Method and related device for locating mover position in direct drive transmission system

Abstract

The present invention provides a method and related apparatus for locating a mover position in a direct drive transmission system. [Solution] When receiving a mover arrival signal corresponding to a preset detection station, the image capture device provided above the detection station is controlled to capture a mover image, feature recognition is performed on the mover image to obtain an actual coordinate position of the preset feature image area in the mover image, a mover arrival detection result is generated based on the actual coordinate position, and a corresponding mover position location signal is generated with reference to the mover arrival detection result. By implementing this application, a non-contact visual detection station is arranged for a direct drive transmission system, and position arrival detection and position location are performed for the mover by an image processing method, which reduces the complexity of the operation and improves the location efficiency and the reliability of the location result.

Description

[Technical field]

[0001] The present invention relates to the field of direct drive transmission technology, and more particularly to a mover position locating method and related apparatus for a direct drive transmission system. [Background technology]

[0002] In today's world of rapid technological development, various linear conveying devices are widely used in the manufacturing industry. The direct drive transmission system is a representative linear conveying device, which uses a conveying system with a direct drive motor to precisely control the operation of each conveying unit.

[0003] At present, a direct drive transmission system is provided with a plurality of movable elements, and each functional unit of the movable elements usually has a certain installation error, so that there is a certain position error during the movement of the movable elements. Therefore, it is necessary to perform position location for the movable elements of the direct drive transmission system. In the prior art, the position location of the movable elements is usually realized by a contact type method, that is, the position detection and location of the movable elements are performed by measuring each movable element at a fixed position with a dial gauge. However, when the direct drive transmission system has a large number of movable elements, the dial gauge needs to be moved frequently, which makes it difficult to ensure the location accuracy, and the operation is complicated and the efficiency is low. Summary of the Invention [Problem to be solved by the invention]

[0004] The embodiments of the present invention provide a method and related device for locating the position of a mover in a direct drive transmission system, which can solve the problems of the prior art, such as the inability to ensure location accuracy, the complicated operation, and the low efficiency, caused by locating the position of the mover in the direct drive transmission system using at least a contact type method. [Means for solving the problem]

[0005] In order to solve the above technical problems, in a first aspect of an embodiment of the present application, a mover position locating method for a direct drive transmission system is provided, which includes: when receiving a mover arrival signal corresponding to a predetermined detection station, controlling an image capturing device installed above the detection station to capture a mover image; performing feature recognition on the mover image to obtain an actual coordinate position in the mover image of a predetermined feature image area; generating a mover arrival detection result based on the actual coordinate position; and generating a corresponding mover position locating signal by referring to the mover arrival detection result.

[0006] In a second aspect of the present embodiment, a mover position locating device for a direct drive transmission system is provided, which includes: a control module that, when receiving a mover arrival signal corresponding to a predetermined detection station, controls an image capturing device arranged above the detection station to capture a mover image; a recognition module that performs feature recognition on the mover image and acquires an actual coordinate position in the mover image of a predetermined feature image area; a first generation module that generates a mover arrival detection result based on the actual coordinate position; and a second generation module that generates a corresponding mover position locating signal by referring to the mover arrival detection result.

[0007] In a third aspect of the present application, a location device is provided, the location device including a memory and a processor, the memory storing a computer program executable on the processor, and when the processor executes the computer program, realizing the mover position location method for a direct drive transmission system provided in the first aspect of the present application embodiment described above.

[0008] In a fourth aspect of the present embodiment, a computer-readable storage medium is provided, which stores a computer program, which, when executed by a processor, realizes each step of the mover position locating method for a direct drive transmission system provided in the first aspect of the present embodiment. Effect of the Invention

[0009] As can be seen from the above, according to the mover position locating method and related device for a direct drive transmission system provided in this embodiment, when a mover arrival signal corresponding to a preset detection station is received, the image capture device installed above the detection station is controlled to capture a mover image, and feature recognition is performed on the mover image to obtain the actual coordinate position of the mover image of the preset feature image area, a mover arrival detection result is generated based on the actual coordinate position, and a corresponding mover position locating signal is generated with reference to the mover arrival detection result. In the implementation of this application, a non-contact visual detection station is arranged in the direct drive transmission system, and the position arrival detection and position locating of the mover are performed by an image processing method, thereby reducing the complexity of the operation and improving the location efficiency and the reliability of the location result. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a structure of a portion of a direct drive transmission system provided according to a first embodiment of the present application. [Diagram 2] FIG. 2 is a basic flowchart of a mover position locating method for a direct drive transmission system provided by the first embodiment of the present application. [Diagram 3] FIG. 3 is a diagram showing a partial structure of another direct drive transmission system provided by the first embodiment of the present application. [Figure 4]FIG. 4 is a detailed flowchart of a mover position locating method for a direct drive transmission system provided by a second embodiment of the present application. [Diagram 5] FIG. 5 is a schematic diagram of a program module of a mover position locating device of a direct drive transmission system provided by a third embodiment of the present application. [Figure 6] FIG. 6 is a diagram showing the configuration of a location device provided by a fourth embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] In order to make the objectives, technical solutions and advantages of the present application clearer and easier to understand, the following will clearly and completely describe the technical solutions in the embodiments of the present application in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, and are not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without inventive work are all included in the protection scope of the present application.

[0012] In the description of the embodiments of the present application, the terms "first" and "second" are used for explanatory purposes only and should not be understood as expressing or implying relative importance or implicitly indicating the number of technical features shown. Thus, features defined as "first" and "second" may expressly or implicitly indicate that they include one or more of the features. In the description of the embodiments of the present application, "plurality" means two or more than two, unless otherwise clearly and specifically limited.

[0013] In order to solve the problems of the prior art that the position location of the mover of the direct drive transmission system is performed by a contact type method, the location accuracy cannot be ensured, the operation is complicated, and the efficiency is low, the first embodiment of the present application provides a mover position location method for a direct drive transmission system, which can be applied to a multi-mover direct drive transmission system such as a linear type direct drive transmission system or a loop type direct drive transmission system. Figure 1 is a diagram showing a structure of a part of the direct drive transmission system provided by the first embodiment of the present application, and in this embodiment, the cooperative structure of one set of stators and movers in the direct drive transmission system is taken as an example to describe. This direct drive transmission system includes a guide rail 1, a stator 2, and a mover 3, the mover 3 is slidably installed on the guide rail 1, the mover 3 includes a mover mounting plate 31 and a magnet steel 32 fixedly installed on the mover mounting plate 31, the stator 2 includes a stator mounting plate 21, a magnetic body 22, and a winding 23 fixedly installed on the magnetic body 22, the winding 23 includes a plurality of coils circumferentially arranged on the magnetic body 22. In actual practice, when each stator 2 of the direct drive transmission system is electrically connected to a driver, the driver is electrically connected to a controller, and the controller controls the driver to output a current to the stator 2, a traveling wave magnetic field is generated in the winding 22 of the stator 2 after current is applied, which generates a thrust in the magnetic steel 32 of the corresponding mover 3, causing the mover 3 to move along the guide rail 1 in the thrust direction.

[0014] As shown in FIG. 1, in this embodiment, a non-contact vision system 4 is provided for the direct drive transmission system, and the vision system 4 may be fixed to a defined platform of the direct drive transmission system via a bracket, and the vision system 4 may be provided directly above the mover mounting plate 31 and electrically connected to the controller of the direct drive transmission system. In an optional embodiment, the vision system 4 includes an image capture device 41, a lens 42, and a light source 43, and as an example, the image capture device 41 may be a high-speed camera.

[0015] FIG. 2 is a basic flowchart of a mover position locating method for a direct drive transmission system provided by the first embodiment of the present application, which includes the following steps:

[0016] Step 201: When a mover arrival signal corresponding to a preset detection station is received, an image capture device provided above the detection station is controlled to capture a mover image.

[0017] Specifically, the direct drive transmission system of this embodiment is provided with at least one detection station for locating the position of the mover, and the system determines that the mover has moved to the detection station by sensing a mover arrival signal, and at this time controls an image capture device above the detection station to capture a mover image corresponding to the currently detected mover that has moved to the detection station.

[0018] In some embodiments of this embodiment, the number of detection stations is more than one. Correspondingly, when receiving a mover arrival signal corresponding to a preset detection station, before controlling an image capture device provided above the detection station to capture a mover image, the method further includes: acquiring mover identifier information corresponding to each detected mover, determining detection station identification information corresponding to different detected movers from a preset detection strategy library according to the mover identifier information, and generating a position arrival detection control signal according to the detection station identification information corresponding to each mover identifier information, where the position arrival detection control signal is used to control the detected mover to move to the corresponding detection station.

[0019] Specifically, in practical applications, if the position location of all the movable parts is performed in a single detection station, image acquisition and processing must be performed for each movable part in a serial manner, and the overall location time is long. In addition, the functional properties of different movable parts in the direct drive transmission system may be different, and the physical structures of different movable parts may differ, so that the same image acquisition device may not be able to simultaneously realize the visual detection tasks of different movable parts. Based on this, in this embodiment, by arranging multiple detection stations in the direct drive transmission system, multiple different types of image acquisition devices can be arranged according to the movable parts with different functional properties, while the position location of multiple movable parts can be performed simultaneously.

[0020] In this embodiment, the system has a pre-configured detection strategy library including a mapping relationship between different movable element display information and detection station identification information, and the corresponding detection station identification information for each movable element can be determined in advance. Therefore, in the movable element location process, the controller controls each movable element to adaptively move to the corresponding detection station according to the determined detection station identification information, and reports a movable element arrival signal after the movable element moves to a predetermined position, and then triggers the execution of the above step 201 of this embodiment to start the position location process of the currently detected movable element.

[0021] Step 202: Feature recognition is performed on the mover image, and the actual coordinate position of a preset feature image area in the mover image is obtained.

[0022] Specifically, each mover in this embodiment has a specific physical feature property that can be used to indicate the assembly accuracy of the mover, and in an optional embodiment, the physical feature property can be a surface mark on the mover mounting plate, an assembly position of a product tool attached to the mover mounting plate, a relative position between the mover mounting plate and the product tool, etc. In this embodiment, based on the need for mover position location, image feature recognition can be performed according to the specific physical feature property to obtain the coordinate position of the feature image area in the entire image.

[0023] In some embodiments of this example, prior to the above step of controlling an image capture device located above the detection station to capture an image of the mover, the method further includes controlling a light source located above the detection station to enter an operational state.

[0024] Specifically, in practical applications, the quality of the image captured by the image capture device (e.g., resolution, brightness, etc.) has a substantial impact on the image recognition and processing results. In this embodiment, in order to ensure that the image provides as much detailed information as possible, a light source is triggered to illuminate the mover after the mover arrives at the detection station, thereby ensuring the brightness of the environment in which the mover is located, and improving the quality of the mover image captured by the image capture device.

[0025] In some embodiments of this embodiment, before the step of performing feature recognition on the mover image and obtaining the actual coordinate position of the preset feature image area in the mover image, the method further includes obtaining mover identifier information corresponding to the currently detected mover, and determining the corresponding recognition target feature type from the preset feature recognition strategy library according to the mover identifier information. Correspondingly, performing feature recognition on the mover image includes performing feature recognition on the mover image according to the recognition target feature type.

[0026] Specifically, in this embodiment, different movers may have different requirements for position location, so the image features that need to be referred to for position location are also different. Therefore, in this embodiment, the identification target feature types corresponding to different movers are diverted from the feature recognition strategy library preset according to the mover identifier information, and in the image recognition process, the corresponding feature recognition strategy is adopted according to the identification target feature type to adaptively recognize the feature for the currently detected mover, thereby ensuring the effectiveness of the feature recognition and thus improving the accuracy of the overall location result.

[0027] Step 203: Generate a mover arrival detection result based on the actual coordinate position.

[0028] Specifically, in this embodiment, the position information when the mover moves to a predetermined position is determined based on the coordinate position where a representative image feature of the currently detected mover is located, and the mover arrival detection result is obtained.

[0029] In one alternative embodiment of this embodiment, the feature image area is an image area where the mover surface mark is located or an image area where the mover product tool is located. Therefore, generating the mover arrival detection result according to the above-mentioned actual coordinate position includes calculating a position deviation value between the actual coordinate position and the reference coordinate position to obtain the mover arrival detection result.

[0030] Specifically, in practical applications, in the process of the moving part moving along the conveying path, each station that needs to move has standard position information, and when the moving part theoretically moves to the standard position accurately, the theoretical coordinate position in the image of the specific physical feature must match the preset reference coordinate position. If there is an error in the assembly of the moving part itself, it will lead to a relative position deviation of the moving part with respect to the detection station. Therefore, in this embodiment, in the actual location scene, after recognizing the actual coordinate position of the feature image area in the moving part image, it is compared with the reference coordinate position to obtain the position deviation value between the two. This position deviation value is the moving part arrival detection result.

[0031] In another optional embodiment of this embodiment, obtaining the actual coordinate position in the mover image of the above-mentioned preset feature image area includes respectively obtaining a first actual coordinate position in the mover image of the image area where the mover mounting plate is located and a second actual coordinate position in the mover image of the image area where the mover product tool is located. Correspondingly, the above-mentioned step of generating a mover arrival detection result according to the actual coordinate position includes calculating a relative position deviation value according to the first actual coordinate position and the second actual coordinate position to obtain a mover arrival detection result.

[0032] 3 is a diagram showing a partial structure of another direct drive transmission system provided by the first embodiment of the present application, in which a mover production tool 5 is fixedly installed on a mover mounting plate 31 of the direct drive transmission system, and the type of tool includes, but is not limited to, a jig, a blade, a sharpener, a measuring instrument, etc. The vision system 4 is installed directly above the mover mounting plate 31 and includes an image capture device 41, a lens 42, and a light source 43.

[0033] Specifically, unlike the previous embodiment, this embodiment takes into consideration the possibility that assembly errors of the mover may exist in the mounting process of the mover product tool, so in the image recognition process, feature recognition is performed on the mover product tool and the mover mounting plate, respectively, and feature image areas corresponding to both are obtained. Then, feature points are obtained from the two feature image areas, and a difference is calculated between the coordinate positions of the two feature points. Finally, the difference result is used as the relative position deviation value between the mover mounting plate and the mover product tool installed on it, thereby completing the mover position arrival detection.

[0034] Step 204: Referring to the mover arrival detection result, a corresponding mover position locating signal is generated.

[0035] Specifically, in this embodiment, after performing a position test of the mover moved to the detection station, the relative position deviation of the mover with respect to the detection station or the relative position deviation between the mover mounting plate of the mover itself and the mover production tool is obtained, and a corresponding mover position location signal is generated according to the position deviation, and this mover position location signal is reported to the controller. The controller refers to this mover position location signal to adjust the operating current of the stator, adaptively changing the actual operating behavior of the mover, thereby changing the sliding distance of the mover on the guide rail, and finally correcting the motion error caused by the inherent error generated during the assembly process of different functional units of the mover. Note that the mover position location signal in this embodiment can be used by the controller to adjust the operating current of all or some of the stators.

[0036] In some embodiments of this embodiment, the above step of generating a corresponding mover position location signal by referring to the mover arrival detection result includes obtaining a standard mover travel distance between the detection station and the next processing station, calculating a corrected mover travel distance based on the relative position deviation value and the standard mover travel distance, and generating a corresponding mover position location signal based on the corrected mover travel distance.

[0037] Specifically, the mover position locating signal in this embodiment is used to control the movement of the currently detected mover from the detection station to the next processing station. In this embodiment, each mover has a standard movement distance when moving between stations, and after calculating the position assembly deviation between the mover mounting plate and the product tool in this embodiment, this position assembly deviation is corrected to the movement distance until the mover moves to the next station, and the mover is controlled to move to the next station by the corrected movement distance, thereby correcting the movement error caused by the tool assembly error.

[0038] Compared with the prior art, according to the mover position locating method for a direct drive transmission system provided by this embodiment, when a mover arrival signal corresponding to a preset detection station is received, the image capture device installed above the detection station is controlled to capture a mover image, and feature recognition is performed on the mover image to obtain the actual coordinate position of the mover image of the preset feature image area, and a mover arrival detection result is generated according to the actual coordinate position, and a corresponding mover position locating signal is generated by referring to the mover arrival detection result. In the implementation of this application, a non-contact visual detection station is arranged for the direct drive transmission system, and the position arrival detection and position locating of the mover are performed by an image processing method, which reduces the complexity of the operation and improves the location efficiency and the reliability of the location result.

[0039] For better understanding of the present application, a detailed mover position locating method for a direct drive transmission system is further provided in the second embodiment of the present application. Figure 4 is a detailed flowchart of the mover position locating method for a direct drive transmission system provided by this embodiment, and the mover position locating method for a direct drive transmission system includes the following steps:

[0040] Step 401: According to the mover identifier information corresponding to each mover to be detected, determine the detection station identification information corresponding to different movers to be detected from a preset detection strategy library.

[0041] In this embodiment, the mover identifier is used to uniquely identify the identities of multiple movers in the direct drive transmission system.

[0042] Step 402: Generate a position arrival detection control signal according to the detection station identification information corresponding to each movable element identifier information, and control the movable element to be detected to move to the corresponding detection station.

[0043] In this embodiment, different types of movers meet different location needs, and the location can be realized at multiple different detection stations, so as to improve the location efficiency and the accuracy of the location results in various location situations.

[0044] Step 403: When a mover arrival signal corresponding to a preset detection station is received, an image capture device provided above the detection station is controlled to capture a mover image.

[0045] In this embodiment, a light source located above the detection station can also be controlled to emit a light beam onto the mover to ensure environmental brightness during image acquisition and improve the quality of the acquired mover image.

[0046] Step 404: Perform feature recognition on the mover image to obtain a first actual coordinate position in the mover image of an image area where the mover mounting plate is located, and a second actual coordinate position in the mover image of an image area where the mover product tool is located.

[0047] Step 405: Calculate a relative position deviation value according to the first actual coordinate position and the second actual coordinate position to obtain a mover arrival detection result.

[0048] In this embodiment, the product tool is attached to the mover mounting plate, and there is a possibility that there will be some assembly error between the two during the assembly process. In this embodiment, the assembly error between the two is determined by calculating the relative position deviation between the two.

[0049] Step 406: Obtain the standard mover travel distance between the detection station and the next processing station.

[0050] Step 407: A corrected moving distance is calculated based on the relative position deviation value and the standard moving element moving distance.

[0051] In this embodiment, the positional assembly deviation of the product tool relative to the movable piece mounting plate is corrected into a moving distance by which the movable piece moves to the next station, and the corrected moving distance is used to control the movable piece to move to the next station, thereby correcting the moving error due to the tool assembly error.

[0052] Step 408: Generate a corresponding mover position location signal according to the corrected moving distance.

[0053] Specifically, the mover position location signal in this embodiment is used to adjust the operating current of the stator to adaptively change the actual movement behavior when the mover moves to the next station, change the moving distance that the mover moves to the next station on the guide rail, and finally compensate for the movement error caused by the assembly error of the product tool.

[0054] In addition, this embodiment adopts a non-contact visual orientation device to recognize the image features of each movable element, calculate the actual arrival position of the movable element through image processing, and calculate the position deviation of the movable element to realize the position orientation of the movable element. During the entire orientation process, the visual system is fixed, the operation is simple, and the orientation result is reliable.

[0055] As can be understood, the magnitude of the numbers of each step in this embodiment does not mean the priority of the execution of the steps, and the execution order of each step should be determined by its function and inherent logic, and does not constitute the only limitation on the implementation process of the embodiments of the present application.

[0056] 5 is a schematic diagram of a program module of a mover position locating device for a direct drive transmission system provided by the third embodiment of the present application. This mover position locating device for a direct drive transmission system can be used to realize the mover position locating method for a direct drive transmission system in the above embodiments. As shown in FIG. 5, this mover position locating device mainly includes: a control module 501 for controlling an image capture device provided above a detection station to capture a mover image when a mover arrival signal corresponding to a preset detection station is received; a recognition module 502 that performs feature recognition on the mover image and acquires the actual coordinate position of a preset feature image area on the mover image; a first generating module 503 for generating a mover arrival detection result according to an actual coordinate position; and a second generating module 504 for generating a corresponding mover position location signal by referring to the mover arrival detection result.

[0057] In one alternative embodiment of this embodiment, the control module is further used to control a light source disposed above the detection station to enter an operational state.

[0058] In one alternative embodiment of this embodiment, the feature image area is the image area where the movable member surface mark is located or the image area where the movable member product tool is located. Correspondingly, the first generating module is specifically used for calculating the position deviation value between the actual coordinate position and the reference coordinate position, and obtaining the movable member arrival detection result.

[0059] In another alternative embodiment of this embodiment, when performing the function of obtaining the actual coordinate position in the mover image of the above-mentioned preset feature image area, the recognition module is specifically used to obtain the first actual coordinate position in the mover image of the image area where the mover mounting plate is located and the second actual coordinate position in the mover image of the image area where the mover product tool is located. Correspondingly, the first generation module is specifically used to calculate a relative position deviation value according to the first actual coordinate position and the second actual coordinate position, and obtain a mover arrival detection result.

[0060] Furthermore, in one optional embodiment of this embodiment, the second generation module is specifically used to obtain a standard mover moving distance between the detection station and the next processing station, calculate a corrected mover moving distance according to the relative position deviation value and the standard mover moving distance, and generate a corresponding mover position location signal according to the corrected mover distance, where the mover position location signal is used to control the movement of the currently detected mover from the detection station to the next processing station.

[0061] In one optional embodiment of this embodiment, the movable element position locating device further includes an acquisition module for acquiring movable element identifier information corresponding to each movable element to be detected, a determination module for determining detection station identification information corresponding to different movable elements to be detected from a detection strategy library preset by the movable element identifier information, and a third generation module for generating a position arrival detection control signal based on the detection station identification information corresponding to each movable element identifier information, where the position arrival detection control signal is used to control the movement of the movable element to be detected to the corresponding detection station.

[0062] In one optional embodiment of this embodiment, the acquisition module is further used to acquire mover identifier information corresponding to the currently detected mover, the determination module is further used to determine a corresponding recognition target feature type from a preset feature recognition strategy library according to the mover identifier information, and the recognition module is specifically used to perform feature recognition on the mover image according to the recognition target feature type when executing the function of performing feature recognition on the above mover image.

[0063] It should be noted that the methods for locating a movable part position in a direct drive transmission system in the first and second embodiments can both be realized based on the movable part position locating device in a direct drive transmission system provided by this embodiment, and for the convenience of explanation, those skilled in the art can refer to the corresponding steps in the above method embodiments for the specific operating steps of the movable part position locating device in a direct drive transmission system described in this embodiment, so there is no need to repeat the description here.

[0064] Compared with the prior art, the mover position locating device of the direct drive transmission system provided by the embodiment of the present application, when receiving a mover arrival signal corresponding to a preset detection station, controls the image capture device installed above the detection station to capture a mover image, performs feature recognition on the mover image to obtain the actual coordinate position of the mover image of the preset feature image area, generates a mover arrival detection result according to the actual coordinate position, and generates a corresponding mover position location signal by referring to the mover arrival detection result. In the implementation of the present application, a non-contact visual detection station is arranged for the direct drive transmission system, and an image processing method is used to detect and locate the position of the mover, thereby reducing the complexity of the operation and improving the location efficiency and the reliability of the location result.

[0065] Referring to FIG. 6, FIG. 6 is a diagram showing the configuration of a location device provided by the fourth embodiment of the present application. This location device can be used to realize the mover position location method of the direct drive transmission system in the above embodiment. As shown in FIG. 6, this location device mainly includes a memory 601 and a processor 602, and the memory 601 stores a computer program 603 executable on the processor 602, and the memory 601 and the processor 602 are electrically connected. When the processor 602 executes the computer program 603, the mover position location method of the direct drive transmission system in the above embodiment is realized. Here, the number of processors may be one or more.

[0066] The memory 601 may be a high-speed random access memory (RAM) or a non-volatile memory such as a magnetic disk memory. The memory 601 is for storing executable program code, and the processor 602 is coupled to the memory 601.

[0067] Furthermore, in the embodiments of the present application, a computer-readable storage medium is provided, which can be provided in the location device of each of the above embodiments, and may be the memory in the embodiment shown in FIG. 6 above.

[0068] This computer-readable storage medium stores a computer program 603, which, when executed by the processor 602, realizes the mover position locating method for the direct drive transmission system in the above embodiment. Furthermore, this computer-readable storage medium may be various media capable of storing program code, such as a USB memory, a removable hard disk, a read-only memory (ROM), a random access memory, a disk, or an optical disk.

[0069] As can be understood, in some embodiments of the present application, the disclosed apparatus and method can be realized in other ways. For example, the above-described apparatus embodiments are merely exemplary, and the division of modules is merely a division of logical functions, and in fact there are other division methods. For example, multiple modules or components may be combined or integrated into another system, and some features may be ignored or not implemented. In addition, the couplings or direct couplings or communication connections between the shown or discussed mutually may be indirect couplings or communication connections through some ports, devices or modules, and may be in an electrical, mechanical or other form.

[0070] Modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical modules, i.e., located in one place or distributed across multiple network modules. Some or all of the modules may be selected according to the actual situation to achieve the objectives of this embodiment.

[0071] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist physically separately, or two or more modules may be integrated into one module. The above integrated modules may be realized in the form of hardware or software functional modules.

[0072] The integrated module may be realized in the form of a software function module and stored in one computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical idea of ​​the present application, the part that essentially contributes to the existing technology, or all or part of the technical means of the present application may be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes some instructions, and can execute all or part of the steps of the method in each embodiment of the present application in one computer device (which may be a personal computer, a server, or a network device, etc.). The readable storage medium includes various media that can store program code, such as a USB memory, a removable hard disk, a ROM, a RAM, a disk, or an optical disk.

[0073] Although the above embodiments of the methods are described as a combination of a series of operations for convenience of explanation, those skilled in the art should know that the present application is not limited to the above operation order, and some steps may be changed to other orders or performed simultaneously according to the present application. In addition, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the related operations and modules are not necessarily essential to the present application.

[0074] As described above, each embodiment has been described with a different emphasis, but for content not described in detail in a certain embodiment, reference may be made to the relevant description in other embodiments.

[0075] The above is a description of the mover position locating method and related device for a direct drive transmission system, and those skilled in the art will understand that there are changes in the specific embodiments and application scope according to the concept of the present application. Therefore, it should be understood that the contents of this specification do not limit the present application.

Claims

1. When a mover arrival signal corresponding to a preset detection station is received, an image capture device provided above the detection station is controlled to capture a mover image; performing feature recognition on the mover image to obtain an actual coordinate position of a preset feature image area on the mover image; generating a mover arrival detection result based on the actual coordinate position; and generating a corresponding mover position locating signal by referring to the mover arrival detection result.

2. A method for locating a mover position in a direct drive transmission system comprising:

2. Before the step of controlling an image acquisition device provided above the detection station to acquire a mover image, controlling a light source disposed above the detection station to enter an active state; 2. The method for locating a mover position in a direct drive transmission system according to claim 1.

3. The characteristic image area is an image area where a mover surface mark is located or an image area where a mover product tool is located, The step of generating a mover arrival detection result according to the actual coordinate position includes: Calculating a position deviation value between the actual coordinate position and the reference coordinate position to obtain a mover arrival detection result.

2. The method for locating a mover position in a direct drive transmission system according to claim 1.

4. The step of acquiring an actual coordinate position of a predetermined characteristic image area in the mover image includes: obtaining a first actual coordinate position in the mover image of an image area where a mover mounting plate is located and a second actual coordinate position in the mover image of an image area where a mover production tool is located; The step of generating a mover arrival detection result according to the actual coordinate position includes: calculating a relative position deviation value according to the first actual coordinate position and the second actual coordinate position to obtain a mover arrival detection result; 2. The method for locating a mover position in a direct drive transmission system according to claim 1.

5. The step of generating a corresponding mover position locating signal by referring to the mover arrival detection result, Obtaining a standard mover distance between the detection station and a next processing station; calculating a corrected moving distance based on the relative position deviation value and the standard moving distance of the movable element; generating a corresponding mover position locating signal according to the corrected moving distance; wherein the mover position locating signal is used to control the movement of a currently detected mover from the detection station to the next processing station; 5. The method for locating a mover position in a direct drive transmission system according to claim 4.

6. the number of said detection stations is plural; When a mover arrival signal corresponding to a preset detection station is received, before the step of controlling an image capture device provided above the detection station to capture a mover image, further acquiring mover identifier information corresponding to each detection target mover; determining detection station identification information corresponding to different movers to be detected from a preset detection strategy library based on the mover identifier information; generating a position arrival detection control signal based on the detection station identification information corresponding to each of the mover identifier information, the position arrival detection control signal being used to control the movement of the mover to be detected to the corresponding detection station; 6. The method for locating a mover position in a direct drive transmission system according to claim 1.

7. before the step of performing feature recognition on the mover image and acquiring an actual coordinate position of a preset feature image area on the mover image, Obtaining mover identifier information corresponding to a currently detected mover; determining a corresponding identification target feature type from a preset feature identification strategy library according to the mover identifier information; The step of performing feature recognition on the mover image includes: performing feature recognition on the mover image according to the recognition target feature type; 6. The method for locating a mover position in a direct drive transmission system according to claim 1.

8. a control module for controlling an image capture device provided above a preset detection station to capture a mover image when the control module receives a mover arrival signal corresponding to the preset detection station; a recognition module that performs feature recognition on the mover image and acquires an actual coordinate position of a preset feature image area on the mover image; a first generating module for generating a mover arrival detection result according to the actual coordinate position; a second generating module for generating a corresponding mover position locating signal by referring to the mover arrival detection result; 1. A mover position locating device for a direct drive transmission system comprising:

9. A location device including a memory and a processor, the memory storing a computer program executable on the processor, When the processor executes the computer program, the steps of the mover position locating method for a direct drive transmission system according to any one of claims 1 to 7 are realized. A location device characterized in that

10. A computer-readable storage medium having a computer program stored thereon, When the computer program is executed by a processor, the computer program realizes the steps of the mover position locating method for a direct drive transmission system according to any one of claims 1 to 7. A computer-readable storage medium comprising:

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