312 results about "Camera identification" patented technology

The invention discloses a whole welding process quality regulation and control method of a welding robot, and relates to the technical field related to welding. The method at least comprises the steps that S1, a pre-welding parameter drawing technology is designed, welding numerical simulation analysis is conducted to predict optimal welding parameters, the optimal welding parameters are compared with a thermal cycle curve of a test, the accuracy of a model is verified, the predicted parameters are input into a welding robot, and the welding prediction effect is achieved; and S2, designing a welding molten pool regulation and control technology, collecting a molten pool image through an industrial camera, processing the collected molten pool image, then building a molten pool monitoring platform, and regulating and controlling the quality of the molten pool during welding through the platform. According to the method, a proper welding quality guarantee strategy of the welding robot is provided, and the welding quality of the welding robot is guaranteed in the whole process of pre-welding, during-welding and after-welding through the cooperative design of pre-welding parameter drawing-up based on the numerical simulation technology, during-welding molten pool monitoring based on camera recognition and after-welding quality study and judgment based on deep learning.

The invention relates to a railway track obstacle detection method and system. Camera and laser radar data are fused, and a semantic segmentation model is used to identify safe and dangerous areas in the image; optimizing point cloud filtering by using a fuzzy decision; projecting the point cloud to a safe and dangerous area to endow semantics; clustering is carried out in combination with the space coordinates, and three-dimensional coordinates and size information are obtained; using a target detection model to identify obstacle types and two-dimensional size information; and projecting three-dimensional obstacle information to a two-dimensional plane, fusing by using a fuzzy decision, and outputting an accurate obstacle detection result. As the laser radar can accurately measure the distance and coordinates of the obstacle in the three-dimensional space, the laser radar is used as a main sensor, and the high detection rate is ensured; a camera is used for identifying the type of an obstacle and a dangerous area, and providing semantics for the point cloud so as to improve the obstacle detection accuracy; fuzzy decision is used, dynamic adjustment is carried out according to different environments, and false detection and missing detection are reduced.

The invention discloses a conversion matrix determination method and device, equipment and a storage medium. According to the technical scheme, the calibration object is identified through the camera, the first coordinates of the at least nine feature points on the calibration object in the pixel coordinate system and the second coordinates of the at least nine feature points on the calibration object in the world coordinate system under each sampling position are determined, the first coordinates and the second coordinates are converted into the coordinates under the camera coordinate system, and the equation is constructed; according to the first coordinate, the second coordinate, a conversion matrix from a world coordinate system to a tail end coordinate system of the calibration object and a conversion matrix from a pixel coordinate system to a camera coordinate system, solving an equation of an equation, and determining a conversion matrix from the tail end coordinate system to the camera coordinate system, an inertial unit or a mechanical arm joint encoder is not needed to measure the pose of the tail end mechanism of the calibration object, and hand-eye calibration of a low-cost open-loop control system without a pose measuring element is achieved.

Provided in the present disclosure are a method and apparatus for determining an object pose, and a robot and a storage medium. The method is applied to a robot. The method comprises: acquiring first pose information of an object to be subjected to recognition in the field of view of a first camera; acquiring the current coordinate system pose information of a calibration object, wherein the current coordinate system pose information is obtained on the basis of photographing performed by the first camera, and a first height of the calibration object that is recognized by the first camera is consistent with a second height of the object to be subjected to recognition that is recognized by the first camera; determining compensation coordinate system pose information on the basis of the current coordinate system pose information and reference coordinate system pose information; and then adjusting the first pose information on the basis of the compensation coordinate system pose information, so as to obtain second pose information of the object to be subjected to recognition. In the technical solution, the pose of an object to be subjected to recognition is corrected by using the variation between a reference pose and the current pose, such that the pose of the object to be subjected to recognition is determined more accurately, thereby avoiding a measurement error caused by problems such as camera time changing and replacement.

The invention relates to the technical field of intelligent traffic control, in particular to an intelligent ultra-wide checkpoint truck passing control method and system. The method comprises the following steps: arranging an ultra-wide main bayonet system, integrating a group of front and side double cameras and a 120-ton ultra-wide electronic weighbridge, and carrying out truck information double-camera identification and truck weighbridge weighing on a corresponding truck which is about to be driven in or out in the ultra-wide main bayonet system; the checkpoint double-camera truck information and the load weight of the checkpoint truck are obtained; carrying out load limit marking based on the checkpoint double-camera truck information and the load weight of the checkpoint truck so as to obtain an ultra-wide checkpoint release truck and an ultra-wide checkpoint overweight truck; barrier gate response passing adjustment is carried out on the ultra-wide checkpoint release truck, and a checkpoint truck barrier gate release adjustment strategy is generated; and carrying out overload guide control processing on the overweight truck with the ultra-wide bayonet, and generating an overweight truck guide passing control strategy. According to the invention, efficient and accurate management of passing of ultra-wide trucks can be realized.

The invention designs a calibration plate, and a calibration method and system using the calibration plate. The calibration plate comprises an infrared calibration area, a visible light calibration area and a laser strong reflection area. The laser strong reflection area is formed by arranging two long and straight laser reflection areas in a right angle, and the infrared calibration area and the visible light calibration area are located in a right-angle area defined by the two long and straight laser reflection areas; the infrared calibration area is marked by a heating two-dimensional code, and the visible light calibration area is marked by a visible light two-dimensional code. The invention designs a calibration plate which can be identified by a laser radar, a visible light camera and an infrared camera at the same time, two long and straight areas fit an X axis and a Y axis, a Z axis is determined by using a right hand rule, then a space coordinate system can be rapidly determined, and multiple sensor coordinate systems can be linked by using one calibration plate in the calibration process.

The invention discloses a camera protection device with an air knife, which relates to the technical field of industrial camera protection devices and comprises a shell assembly arranged outside a camera. The shell assembly is of a frame-shaped structure, and the camera is connected with the inner wall of the frame-shaped structure; the frame-shaped structure comprises a top plate, and a window for the camera to shoot is formed in the top plate; an annular air knife assembly is arranged around the window, the annular air knife assembly is arranged between the top plate and the camera, and the annular air knife assembly can achieve annular air knife air supply. The camera protection device provided by the invention is more compact in structure, and meets the carrying requirements of small-space and small-load motion structures, especially automatic loading and unloading carrying manipulators and other motion mechanisms; a uniform and stable isolation layer can be provided, water, oil mist, dust and other foreign matters can be isolated without dead angles, and the camera identification precision is not influenced by the foreign matters.

The invention discloses automatic oil coating equipment. The automatic oil coating equipment comprises a rack; a rotating disk; the positioning tool is fixed on the rotating disc and is provided with various positioning grooves; the vibration disc mechanism is used for receiving at least one material to be oiled; the identification camera is used for identifying the types and the positions of the materials; the first manipulator is used for grabbing and transferring materials according to data recognized by the recognition camera; the placing mechanism is used for receiving the materials from the first manipulator and placing the materials into the corresponding positioning grooves of the positioning tool; the oiling mechanism is used for oiling the materials on the positioning tool; and the discharging mechanism is used for moving the oiled materials out of the positioning tool. The positioning tool is provided with various positioning grooves and can adapt to various materials, different types of materials can be judged and grabbed through cooperation of the recognition camera and the first mechanical arm, then the materials are placed into the corresponding positioning grooves through the placing mechanism, and the oil coating mechanism operates different programs according to the different types of materials to conduct automatic coating.

The invention discloses an ultrasonic robot scanning image analysis method based on multi-modal fusion, and relates to the technical field of automatic control, the method comprises the following steps: using an optical camera to identify human body key points in a target area, and then planning to obtain a plurality of path points when the target area is scanned; calculating a reference impedance control moment, and controlling a mechanical arm of the ultrasonic robot to sequentially pass through each path point according to the reference impedance control moment, so that an ultrasonic probe of the ultrasonic robot is attached to the target area at a preset moment for scanning; when passing through each path point, scanning the target area by using an ultrasonic probe to obtain an ultrasonic image; dynamically adjusting the pose of the ultrasonic probe according to the confidence coefficient of the pixels in the ultrasonic image and the position of the thyroid region in the ultrasonic image; segmenting a thyroid region from the ultrasonic image, and segmenting a nodule region from the thyroid region; and carrying out risk level classification on the nodule region. The scanning efficiency and precision of the ultrasonic robot can be optimized.

The invention discloses a picking machine and a control method. The picking machine comprises a robot body, a fruit diameter separating device and a mechanical arm, wherein the fruit diameter separating device and the mechanical arm are installed on the robot body. The laser radar and the 2D camera are integrated on the robot body, and the depth camera is integrated on the mechanical arm. The processor is in communication connection with the laser radar, the 2D camera and the depth camera; the laser radar scans environment point cloud, the processor constructs a grid map and plans a driving path, mature fruits on the corresponding side are recognized through the depth camera in the driving process, the poses of the mature fruits in a mechanical arm coordinate system are determined, and the mechanical arm is controlled to pick the mature fruits. And the collected fruits are placed in an inlet area of the fruit diameter separation device. The picking robot integrates the functions of environment perception, autonomous navigation, automatic identification and picking of mature fruits and simultaneous automatic classification of fruits with different diameters, so that the picking efficiency is improved while the fruit picking process is greatly simplified.

The invention relates to the technical field of automatic production, in particular to an automatic unstacking method for air conditioner condenser cores. According to the technical scheme, the method comprises the following steps that a 3D camera is arranged above a condenser core feeding platform, and the side faces of cooling fins of a condenser core are recognized; a robot is used for driving a clamp to clamp and move the uppermost condenser core to a discharging conveying line according to the two fin side faces, recognized by the 3D camera, of the condenser core; a 2D camera is arranged on the discharging conveying line to recognize and detect the end type of the condenser core, and finally the robot obliquely places the condenser core on the discharging conveying line in the direction that the U-shaped pipe end faces downwards according to the end type of the condenser core. The method has the beneficial effects that the recognition efficiency can be improved on the premise of ensuring the recognition accuracy; and in addition, a 3D recognition method and a 2D recognition method are optimized, the recognition efficiency is further improved, and the automatic unstacking effect is improved.

The invention discloses a nozzle voltage adjustment method and device based on camera automatic identification printing color blocks and a storage medium, and relates to the technical field of printing device calibration, and the method comprises the steps: controlling a printing device to output a pattern containing each nozzle independent test area and color blocks; acquiring chromaticity distribution data through an image acquisition device, and extracting characteristic parameters such as brightness and saturation; determining a reference characteristic parameter based on a reference selection rule, and calculating a deviation value between each test area and the reference; an adjustment instruction is generated according to the mapping relation between the deviation value and the voltage adjustment amount, verification printing and iterative optimization are carried out after implementation until the precision is met, and through dynamic selection of a reference color block, LAB color space chromatic aberration calculation, voltage sensitivity coefficient matrix mapping and aging compensation, the adjustment precision and efficiency are improved, the dependence on artificial experience is reduced, and the adjustment precision and efficiency are improved. The method is suitable for nozzle calibration of high-precision printing equipment.

The invention relates to the technical field of aquaculture, in particular to an automatic inspection system and method for aquaculture. Comprising a control center, a material lifting device used for lifting and putting back a feeding basket, and a camera recognition device used for conducting visual recognition on the feeding basket lifted by the material lifting device. According to the automatic inspection system for aquaculture, a manual mode can be replaced to lift and put back the feeding basket in water, a manual naked eye mode can be replaced to observe, automatic inspection can be achieved, and the automatic inspection system can be better suitable for aquaculture.

The invention discloses a wire harness laser coding system based on CCD camera recognition. The wire harness laser coding system comprises a mechanical arm, a wire harness clamping jaw, a wire harness end clamping unit, a horizontal guide rail, a ccd visual detection unit and a laser coding device. The sides, close to each other, of the two wire harness end clamping units are coaxially provided with two wire harness end insertion ports. The two wire harness clamping jaws are arranged on the displacement mechanical arm, the two wire harness clamping jaws can clamp the positions, close to the two ends, of the target wire harness respectively, and drive the clamped target wire harness to move to the position between the two wire harness end clamping units under the action of the mechanical arm, so that the two ends of the target wire harness are coaxially aligned with wire harness end inserting openings of the two wire harness end clamping units respectively; the two wire harness end clamping units can synchronously move in the extending direction of the horizontal guide rail. Original characters and patterns on the target wire harness are made to deviate from the sight line of the ccd visual detection unit through the ccd visual detection unit, and therefore finally achieved code printing effectively avoids the original characters and patterns on the surface of the wire harness.

The invention provides an electrode holder electrode cap grinding detection method and system based on AI visual diagnosis, through a visual identification system integrated with a light source system, an industrial camera, AI visual processing software, a PLC controller and the like, a robot moves to a camera identification position after grinding of an electrode holder is completed, the robot sends an in-place signal, the visual system carries out photographing identification, and the detection result is obtained. And after identification is completed, an identification result signal is sent to the robot. If the electrode cap grinding is OK, the robot directly returns to the safe standby position and enters the next procedure, and if the electrode cap grinding is NG, the robot stops at the current position, an alarm signal is sent, and manual intervention is conducted. According to the method, 100% real-time feedback and alarm mistake proofing of robot electrode holder electrode cap coping are achieved, compared with a traditional mode, no welding parameter needs to be adjusted, the quality problem caused by parameter change is effectively avoided, meanwhile, welding quality caused by improper electrode cap coping is prevented, the starting rate of whole-line equipment is increased, and the repair cost is reduced.

The invention relates to the technical field of candid photographing identification, and discloses a candid photographing equipment positioning and alarming method combined with ambient light perception. The method comprises the following steps: arranging a sensor array, a signal receiving node and an image acquisition device in a target area, acquiring real-time ambient light intensity and color distribution change data, and generating a change trend of the real-time ambient light intensity and color distribution change data; adopting statistical analysis to identify abnormal ambient light changes, and outputting coordinates and features of the abnormal light changes; corresponding images are obtained and preprocessed, secret photographing equipment features are extracted through an image algorithm, verification is carried out in combination with a rule base, and candidate positions are determined; accurate position coordinates are obtained through a triangulation positioning method; and if ambient light abnormity and candid shooting characteristics exist at the coordinate at the same time, the candid shooting device is judged, and the alarm system receives the coordinate and triggers alarm and interference measures. According to the invention, candid photographing identification precision and positioning capability in a complex scene are improved.

The invention discloses a six-axis robot steel coil inner ring welding system with recognition and guiding functions, and relates to the technical field of steel coil welding, the six-axis robot steel coil inner ring welding system comprises a six-axis robot body, a steel coil inner ring spot welding clamp and a pushing and blocking device, and the output end of the six-axis robot body is provided with the steel coil inner ring spot welding clamp through a flange plate; a pushing and blocking device is arranged on the outer side of the six-axis robot body, and the light source back plate is installed at the outer end of the fixing support. Through the structure that the push-and-block device is arranged on the outer side of the six-axis robot body, the auxiliary push-and-block device and the light source back plate are combined, the problems that the environment is dark and exposure is insufficient when an industrial camera photographs are solved, and the situation that the recognition precision is reduced due to background content rejection when the industrial camera recognizes is prevented; and the position and state of the welded steel coil can be mastered more accurately by a welding system, the welding precision and quality are improved, the six-axis robot is ensured to enter normally under the condition that the steel coil collapses, and the problems of possible core pulling or collapse ejection of the inner ring of the steel coil and the like are effectively solved.

The invention relates to a robot control method and device, a storage medium and electronic equipment, in particular to the technical field of intelligent warehousing, and the method comprises the steps that firstly, attribute information of a carried object is acquired; analyzing the attribute information, and determining a container model corresponding to the carrying object according to an analysis result; then obtaining a model identifier of the container model; and a carrying instruction of the carried object is sent to the robot. According to the technical scheme, the carrying task is issued to the robot according to the model identifier of the container model corresponding to the carrying object, and the robot can select the suitable camera recognition mode according to the model identifier in the carrying instruction, quickly and effectively recognize the edge of the carrying object and make an accurate action response accordingly, so that the carrying efficiency is improved. The time consumed for adjusting camera parameters and identifying the edge of the carried object is saved, the efficiency of carrying tasks executed by the robot is improved, and the flexibility and robustness of the system are enhanced.

The invention relates to a galvanometer size precision calibration method. According to the galvanometer size precision calibration method, laser printing is carried out through additive manufacturing equipment so as to obtain a printing test image; using an automatic identification model to control a CCD camera to identify the coordinate value of each point in the printing test image, and obtaining a coordinate data file; obtaining a galvanometer deviation value according to the coordinate data file and the galvanometer execution file; if the absolute value of the galvanometer deviation value is larger than a preset deviation value, parameters in the galvanometer execution file are calibrated and modified according to the galvanometer deviation value, and then the step that the laser film is attached to the laser galvanometer scanning area of the additive manufacturing equipment and all the following steps are executed again till the absolute value of the galvanometer deviation value is smaller than the preset deviation value. Therefore, in the whole process, large-format pattern printing is not needed, pattern shearing and splicing are not needed, the calibration precision can be improved, the CCD camera recognition platform is easy to disassemble and assemble, the size is small, and the device has the advantages of being convenient to carry and use during after-sales service.

The invention relates to a video quality detection method and system, an electronic device and a storage medium, and is used for a reverse proxy server, the reverse proxy server is deployed at a cloud, and the method comprises the following steps: obtaining camera identification information reported by a proxy client; when a real-time streaming transmission protocol request containing a virtual real-time streaming transmission protocol port initiated by the PC client is received, forwarding the request to a corresponding proxy client according to camera identification information corresponding to the virtual real-time streaming transmission protocol port; the virtual real-time stream transmission protocol port establishes a mapping relationship with the camera identification information in advance; receiving video data uploaded by the proxy client; the video data is locally acquired by the proxy client from the camera according to the forwarding request; and encapsulating the video data into a standard real-time stream transmission protocol response, and returning the real-time stream transmission protocol response to the PC client for video quality detection. A communication link can be established for video transmission, the process is simplified, and the video quality detection efficiency is improved.

A robot hand including a first gripper and a second gripper and a method for controlling the robot hand are disclosed. The method for controlling a robot hand disclosed herein may comprise the steps of: recognizing a shape of an object by using a camera; changing the gripping orientation of the first gripper and the second gripper based on the identified shape of the object; grabbing the object by using the first grabber and the second grabber; and rotating the first grabber and the second grabber according to the target position at which the object is to be placed to change the posture of the object.

The invention discloses an automatic calibration method for a suction nozzle rod of a high-speed chip mounter, and the method employs a flight camera recognition mode to directly correct the error value of the suction nozzle rod in a suction recognition process, can greatly reduce the position deviation caused by the downward pressing force in a correction curve of the suction nozzle rod, greatly improves the accuracy of the correction curve, and improves the accuracy of the suction nozzle rod. According to the method, a double-trigonometric function fitting regression curve mode is adopted, the method better conforms to the change rule of a circular motion object compared with a common interpolation method, and meanwhile the abnormal situation that a correction curve suddenly changes after sampling data suddenly changes due to the fact that sampling points are too few can be reduced.

The utility model provides stripping and cleaning machine equipment for cleaning wafers and a cleaning machine comprising the stripping and cleaning machine equipment. The stripping and cleaning machine equipment is placed in a cleaning cavity of the stripping and cleaning machine, and is characterized by comprising a cleaning spray head used for spraying cleaning liquid to a wafer in the cleaning cavity; the CCD camera is installed on the cleaning nozzle and used for identifying cross marks used for alignment on the two sides of the wafer; one end of the swing arm is connected to the cleaning nozzle and used for supporting and swinging the cleaning nozzle; the driving motor is connected to the swing arm and used for driving the swing arm to adjust the positions of the cleaning nozzle and the CCD camera; the stripping and cleaning machine equipment is operated in the following mode that a swing arm starts to swing, under the condition that a CCD camera recognizes that a cross mark on one side of a wafer is not located in the center of the CCD camera, a driving motor is controlled to drive the swing arm to adjust the positions of a cleaning spray head and the CCD camera, so that the cross mark on one side of the wafer is located in the center of the CCD camera, and the wafer is cleaned. And then the cleaning nozzle is controlled to spray liquid.

The application relates to the field of agricultural automation equipment, in particular to an apple picking robot based on visual guidance and a picking method, which recognizes apples and determines position information by using a camera, controls a mobile chassis to move in a large range according to position information of a control system, realizes height and angle adjustment in combination with a lifting column and a small arm, and then picks apples by using a fruit picking opening and conveys the apples to a collecting frame by using a mesh belt. The application greatly reduces the labor intensity of manual picking and improves the picking efficiency. Then, real-time pose information of the apples is acquired by using a camera, a mechanical arm is guided to adjust actions to complete apple tracking and grabbing, so that accurate and efficient picking work is realized, the labor intensity of manual picking is reduced, and the picking efficiency is improved. The robot can automatically recognize target apples and pick the apples, so that the picking efficiency and productivity are improved.

The invention discloses a camera automatic identification tracking method and system based on machine vision, and relates to the technical field of camera identification tracking, and the method comprises the following steps: configuring and calibrating a high-definition camera, obtaining the image and video data of a target environment through the high-definition camera, and storing the image and video data in a database; the method comprises the following steps of: preprocessing image and video data acquired by a high-definition camera, storing the preprocessed image and video data according to time, place and category, deleting fuzzy image and video data, identifying a target object in the image and video data by using a target detection algorithm, and identifying and tracking the target object; through the target detection algorithm and the target tracking model, the target object of the image and video data can be accurately identified and tracked in real time, the monitoring efficiency is greatly improved, misjudgment and missed judgment caused by human factors are reduced, meanwhile, the labor cost is reduced, the monitoring work is more efficient and reliable, and the user experience is improved. And a powerful guarantee is provided for public safety.

The invention relates to the technical field of railway engineering, in particular to an automatic deformation monitoring method and device for railway equipment facilities, and the method comprises the following steps: S1, setting a detection system in a measurement robot; s2, an infrared transmitting and receiving device in the measuring robot transmits infrared laser, and a laser beam is reflected by a prism and received by an infrared receiving device to form a sighting light spot; the deviation amount of the sighting light spot and the target prism is calculated, and horizontal angle and vertical angle parameters are calibrated; s3, the measuring robot recognizes the monitoring points fixed to the track foundation bed through a CCD camera; s4, summarizing and processing the received data by the data acquisition terminal, and performing automatic data analysis; s5, transmitting the processed data to a database server through a wireless network, and monitoring the data in real time by an automatic monitoring system; s6, by comparing the monitoring data at different time points, calculating the settlement amount, and analyzing the height difference to judge the settlement condition; and S7, calculating change data of the time sequence.

This invention relates to the field of measurement data analysis technology, specifically to an engineering measurement data analysis method and system based on image recognition. The method includes the following steps: using an industrial camera to identify structural edges, measurement markers, and calibration rulers to form a reference set of measurement point coordinates; establishing corresponding quantities of directional scales based on the calibration ruler direction; combining the displacement relationship of the measurement points to form a measurement point interval characterization set; determining the edge deviation reference rate; and finally forming a boundary positioning association result. This invention uses grayscale abrupt changes to define edges and construct measurement point positioning references; calculates the lateral and longitudinal displacements of the calibration ruler to extract corresponding directional scales; combines measurement point displacement and edge direction to form interval characterizations; analyzes the normal span and surface deviation state to form edge references; and combines the boundary extension orientation to define the associated segments of the arrangement trajectory. This reduces interference from manual interpretation, maintains consistency of multi-directional conversion benchmarks, controls the error accumulation process, and improves the coherence and stability of engineering monitoring data processing.

The utility model relates to the technical field of mask production lines, and discloses a mask observation mechanism of a large-size mask production line, which comprises a blanking robot and a blanking clamping jaw arranged at the movable end of the blanking robot, and the blanking clamping jaw is provided with a camera identification assembly matched with the movable clamping jaw. The camera recognition assembly is used for recognizing and positioning the position of a Box, an observation table is arranged on one side of the discharging robot, a vertical plate clamping assembly is arranged on the observation table, and the vertical plate clamping assembly comprises a pair of vertical beams and a supporting base, the vertical beams can synchronously move face to face or back to back, and the supporting base can move in the vertical direction. When the mask placing device is in butt joint with an upstream discharging robot, the mask is in a vertical state, the dust falling risk is small, workers can observe the mask face and the mirror face on the two sides of the mask respectively, manual face turning is not needed, the mask placing precision is greatly improved, the collision risk is small, the burden of the workers is relieved, and the production efficiency is improved.

The utility model provides an automatic bad welding point maintenance device which comprises a maintenance assembly, and the maintenance assembly comprises a first linear module, two second linear modules, a mounting frame, two guide rails, a mounting plate, a supporting plate, a servo motor, a mounting base, a welding wire, a fixing frame, automatic temperature control soldering iron and a lead screw. The first linear module is installed on the rotors of the two second linear modules. The detection camera is used for identifying a reference point and a poor welding point of the PCB, under the cooperation of the first linear module and the second linear module, the automatic temperature control soldering iron moves to the position of the poor welding point, the servo motor drives the lead screw to rotate, the automatic temperature control soldering iron welds the poor welding point on the PCB, and after the welding is completed, the automatic temperature control soldering iron moves to the position of the poor welding point. The PCB is automatically maintained, so that the instability of personnel operation is avoided, the welding process is enabled to be within a controllable range, the labor cost is reduced, and the production efficiency is improved.

A method of recognizing a barcode by using a barcode reader (BCR) camera installed in a conveyor environment includes: obtaining, by using a BCR camera, a barcode image of a barcode on an object on a conveyor; obtaining a field of view of the BCR camera based on a conveyor environmental condition and a BCR camera setting condition; obtaining a moving distance of the object on the conveyor by using the field of view of the BCR camera, the conveyor environmental condition, and the BCR camera setting condition; generating a blur kernel of the barcode based on a moving direction of the object and the moving distance of the object; and deblurring the barcode image by using a pre-trained deblurring algorithm based on the blur kernel.