CN-121979121-A - Material taking position dynamic allocation method and device, electronic equipment and storage medium

CN121979121ACN 121979121 ACN121979121 ACN 121979121ACN-121979121-A

Abstract

The application relates to the technical field of electronic manufacturing automation, in particular to a method and a device for dynamically distributing material taking positions, electronic equipment and a storage medium, wherein whether materials picked up by the material taking equipment are in a mechanical reachable range is judged, if not, a state MAP is created according to the equipment specification, an optimal material taking sequence is dynamically generated according to the MAP, and the material taking equipment is controlled to execute operation according to the optimal material taking sequence. The application improves the equipment utilization rate and the production efficiency of the SMT production line.

Inventors

CAO HUI
HU TAO
LI BAOQIANG

Assignees

苏州市路远智能装备有限公司

Dates

Publication Date: 20260505
Application Date: 20251211

Claims (10)

1. A method for dynamically assigning a take-out location, the method comprising: Judging whether the material picked up by the current material taking equipment is in a mechanical reachable range or not; when detecting that the material picked up by the material taking equipment is not in the mechanical reachable range, creating a state MAP according to the equipment specification of the material taking equipment; dynamically generating an optimal material taking sequence according to the material state in the state MAP; and controlling the material taking equipment to execute material picking operation according to the optimal material taking sequence.
2. The method of claim 1, wherein dynamically generating an optimal reclaiming sequence according to the material states in the MAP comprises: Determining a forbidden material taking point set according to the material state; Removing forbidden material taking points in the historical material taking sequence according to the forbidden material taking point set so as to divide the historical material taking sequence into a plurality of material taking path fragments which are not forbidden, and obtaining a new material taking path; Calculating the path cost increment of inserting the unassigned points into the new material taking path; and determining the position corresponding to the minimum cost increment in the path cost increment as the optimal insertion point of the unassigned point, and generating the optimal material taking sequence.
3. The method of claim 2, wherein calculating the path cost increment for inserting unassigned points into the new take path comprises: for each insertion point of the unassigned points, the path cost increment is determined by the formula: ; wherein C is the path cost increment, For the material taking apparatus from the material level Move to the material level Is used for the distance of (a), For the number of switches of the take-off device k, For the total working time of the material taking device k, 、 And The weight coefficient is dynamically adjusted according to the production requirement.
4. The method of claim 1, wherein determining whether the material currently picked up by the material pick-up device is within a mechanically reachable range comprises: acquiring the material position coordinates of the materials picked up by the material taking equipment currently; judging whether the material position coordinate is positioned in the mechanical reachable range, wherein the mechanical reachable range comprises a minimum-maximum physical coordinate interval; And when the material position coordinates are determined to be within the mechanical reachable range, controlling the material taking equipment to move to a reachable target point corresponding to the material position coordinates to execute a pick-up operation, and marking the reachable target point as taken.
5. The method of claim 1, wherein creating a MAP of status according to the equipment specifications of the reclaimer device comprises: reading a specification programming file of the material taking equipment, and extracting size information of the material taking equipment from the specification programming file; based on the size information, based on the formula And Calculating MAP canvas size, wherein The canvas length of the MAP canvas, which is the total dimension along the X-axis direction, The canvas width, which is the total dimension along the Y-axis direction, As the starting coordinates, the size The number of lines in the information, For the number of columns of the size information, In the form of a lateral spacing, For longitudinal spacing, L is the element length of the material, and W is the element width of the material; and constructing a grid, dynamically generating a uniform matrix grid of the MAP canvas, and establishing a spatial index structure for each grid unit to generate the state MAP.
6. The method of dynamic allocation of take-out locations according to any one of claims 1 to 5, further comprising: when a frame selection operation instruction of an operator for a failed material area in the state MAP is received, determining a selected area coordinate corresponding to the failed material area; And sending an instruction for prohibiting material taking operation in the invalid material area to the material taking equipment according to the selected area coordinates.
7. The method of dynamic allocation of take-out locations according to any one of claims 1 to 5, further comprising: When an element abnormal instruction aiming at a material is received, controlling the material taking equipment to execute material throwing operation; Marking the corresponding point positions of the abnormal object elements as to-be-fed materials in the state MAP, and inserting the corresponding point positions of the abnormal object elements into the head of a task queue of the next production period; when a feeding instruction is received, acquiring an actual position image of a feeding element; judging whether the feeding element is abnormal according to the actual position image, and updating the state MAP according to the material state of the feeding element.
8. A device for dynamically assigning a take-out location, said device comprising: the judging module is used for judging whether the material picked up by the current material taking equipment is in a mechanical reachable range or not; The creation module is used for creating a state MAP according to the equipment specification of the material taking equipment when detecting that the material picked up by the material taking equipment is not in the mechanical reachable range currently; the optimizing module is used for dynamically generating an optimal material taking sequence according to the material state in the state MAP; And the control module is used for controlling the material taking equipment to execute material picking operation according to the optimal material taking sequence.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for dynamically assigning a take-off location according to any one of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of the method for dynamic allocation of take-off positions according to any of claims 1 to 7.

Description

Material taking position dynamic allocation method and device, electronic equipment and storage medium Technical Field The present application relates to the field of electronic manufacturing automation technology, and in particular, to a method and an apparatus for dynamically allocating a material taking position, an electronic device, and a storage medium. Background In the actual production process of the SMT equipment, when the tray feeder is used for supplying components, the tray loading area is usually only arranged at the leftmost or rightmost stations of the workbench of the equipment under the restriction of the physical layout of the equipment, and the mechanical structure causes a plurality of technical defects. The first one is limited by a mechanical structure, when a tray is placed at the edge of equipment, the first and the tail end suction nozzles of the suction nozzle array possibly exceed the stroke limit of a motor, so that the material level at the edge of the tray cannot be touched, and then an overtime taking alarm is triggered. Particularly in a high-density feeding scene, the existing rigid material taking and distributing scheme has difficulty in meeting the severe requirements of the modern SMT production line on equipment utilization rate and production beats, so that an intelligent material taking system with real-time dynamic distributing and optimizing capabilities needs to be developed. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides a method and a device for dynamically distributing material taking positions, electronic equipment and a storage medium, and improves the equipment utilization rate and the production efficiency of an SMT production line. The first aspect of the application provides a method for dynamically allocating material taking positions, which comprises the following steps: Judging whether the material picked up by the current material taking equipment is in a mechanical reachable range or not; when detecting that the material picked up by the material taking equipment is not in the mechanical reachable range, creating a state MAP according to the equipment specification of the material taking equipment; dynamically generating an optimal material taking sequence according to the material state in the state MAP; and controlling the material taking equipment to execute material picking operation according to the optimal material taking sequence. In an optional embodiment, the dynamically generating the optimal reclaiming sequence according to the material state in the state MAP includes: Determining a forbidden material taking point set according to the material state; Removing forbidden material taking points in the historical material taking sequence according to the forbidden material taking point set so as to divide the historical material taking sequence into a plurality of material taking path fragments which are not forbidden, and obtaining a new material taking path; Calculating the path cost increment of inserting the unassigned points into the new material taking path; and determining the position corresponding to the minimum cost increment in the path cost increment as the optimal insertion point of the unassigned point, and generating the optimal material taking sequence. In an alternative embodiment, said calculating a path cost increment for insertion of an unassigned point into said new take-off path comprises: for each insertion point of the unassigned points, the path cost increment is determined by the formula: ; wherein C is the path cost increment, For the material taking apparatus from the material levelMove to the material levelIs used for the distance of (a),For the number of switches of the take-off device k,For the total working time of the material taking device k,、AndThe weight coefficient is dynamically adjusted according to the production requirement. In an alternative embodiment, the determining whether the material picked up by the current material picking apparatus is within a mechanically reachable range includes: acquiring the material position coordinates of the materials picked up by the material taking equipment currently; judging whether the material position coordinate is positioned in the mechanical reachable range, wherein the mechanical reachable range comprises a minimum-maximum physical coordinate interval; And when the material position coordinates are determined to be within the mechanical reachable range, controlling the material taking equipment to move to a reachable target point corresponding to the material position coordinates to execute a pick-up operation, and marking the reachable target point as taken. In an alternative embodiment, the creating the MAP according to the equipment specification of the material taking equipment includes: reading a specification programming file of the material taking equipment, and extracting size information of the materi