost is calculated based on the sorting order of the first executable job plan; wherein, the actual total cost includes the cumulative movement cost and the avoidance cost of all idle suction heads; The true total cost of subsequent executable job plans is calculated sequentially according to the sorting order. When the true total cost of the current executable job plan is less than the optimal total cost, the optimal total cost is updated. If the cumulative movement cost of the current executable job plan is greater than or equal to the optimal total cost, then stop calculating the true total cost and updating the optimal total cost; otherwise, calculate the true total cost of the next executable job plan and update the optimal total cost. The executable job scheme corresponding to the optimal total cost is taken as the target job scheme.

8. The method according to claim 4, characterized in that, After generating the partitioned action plan for the suction head set according to the target operation plan, the method further includes: When executing the partition action plan, according to the idle suction head handling method corresponding to the partition action plan, the idle suction head corresponding to the idle suction head handling method is controlled to either remain in its original position and wait or move to the avoidance position and enter the waiting start state. When the idle suction head completes the avoidance or does not need to avoid, the longitudinal actuator of the current batch corresponding to the execution zone is controlled to establish a synchronous relationship with the belt regarding movement, and the synchronous trigger position is locked; During the period of maintaining the synchronization relationship, the active suction heads corresponding to the active suction head allocation relationship are controlled to complete the gripping, handling and placement of the PCB board according to the execution order in the partition action plan; After the active suction head completes the gripping, transporting and placing, the synchronization relationship between the longitudinal actuator and the belt is released, and the suction heads that need to return to their waiting positions are controlled to return to the waiting positions according to the idle suction head handling method.

9. The method according to any one of claims 1 to 8, characterized in that, The step of generating a set of placement positions within the available lateral range of the belt according to the operating parameters, and determining a subset of placement positions for this batch from the set of placement positions, includes: Based on the current board width matching board width grading rules in the operating parameters, determine the maximum allowed number of boards in a single batch corresponding to the current board width; The usable lateral range of the belt is determined based on the total belt width and edge allowance in the operating parameters. Based on the maximum allowable number of plates per batch, multiple placement positions are generated within the lateral available range of the belt to obtain the set of placement positions; Based on the number of planarable boards, a corresponding number of placement positions are selected from the set of placement positions according to the order constraint to obtain a subset of placement positions for this batch; wherein, the order constraint includes strictly increasing placement position indices; the subset of placement positions for this batch is either a continuous subset or a non-contiguous subset of the set of placement positions.

10. A collaborative planning system for PCB board placement in multi-head suction devices, characterized in that, For implementing the method of any one of claims 1 to 9, the PCB board placement collaborative planning system comprises: The acquisition unit is used to acquire the identification information of the PCB boards in the current batch located on the conveyor belt and the operating parameters of the multi-head suction device; The determining unit is used to determine the set of planable boards and the number of planable boards from the set of PCB boards located on the conveyor belt in the current batch, based on the identification information and the operating parameters. The first generation unit is used to generate a set of placement positions within the lateral available range of the belt according to the operating parameters, and to determine a subset of placement positions for this batch from the set of placement positions. The grab position of the planarable board set and the placement position of the subset of placement positions for this batch are both within the lateral available range of the belt. The second generation unit is used to generate candidate job schemes based on the set of suction heads in the execution partition corresponding to the current batch, the set of planarable boards, and the subset of placement positions in the current batch. The candidate job schemes include active suction head allocation relationships, idle suction head handling methods, and board placement correspondence relationships. Among them, suction heads in the suction head set that have established a correspondence with PCB boards are active suction heads, and suction heads in the suction head set that have not established a correspondence with PCB boards are idle suction heads. The screening unit is used to perform joint safety screening of the candidate operation schemes based on the active suction head allocation relationship, the idle suction head handling method, and the board placement correspondence. The third generation unit is used to select a target operation scheme from the candidate operation schemes if there is at least one executable operation scheme that meets the suction head execution safety requirements and idle suction head processing requirements among the candidate operation schemes after joint safety screening. The fourth generation unit is used to generate a partitioned action plan for the suction head set based on the target operation plan.

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