CN114518727B - Discharge control system and discharging control method - Google Patents

Abstract

The invention provides a discharging control system and a discharging control method. The discharging control system has an operation module, an adjustment module, a computer vision module, a height measurement module and a control module. The discharging mechanism of the operation module supplies materials, and the adjustment module moves the discharging mechanism in multiple degrees of freedom. The front camera and side camera of the computer vision module continuously capture images covering the discharging mechanism, the adjustment module and the working position, and the height is measured. The module measures and adjusts the estimated height between the module and the working position. The control module controls the estimated height to match the preset height, continuously calculates the estimated posture and estimated position of the discharging mechanism based on the image, and controls the movement of the discharging mechanism to The material output by the discharging mechanism is supplied to the working position. The invention can realize discharging automation and accurately supply materials to the working position.

Description

Discharge control system and discharging control method

Technical field

The invention relates to a control system and a control method, in particular to a discharging control system and a discharging control method.

Background technique

In existing discharging control technology, the discharging mechanism is usually a fixed mechanism that can only provide materials to a fixed position.

In this regard, in the current processing flow, the operator manually aligns the processing part of the workpiece with the aforementioned fixed position so that material can be added to the processing part.

However, the aforementioned method not only consumes a lot of manpower and time, but also the accuracy of material supply completely depends on the technical proficiency of the operators, and cannot provide stable and high-precision material supply.

Therefore, the existing discharging control technology has the above problems and more effective solutions are urgently needed.

Contents of the invention

The main purpose of the present invention is to provide a control system and a control method thereof that can automatically align the discharging mechanism with the working position of the object.

The invention provides a discharging control system for supplying materials to a working position. The discharging control system includes an operation module, an adjustment module, a computer vision module, a height measurement module and a control module. The operation module includes a discharging mechanism, which is used to supply the material; the adjustment module is connected to the discharging mechanism and is used to move the discharging mechanism in multiple degrees of freedom. The adjustment module includes at least one motor device and Corresponding to a plurality of moving mechanisms with different degrees of freedom, the at least one motor device is used to provide power to make the plurality of moving mechanisms move the discharging mechanism in corresponding degrees of freedom respectively; the computer vision module includes a forward camera and a A lateral camera, the forward camera is arranged above the discharging mechanism and the adjustment module, and is used to continuously shoot a forward image covering the discharging mechanism, the adjustment module and the working position. The lateral camera is disposed above the discharging mechanism and the adjustment module. The side of the discharging mechanism and the adjustment module is used to continuously shoot a lateral image covering the discharging mechanism, the adjustment module and the working position; the height measurement module is used to measure the distance between the adjusting module and the working position. An estimated height; the control module is electrically connected to the discharging mechanism, the adjustment module, the computer vision module and the height measurement module, and the control module is configured to control the adjustment module to move the operation module so that the estimated height Consistent with a preset height, continue to calculate the estimated posture and estimated position of the discharging mechanism based on the forward image and the lateral image, and control the adjustment module based on the estimated posture and estimated position of the discharging mechanism To move the discharging mechanism and change the estimated attitude and the estimated position so that the material output by the discharging mechanism is supplied to the working position.

The invention also provides a discharging control method for a discharging control system. The discharging control system includes an operation module, an adjustment module, a computer vision module, a height measurement module and a control module. The control method includes the following steps: a) controlling the height measurement module in the control module to measure an estimated height between the adjustment module and an operating position; b) adjusting the operating module to a preset height based on the estimated height; c) Continuously control a forward camera of the computer vision module to capture a forward image covering the discharging mechanism, the adjustment module and the operating position of the operation module from above the discharging mechanism and the adjustment module, and control The lateral camera of the computer vision module captures a lateral image covering the discharging mechanism, the adjustment module and the working position from the side of the discharging mechanism and the adjustment module; d) continue to rely on the forward image and The side image calculates the estimated posture and estimated position of the discharging mechanism; and, e) controls at least one motor device of the adjustment module to provide power to a plurality of The moving mechanism moves the discharging mechanism in the degrees of freedom corresponding to each moving mechanism to change the estimated posture and the estimated position of the discharging mechanism so that the material output by the discharging mechanism is supplied to the Job location.

The invention can realize discharging automation and accurately supply materials to the working position.

Description of drawings

Figure 1 is an architectural diagram of a discharging control system according to the first embodiment of the present invention.

Figure 2 is an architectural diagram of the discharging control system according to the second embodiment of the present invention.

Figure 3 is an architectural diagram of an adjustment module according to the third embodiment of the present invention.

Figure 4 is an architectural diagram of a control module according to the fourth embodiment of the present invention.

Figure 5 is a flow chart of the discharging control method according to the first embodiment of the present invention.

Figure 6 is a flow chart of the discharging control method according to the second embodiment of the present invention.

FIG. 7 is a partial appearance diagram of a discharging control system according to an example of the present invention.

FIG. 8 is a schematic diagram of the appearance of a forward image according to an example of the present invention.

FIG. 9 is a schematic view of the appearance of the first side image according to an example of the present invention.

FIG. 10 is a schematic view of the appearance of a second side image according to an example of the present invention.

Among them, the reference symbols are explained as follows:

1: Discharging control system

10: Control module

11: Job module

110: Discharging mechanism

12: Adjustment module

120: Motor device

121:Mobile mechanism

13: Computer vision module

130: Forward camera

131: Side camera

14: Height measurement module

2: Discharge control system

20: Control host

200: Control module

201: Storage module

202: Human-computer interface

203: Communication module

21: Automation equipment

210: Job module

211: Adjust module

212: Computer Vision Module

213: Height measurement module

214: Material processing module

215: Laser

300: Discharging mechanism

301: Feeding mechanism

310-312: Motor device

313: Horizontal moving mechanism

314: Elevation moving mechanism

315: Vertical moving mechanism

320: First side camera

321: Second side camera

322: Forward camera

323: Non-visible light camera

40: Adjustment module

400: Motor device

401: Clutch switching module

402-403: Mobile mechanism

50: Control module

501: Height acquisition module

502: Image acquisition module

503: Visual estimation module

504: Pre-processing module

505: Analyze image module

506: Discharge control module

507:Mobile control module

508: Processing control module

509: Error detection module

60: Printed circuit board

61: Pad

62: Component pin

63: Horizontal rotating connector

64: Transmission parts

65: Material

S10-S16: The first discharging control step

S200-S210: second discharging control step

S30-S31: Calculation steps

S40-S41: Moving steps

Detailed ways

A preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings.

The present invention mainly provides a discharging control system and a discharging control method, which can automatically measure the posture gap and/or position gap between the working position of the processed object and the discharging mechanism, and accurately adjust the posture of the discharging mechanism. and/or location to accurately supply materials to job locations without the need for manual operations.

Please see Figure 1 and Figure 5 together. FIG. 1 is an architecture diagram of a discharging control system according to the first embodiment of the present invention, and FIG. 5 is a flow chart of a discharging control method according to the first embodiment of the present invention. The discharging control method of each embodiment of the present invention can be implemented by the discharging control system of any embodiment.

As shown in Figure 1, in this embodiment, the discharging control system 1 includes an operation module 11, an adjustment module 12, a computer vision module 13, a height measurement module 14 and a control module 10 electrically connected to the above modules.

The operation module 11 may include a discharging mechanism 110 . The discharging mechanism 110 is used to supply materials required for processing operations (such as adhesives, welding materials, printing materials, etc.) to the discharging position toward which the discharging port faces.

The adjustment module 12 is mechanically connected to the discharging mechanism 110 and is used to move the discharging mechanism 110 in multiple degrees of freedom, so that the discharge opening of the discharging mechanism 110 faces a designated position. Specifically, the adjustment module 12 may include one or more motor devices 120 (Figure 1 takes multiple motor devices 120 as an example) and multiple moving mechanisms 121 corresponding to different degrees of freedom (each moving mechanism 121 may be of various types). Any combination of connecting parts and transmission parts). The motor device 120 is used to provide power to move the connected moving mechanism 121 to move the discharging mechanism in a corresponding degree of freedom.

In one embodiment, the motor device 120 is a stepper motor and is provided with a motor encoder. The motor encoder can sense the current address signal (such as the rotation angle) of the motor device 120 and provide it to the control module 10, thereby providing The control module 10 knows the current positions of the moving mechanism 121 and the discharging mechanism 110 . Alternatively, the motor device 120 can rotate according to the motor control signal of the control module 10 (which may include a specified address) until the address signal matches the motor control signal, thereby achieving precise power output control and accurately moving the moving mechanism 121 to adjust the discharging. Establishment 110 location.

The computer vision module 13 mainly provides image data required for computer vision analysis to the control module 10 so that the control module 10 can perform computer vision analysis (such as analyzing the posture and position of the discharging mechanism 110 in real space). Specifically, the computer vision module 13 may include one or more front cameras 130 and one or more side cameras 131 . The front camera 130 and the side camera 131 may be cameras of the same type (such as a visible light camera) or similar cameras (such as using lenses with different focal lengths or photosensitive elements of different sizes). The difference in their names is mainly used to distinguish their installation locations.

Furthermore, the forward camera 130 is disposed above the discharging mechanism 110 and the adjustment module 12 and is used to continuously capture forward images. The side camera 131 is disposed on the side of the discharging mechanism 110 and the adjustment module 12 and is used to continuously capture side images.

In one embodiment, the field of view of the front image covers the working position of the discharging mechanism 110, the adjustment module 12 and the object. The field of view of the aforementioned side image covers the discharging mechanism 110, the adjustment module 12 and the working position.

Please refer to FIGS. 8 and 9 together. FIG. 8 is a schematic view of the appearance of a front image according to an example of the present invention, and FIG. 9 is a schematic view of the appearance of a first side image according to an example of the present invention.

As shown in FIG. 8 , the perspective of the front image is taken vertically from top to bottom, and its field of view covers the discharge port of the discharging mechanism 110 and the working position of the object (such as the component soldering point in the center of the circuit board).

As shown in FIG. 9 , the side image is taken obliquely from the left side of the discharging mechanism 110 towards the working position, and its field of view covers the discharge opening of the discharging mechanism 110 and the working position of the object.

Referring again to FIG. 1 , the height measurement module 14 is used to measure the estimated height between the adjustment module 12 and the working position. In one embodiment, the height measurement module 14 may be a laser range finder, an ultrasonic range finder, an electromagnetic range finder or other distance measuring devices.

The control module 10 is used to control each module of the discharging control system 1 . Specifically, please refer to FIG. 1 and FIG. 5 at the same time. The control module 10 is configured to control the height measurement module 14 to measure the aforementioned estimated height (step S10 ), and control the adjustment module 12 to move the operation module 11 based on the estimated height. The discharging mechanism 110 is configured to make the height difference between the adjustment module 12 and the working position comply with the preset height (step S11).

In addition, the control module 10 is configured to control the front camera 130 and the side camera 131 to capture the front image and the side image (step S12), and calculate the discharge mechanism 110 based on the captured front image and side image. Estimated posture and estimated position (step S13). The aforementioned estimated posture and estimated position can be represented by a spatial coordinate system (such as a Cartesian coordinate system) or a robot coordinate system (such as coordinates recording the addresses of each motor device 120).

It is worth mentioning that confirming the posture or coordinate position of an object based on multiple images from different viewing angles is an existing technology in the field of computer vision technology, and its details and possible implementations will not be described here. The present invention mainly transfers computer vision technology from different fields to automatic discharging control.

Next, the control module 10 is further configured to determine whether the discharge port of the discharging mechanism 110 is aligned with the working position of the object based on the calculated estimated posture and estimated position of the discharging mechanism 110 (step S14).

If it is determined that the discharge port is not aligned with the working position of the object (for example, the estimated posture and the estimated position do not match the preset posture or the preset position), the control module 10 controls at least one motor device 120 of the adjustment module 12 to provide power to The connected moving mechanism 121 moves the discharging mechanism 110 in a specified degree of freedom to change the estimated posture and estimated position of the discharging mechanism 110 (step S15). Then, the control module 10 executes step S12 again to determine whether the discharge port is aligned with the working position of the object based on computer vision.

If in step S14, it is determined that the material discharging port has been aligned with the working position of the object, then the control module 10 controls the working module 11 to start performing the discharging operation, so that the discharging mechanism 110 outputs the material to the working position (step S16).

Thereby, the present invention can automatically align the discharging opening of the discharging mechanism to the working position, thereby eliminating manual operation. Moreover, through the arrangement of the motor encoder and the height measurement module 14, the present invention can also accurately supply materials to the working position.

Please refer to FIG. 1 , FIG. 2 and FIG. 4 at the same time. FIG. 2 is an architectural diagram of the discharging control system according to the second embodiment of the present invention, and FIG. 4 is an architectural diagram of the control module according to the fourth embodiment of the present invention.

The embodiment of Figure 4 proposes a control module 50, which includes the following modules 501-509 for implementing different functions. Moreover, both the control module 10 shown in FIG. 1 and the control module 200 shown in FIG. 2 can be replaced by the aforementioned control module 50 to achieve modular control (the architecture of FIG. 2 will be used in conjunction with FIG. 4 for explanation later).

1. Height acquisition module 501: configured to control the height measurement module 213 to perform measurements and obtain the measurement distance (ie, estimated height).

2. Image acquisition module 502: configured to control each camera 320-323 of the computer vision module 212 to shoot and acquire the captured image data.

3. Visual estimation module 503: configured to perform computer vision analysis based on the captured image data to obtain the estimated posture and estimated position of the discharging mechanism 300.

In one embodiment, the visual estimation module 503 may include a pre-processing module 504 and an image analysis module 505.

The pre-processing module 504 is configured to perform pre-image processing to remove image interference and/or enhance image features. In one embodiment, pre-image processing may include grayscale processing, background interference removal processing, feature recognition processing, sharpening processing, binarization processing, contour recognition processing and/or other interference removal, image extraction, and image enhancement. deal with.

The analyzing image module 505 is configured to perform analyzing image processing on the image data after pre-image processing to calculate the estimated posture and estimated position of the discharging mechanism 300 . In one embodiment, the analysis image processing may include recognition operation point processing, analysis posture processing, analysis position processing, analysis material supply processing, and/or other object recognition and analysis processing.

4. Discharging control module 506: configured to control the discharging mechanism 300 to start/stop discharging materials. In one embodiment, the discharging control module 506 is configured to control the discharging mechanism 300 to start discharging materials when the discharging port is aligned with the working position, and to control the discharging mechanism 300 to start discharging materials when the stop conditions (such as the preset time has passed and the discharging amount reaches the preset amount). When the volume is satisfied or the completion of discharging is determined by computer vision, etc.), the discharging mechanism 300 is controlled to stop discharging.

5. Movement control module 507: configured to control the operation of each motor device 310-312 of the adjustment module 211 to change the position and attitude of the moving mechanism 313-315 and realize the movement of the discharging mechanism 300.

In one embodiment, if the adjustment module includes a clutch switching module (such as the clutch switching module 401 shown in FIG. 3 ), the movement control module 507 may be further configured to control the switching of the clutch switching module 401 .

6. Processing control module 508: configured to control the material processing module 214 toward the working position and process the material provided to the working position to change the material state or properties (such as hardening, fluidization, deterioration, etc.).

7. Error detection module 509: configured to detect errors during processing and send a notification when an error is detected.

It is worth mentioning that the aforementioned modules 501-509 are connected to each other (can be electrical connection or information connection), and can be hardware modules (such as electronic circuit modules, integrated circuit modules, SoC, etc.), software modules or software modules. Mixing and matching of hardware modules is not limited here.

It is worth mentioning that when each of the aforementioned modules 501-509 is a software module (such as firmware, operating system or application program), the storage device (storage module 201 as shown in Figure 2) may include non-transitory computer-readable Recording media. The aforementioned non-transitory computer-readable recording medium stores computer programs. The aforementioned computer programs record computer-executable program codes. When the control module 50 executes the aforementioned program codes, the control functions of the aforementioned modules 501-509 can be realized. .

Please refer to FIG. 2 and FIG. 6 at the same time. FIG. 6 is a flow chart of the discharging control method according to the second embodiment of the present invention. In the embodiment of FIG. 2 , the discharging control system 2 includes a control host 20 and automation equipment 21 (such as automated machines, industrial robots or robotic arms, etc.). The control host 20 and the automation equipment 21 can be connected through physical cables or computer networks for data transmission.

In one embodiment, the control host 20 is located in the same factory building as the automation equipment 21 and can perform local control on the automation equipment 21 .

In one embodiment, the control host 20 and the automation equipment 21 are installed in different locations, and the automation equipment 21 can be remotely controlled through a computer network.

In this embodiment, in addition to the discharging mechanism 300, the operation module 210 also includes a feeding mechanism 301. The feeding mechanism 301 is used to accept the control of the control host 20 to input materials, and provide the materials to the discharging mechanism 300 .

The adjustment module 211 includes a plurality of motor devices 310-312. Each motor device 310-312 is connected to a different moving mechanism 313-315 respectively, and is used to provide power to the connected group of moving mechanisms 313-315 to control the connected moving mechanism. 313-315 move the discharging mechanism 300 on the corresponding degrees of freedom.

In one embodiment, the number of motor devices 310-312 is no less than the number of moving mechanisms 313-315.

In one embodiment, the number of motor devices 310-312 is equal to the number of moving mechanisms 313-315. For example, the motor device 310 is connected to the horizontal moving mechanism 313 for rotating in the horizontal direction, the motor device 311 is connected to the elevation moving mechanism 314 for adjusting the elevation angle of the discharging mechanism 300, and the motor device 312 is connected to the vertical moving mechanism for lifting in the vertical direction. 315, but not limited to this.

Please refer to FIG. 3 , which is an architectural diagram of an adjustment module according to a third embodiment of the present invention. The adjustment module 40 of this embodiment also includes a clutch switching module 401 electrically connected to the aforementioned control module. One end of the clutch switching module 401 is connected to the motor device 406, and the other end is switched between a plurality of moving mechanisms 402 and 403. The number of motor devices 400 is less than the number of moving mechanisms 402 and 403 .

In this embodiment, when you want to control the moving mechanism 402, you must first control the clutch switching module 401 to switch to connect the moving mechanism 402. Thereby, the power of the motor device 400 can be provided to the moving mechanism 402 .

When the moving mechanism 403 is to be controlled, the clutch switching module 401 is controlled to switch to connect the moving mechanism 403 . Thereby, the power of the motor device 400 can be provided to the moving mechanism 403 .

Through the arrangement of the clutch switching module 401, the present invention can effectively reduce the number of motor devices, thereby reducing system costs and reducing power consumption.

It is worth mentioning that clutching (switching connections) between multiple transmission mechanisms is an existing technology in the field of power machinery, and will not be described again here. The present invention mainly transfers mechanical clutch technology from different fields to automatic discharging control.

Please refer to Figure 2 and Figure 6 again. In addition to the front camera 322, the computer vision module 212 can also be configured with multiple side cameras, such as the first side camera 320 and the second side camera 321, to obtain multiple different viewing angles. Lateral images (such as the first lateral image and the second lateral image).

In one embodiment, the computer vision module 212 can be configured with different types of non-visible light cameras 323 as required, such as depth cameras, thermal cameras, X-ray cameras, ultrasonic cameras, etc. The non-visible light camera 323 can capture non-visible light images, such as depth images that can be used to measure depth, thermal images that can be used to measure temperature, X-ray images that can show the inside of objects, ultrasound images that can be used to measure distances or shapes, etc.

In addition to the height measurement module 213 as mentioned above, the automation equipment 21 also includes a material processing module 214 electrically connected to the control module 200 . The material processing module 214 is used to process the material discharged by the discharging mechanism 300 .

In one embodiment, after the material is supplied to the working position, the control module 200 controls the material processing module 214 to process the material at the working position to change the state or properties of the material.

For example, if the material output by the discharging mechanism 300 includes cooling and solidifying materials (i.e. thermoplastic materials, such as tin bars, ABS resin or hot melt glue, etc.), the material processing module 214 may include a heating module. The heating module may heat Cool and solidify the material to a fluid state to fill the working location (such as the welding or adhesive points of the component, or the designated printing area of the 3D printer).

In another example, if the aforementioned material includes a polymerized curing material (such as AB glue), the material processing module 214 may include a curing agent injection module. The curing agent injection module is used to inject the curing agent (such as the curing agent in AB glue) to the location of the aforementioned materials, so that the curing agent and the polymerized curing material undergo a curing reaction.

In another example, if the aforementioned materials include volatile curing materials (such as silicone, quick-drying glue, etc.), the material processing module 214 may include an airflow generating module. The airflow generating module is used to generate airflow to increase the volatilization speed and reduce the time required for curing the volatilized curing material.

In another example, if the aforementioned material includes a light-curing material (such as a light-curing resin), the material processing module 214 may include a light source module (such as an ultraviolet light source). The light source module may illuminate the working position to cure the material on the working position. of light-curing materials.

In this embodiment, the control host 20 may include a storage module 201, a human-machine interface 202, a communication module 203, and a control module 200 electrically connected to the above modules.

The storage module 201 is used to store data, such as the aforementioned preset height, preset posture, preset position, preset time, preset volume, etc.

The human-machine interface 202 may include any combination of input devices (such as keyboards, key sets, microphones, mice, etc.) and output devices (such as monitors, speakers, printers, etc.) to interact with users, such as For users to enter control instructions or provide notifications to users.

The communication module 203 includes a transmission interface for connecting to automation equipment to establish communication between the control module 200 and the automation equipment.

The control module 200 is used to control each module of the discharging control system 2 . Specifically, please refer to Figures 2, 4 and 6 at the same time. The control module 200 controls the height measurement module 213 to measure the estimated height through the height acquisition module 501 (step S200), and controls the adjustment module 211 through the movement control based on the estimated height. The module 507 controls the corresponding motor devices 310-312 to rotate at a specified angle to move the discharging mechanism 300 and make the height difference between the reference point (such as the position of the adjustment module 211 or the position of the discharging port) and the working position meet the preset Set the height (step S201).

In addition, the control module 200 also controls each camera 320-323 of the computer vision module 212 to take pictures through the image acquisition module 502 (step S202), and calculates the estimated posture of the discharging mechanism 300 based on the captured images through the visual estimation module 503. and estimated position (step S203).

In one embodiment, the control module 200 first performs pre-processing on all or part of the images (for example, only visible light images are selected) through the pre-processing module 504 to obtain corresponding feature images (that is, images that remove interference and/or enhance features). , such as performing pre-image processing on the front image and the lateral image to obtain the characteristic front image and the characteristic lateral image (step S30)

The control module 200 then performs analytical image processing based on all or part of the characteristic images (for example, only visible light images are selected) and the setting positions of each camera 320-323 through the image analysis module 505 to obtain the estimated posture and estimated position of the discharging mechanism 300. For example, based on the installation position of the front camera, the installation position of the side camera and the preset height, perform analytical image processing on the characteristic front image and the characteristic side image to obtain the estimated posture and estimated position of the discharging mechanism 300 (step S31 ).

Next, the control module 200 uses the discharging control module 506 to determine whether the discharge port of the discharging mechanism 300 is aligned with the working position of the object based on the calculated estimated posture and estimated position of the discharging mechanism 300 (step S204).

If it is determined that the discharge port is not aligned with the working position of the object, the control module 200 controls the operation of the designated motor devices 310-312 through the movement control module 507 to change the attitude and/or position of the discharging mechanism 300 (step S205).

In one embodiment, the control module 200 can control the operation of the motor device 310 to horizontally rotate the discharging mechanism 300 through the movement control module 507 (step S40).

In one embodiment, the control module 200 can control the operation of the motor device 311 through the movement control module 507 to adjust the elevation angle of the discharge port of the discharging mechanism 300 (step S41).

In one embodiment, the control module 200 can control the operation of the motor device 312 through the movement control module 507 to vertically lift the discharging mechanism 300 .

Then, the control module 200 executes step S204 again to determine whether the discharge port is aligned with the working position of the object based on computer vision.

If in step S204, it is determined that the discharging port has been aligned with the working position of the object, the control module 200 can control the discharging mechanism 300 to perform the discharging operation through the discharging control module 506 (step S206).

In one embodiment, while the discharging operation is being executed or after the execution is completed, the control module 200 can control the material processing module 214 through the processing control module 508 to process the material provided to the working position to change the state or properties of the material. (Such as curing or hardening, step S207).

Thus, the present invention can realize automated discharging and processing.

In one embodiment, during the discharging operation, the control module 200 can perform error detection processing based on the image captured by the computer vision module 212 through the error detection module 509 to detect whether an error occurs in the discharging operation (step S208), as shown in Analyze the forward and side images to determine whether the material is discharged normally, whether the discharge port deviates from the operating position, etc.

The control module 200 can determine whether any error is detected through the error detection module 509 (step S209), and when any error is detected, stop the discharging operation and output an error notification through the human-machine interface 202 (step S210).

In this way, the present invention can avoid errors during processing (such as failure to discharge materials normally or discharging materials at the wrong position) that may cause damage to objects or cause processing defects.

Please refer to FIG. 10 , which is a schematic view of the appearance of the second side image according to an example of the present invention. As shown in Figure 10, the side image (second side image) is shot obliquely from the right side of the discharging mechanism 110 toward the working position (as shot by the second side camera 321), and its field of view covers The discharge port of the discharging mechanism 300 and the working position of the object.

Moreover, after analyzing the second side image through computer vision, the control module 200 can find that the material discharge port has deviated from the working position of the object (such as the center of the printed circuit board), which will prevent the material from being correctly supplied to the working position. In this case, the control module 200 can control the discharging mechanism 300 to stop the discharging operation, and send a deviation notification through the human-machine interface 202 to notify the user to perform manual correction, processing or recording.

Furthermore, after detecting an error, the control module 200 can automatically readjust the position of the discharging mechanism 300 to align the discharging port with the working position, thereby eliminating manual processing.

In one embodiment, the aforementioned discharging operation is to provide materials to multiple working positions in sequence, thereby achieving material supply to multiple points or the entire area.

Specifically, taking FIG. 2 as an example, the control module 200 can be configured to plan a discharging movement path through multiple working positions. The discharging moving path includes multiple motor address codes respectively corresponding to multiple working positions, such as A plurality of addresses (hereinafter referred to as horizontal codes) of the motor device 310 connected to the horizontal moving device 313, a plurality of addresses (hereinafter referred to as elevation codes) of the motor device 311 connected to the elevation moving device 314, and/or a plurality of addresses connected to the vertical moving device 315 Multiple addresses of the motor device 312 (hereinafter referred to as vertical codes).

The control module 200 is further configured to sequentially control the rotation of the corresponding motor devices 310-312 to move the connected moving mechanisms 313-315 according to the multiple sets of motor address codes of the moving path when performing the discharging operation, so as to move at the specified location. Move the discharging mechanism 300 with degrees of freedom.

For example, the control module 200 can control the motor device 310 to push the horizontal movement mechanism 313 according to multiple horizontal codes of the discharging movement path to sequentially horizontally move the discharging port of the discharging mechanism 300 to multiple operating positions and supply materials to each operation. Location.

In another example, the control module 200 can control the motor device 311 to push the elevation moving mechanism 314 according to multiple elevation codes of the discharging movement path to sequentially adjust the elevation angle of the discharge port when reaching each working position.

In another example, the control module 200 can control the motor device 312 to push the vertical movement mechanism 315 according to multiple vertical codes on the discharging movement path to sequentially adjust the height of the discharging opening when reaching each working position.

Thereby, the present invention can realize multi-point feeding or range feeding.

Please refer to FIG. 7 , which is a partial schematic diagram of the appearance of an example of the discharging control system of the present invention. It is used to illustrate a specific implementation mode of the present invention, but is not intended to limit the scope of protection of the present invention.

In this example, the discharging control system is used to laser weld the pads 61 and component pins 62 of the printed circuit board 60 .

The horizontal movement mechanism 313 includes a horizontal rotation connecting member 63 and a transmission member 64 . The motor device 310 can drive the horizontal rotation connecting member 63 through the transmission member 64 (such as a transmission belt) to realize the horizontal rotation of the discharging device 300.

The motor device 311 can adjust the elevation angle of the discharging device 300 through the elevation angle moving mechanism 314.

The feeding mechanism 301 (not shown in FIG. 7 ) can input materials (such as tin bars) to the discharging mechanism 300 , and when the discharging port of the discharging mechanism 300 faces the working position (such as between the pad 61 and the component pin 62 When there is a gap between them), the material can be provided to the working position.

The front camera 322 is disposed on the horizontal rotating connector 63 to capture an overhead image (forward image) of the material discharging port and the working position. The first side camera 320 is disposed on the elevation moving mechanism 314 to capture the side view of the material discharging port and the working position. Visual image (lateral image).

The height measurement module 213 (such as a laser range finder) is disposed on the horizontal rotating connector 63 to measure the estimated height with the bonding pad 61 or the component pin 62 .

The material processing module 214 (such as a laser heating module) is disposed in the horizontal rotating connector 63 and is used to emit a high-power laser 215 to melt the material 65 for welding.

In one embodiment, the height measurement module 213 and the material processing module 214 can be integrated into the same module. For example, height measurement is performed when the low-power laser 215 is emitted, and welding is performed when the high-power laser 215 is emitted. Alternatively, two different sets of modules can be directly configured. laser transmitter.

The above are only preferred specific examples of the present invention, which do not limit the patent scope of the present invention. Therefore, all equivalent changes made by applying the content of the present invention are equally included in the scope of the present invention. Chen Ming.

Claims (10)

1. A discharge control system for supplying material to a work site, comprising:

an operation module, including a discharging mechanism, the discharging mechanism is used for supplying the material;

the adjusting module is connected with the discharging mechanism and used for moving the discharging mechanism in a plurality of degrees of freedom, and comprises at least one motor device and a plurality of moving mechanisms respectively corresponding to different degrees of freedom, wherein the at least one motor device is used for providing power to enable the plurality of moving mechanisms to move the discharging mechanism in the corresponding degrees of freedom respectively;

the computer vision module comprises a forward camera and a lateral camera, wherein the forward camera is arranged above the discharging mechanism and the adjusting module and is used for continuously shooting a forward image covering the discharging mechanism, the adjusting module and the working position, and the lateral camera is arranged at the lateral side of the discharging mechanism and the adjusting module and is used for continuously shooting a lateral image covering the discharging mechanism, the adjusting module and the working position;

a height measurement module for measuring an estimated height between the adjustment module and the working position; and

The control module is electrically connected with the discharging mechanism, the adjusting module, the computer vision module and the height measuring module, and is configured to control the adjusting module to move the operation module to enable the estimated height to meet a preset height, continuously calculate the estimated posture and the estimated position of the discharging mechanism according to the forward image and the side image, and control the adjusting module to move the discharging mechanism according to the estimated posture and the estimated position of the discharging mechanism so as to change the estimated posture and the estimated position, so that the material output by the discharging mechanism is supplied to the operation position.

2. The discharge control system of claim 1, wherein the plurality of moving mechanisms includes a horizontal moving mechanism for horizontally moving the discharge mechanism and an elevation moving mechanism for adjusting an elevation of a discharge port of the discharge mechanism;

the control module is further configured to plan a discharging moving path passing through a plurality of the working positions, wherein the discharging moving path comprises a plurality of horizontal codes and a plurality of elevation codes respectively corresponding to a plurality of the working positions;

the control module is also configured to control the at least one motor device to push the horizontal moving mechanism according to the plurality of horizontal codes of the discharging moving path to sequentially and horizontally move the material outlet of the discharging mechanism to a plurality of working positions and supply the material to each working position when a discharging operation is executed;

the control module is also configured to control the at least one motor device to push the elevation moving mechanism according to the plurality of elevation codes of the discharging moving path to adjust the elevation of the material outlet when the elevation moving mechanism reaches each working position in sequence when the discharging operation is executed.

3. The outfeed control system of claim 1, further comprising a material processing module electrically connected to the control module, the material processing module configured to process the material;

the control module is configured to control the material processing module to process the material at the work location after the material is supplied to the work location.

4. The discharge control system of claim 3, wherein the material output by the discharge mechanism comprises at least one of a cooling curable material, a polymeric curable material, a volatile curable material, and a photo curable material;

the material processing module comprises at least one of a heating module, a curing agent injection module, an airflow generating module and a light source module.

5. The outfeed control system of claim 1, wherein the control module is further configured to perform a pre-image process on the forward image and the side image to obtain a feature forward image and a feature side image, and perform an analytical image process on the feature forward image and the feature side image based on the set position of the forward camera, the set position of the side camera, and the preset height to obtain the estimated pose and the estimated position of the outfeed mechanism;

wherein the pre-image processing comprises at least one of gray-scale processing, background noise removing processing, feature identification processing, sharpening processing, binarization processing and contour identification processing;

wherein the analysis image processing includes at least one of a recognition operation point processing, an analysis posture processing, an analysis position processing, and an analysis material supply processing.

6. The outfeed control system of claim 1, further comprising a man-machine interface electrically connected to the control module;

the control module is further configured to perform a detection error process on the forward image and the side image during a discharging operation, and stop the discharging operation and output a notification through the man-machine interface when any error is detected.

7. The tapping control system according to claim 6, wherein the control module is further configured to stop the tapping operation when detecting that the estimated posture of the tapping mechanism is not oriented to the working position or that a tapping distance between the estimated position and the working position is not less than a safe tapping distance, and control the adjustment module to move the tapping mechanism until the estimated posture is oriented to the working position and the tapping distance is less than the safe tapping distance.

8. The outfeed control system of claim 1 wherein the adjustment module comprises a plurality of motor arrangements, each motor arrangement being configured to provide power to a set of the movement mechanisms to control the movement mechanisms to move the outfeed mechanism in a corresponding degree of freedom;

wherein the number of the plurality of the motor devices is not less than the number of the plurality of the moving mechanisms.

9. The discharge control system of claim 1, further comprising a clutch switch module electrically connected to the control module and connecting the at least one motor device and the plurality of moving mechanisms;

wherein the control module is further configured to control the clutch switching module to switch each of the motor devices to one of the plurality of moving mechanisms so that the motor device provides power to the switched moving mechanism;

wherein the number of the at least one motor device is less than the number of the plurality of moving mechanisms.

10. The discharging control method is used for a discharging control system, the discharging control system comprises an operation module, an adjustment module, a computer vision module, a height measurement module and a control module, and the discharging control method comprises the following steps:

a) Controlling the height measurement module to measure an estimated height between the adjustment module and an operating position;

b) Adjusting the operation module to a preset height based on the estimated height;

c) Continuously controlling a forward camera of the computer vision module to shoot a forward image covering a discharging mechanism of the operation module, the adjustment module and the operation position from above the discharging mechanism and the adjustment module, and controlling a side camera of the computer vision module to shoot a side image covering the discharging mechanism, the adjustment module and the operation position from the sides of the discharging mechanism and the adjustment module;

d) Continuously calculating an estimated posture and an estimated position of the discharging mechanism according to the forward image and the lateral image; and

e) According to the estimated posture and the estimated position of the discharging mechanism, at least one motor device of the adjusting module is controlled to provide power to a plurality of moving mechanisms to respectively move the discharging mechanism in the degrees of freedom corresponding to the moving mechanisms so as to change the estimated posture and the estimated position of the discharging mechanism, so that the material output by the discharging mechanism is supplied to the working position.