CN-121998960-A - Cooperative control method, device and storage medium for loading and unloading and workpiece rechecking

CN121998960ACN 121998960 ACN121998960 ACN 121998960ACN-121998960-A

Abstract

The application discloses a cooperative control method, a cooperative control device and a storage medium for feeding and discharging and workpiece rechecking, and relates to the technical field of workpiece processing, wherein the cooperative control method comprises the steps of taking out a workpiece to be pasted from a current effective layer of a target material box and recording source information of the workpiece to be pasted; the method comprises the steps of conveying a workpiece to be pasted to a pasting station, collecting a workpiece image of the workpiece to be pasted through an industrial camera, preprocessing the workpiece image to obtain a binary image containing rectangular features, extracting an identification area of the binary image to obtain an area of interest, carrying out double-rectangular positioning on the area of interest to obtain a first local rectangle and a second local rectangle, carrying out weighted fitting on the basis of the first local rectangle and the second local rectangle to obtain a target rectangle representing the overall outline of the workpiece to be pasted, calculating deflection angle deviation of the target rectangle relative to a standard posture rectangle, determining a rechecking result of the workpiece to be pasted according to the deflection angle deviation, and processing the workpiece to be pasted according to the rechecking result.

Inventors

YIN TONG
DENG ZEFENG
ZHANG LIPING
FU WENDING

Assignees

深圳市路远智能装备有限公司

Dates

Publication Date: 20260508
Application Date: 20260129

Claims (10)

1. The cooperative control method for feeding and discharging and workpiece reinspection is characterized by comprising the following steps of: taking out a workpiece to be pasted from a current effective layer of a target material box, and recording source information of the workpiece to be pasted, wherein the source information comprises a material box name, a layer number and a position serial number in the layer; after the workpiece to be pasted is conveyed to a pasting station, a workpiece image of the workpiece to be pasted is acquired through an industrial camera; Preprocessing the workpiece image to obtain a binarized image containing rectangular features; extracting an identification region of the binarized image to obtain a region of interest; Double-rectangle positioning is carried out on the region of interest to obtain a first local rectangle and a second local rectangle; performing weighted fitting on the basis of the first local rectangle and the second local rectangle to obtain a target rectangle representing the overall outline of the workpiece to be pasted; calculating deflection angle deviation of the target rectangle relative to a standard posture rectangle; determining a rechecking result of the workpiece to be pasted according to the deflection angle deviation; and processing the workpiece to be pasted according to the rechecking result.
2. The method of claim 1, wherein the step of bi-rectangularly positioning the region of interest to obtain a first local rectangle and a second local rectangle comprises: Acquiring characteristic parameters of a preset local rectangle, wherein the characteristic parameters of the preset local rectangle comprise an aspect ratio range, an area range and an edge gradient threshold value of the preset local rectangle; in the region of interest, performing double-rectangle screening through the characteristic parameters of the preset local rectangle to obtain candidate local rectangles; determining whether the central connecting line of the candidate local rectangle is parallel to the length direction of the workpiece to be pasted; And when the central connecting line of the candidate local rectangle is parallel to the length direction of the workpiece to be pasted, obtaining a first local rectangle and a second local rectangle through the candidate local rectangle.
3. The method of claim 1, wherein the step of weighting the fitting based on the first partial rectangle and the second partial rectangle to obtain a target rectangle characterizing the overall contour of the workpiece to be tiled comprises: Acquiring local rectangular center coordinates, local rectangular length and width parameters and rectangular types of the first local rectangle and the second local rectangle; Determining a first weight of the first local rectangle and a second weight of the second local rectangle according to the rectangle type; And carrying out weighted fitting based on the local rectangular center coordinates, the local rectangular length and width parameters, the first weight and the second weight to obtain a target rectangle representing the overall outline of the workpiece to be pasted.
4. The method of claim 3, wherein the step of performing a weighted fit based on the local rectangular center coordinates, the local rectangular length and width parameters, the first weights, and the second weights to obtain a target rectangle characterizing the overall contour of the workpiece to be tiled comprises: calculating the center coordinates of the target rectangle according to the local rectangle center coordinates, the first weight and the second weight; acquiring a preset correction coefficient set based on workpiece specifications; Calculating Euclidean distances of centers of the first partial rectangle and the second partial rectangle according to the partial rectangle center coordinates; calculating the length and width parameters of the target rectangle according to the local rectangle length and width parameters, the Euclidean distance and the preset correction coefficient; and fitting by taking the central coordinate as an origin and the central connecting line of the first local rectangle and the second local rectangle as a length direction and combining the length and width parameters to obtain a target rectangle representing the overall outline of the workpiece to be pasted.
5. The method of claim 1, wherein the step of preprocessing the workpiece image to obtain a binarized image containing rectangular features comprises: Performing gray level image conversion and white balance correction on the workpiece image to obtain a corrected workpiece gray level image; performing multi-scale filtering on the corrected workpiece gray level map to obtain a filtered workpiece gray level map; obtaining a first threshold and a second threshold according to a preset edge detection algorithm, wherein the second threshold is larger than the first threshold; performing edge detection and morphological closing operation on the gray level image of the filtering workpiece through the first threshold and the second threshold to obtain an edge detection image; And carrying out binarization processing on the edge detection image to obtain a binarized image containing rectangular features.
6. The method of claim 1, wherein the step of calculating a deflection angle deviation of the target rectangle relative to a standard pose rectangle comprises: obtaining a standard angle of a standard posture rectangle; obtaining a direction vector of the target rectangle in the length direction according to the target rectangle; Calculating an included angle between the direction vector and a transverse axis of an image coordinate system to obtain a deflection angle of the target rectangle; and calculating the deflection angle deviation of the target rectangle relative to the standard posture rectangle according to the standard angle and the deflection angle.
7. The method of claim 1, wherein the step of determining the retest result of the workpiece to be affixed based on the deflection angle deviation comprises: comparing the deflection angle deviation with a preset deviation angle threshold; When the deflection angle deviation is smaller than or equal to the preset deviation angle threshold value, determining that the rechecking result of the workpiece to be pasted is that the gesture of the workpiece to be pasted is qualified; and when the deflection angle deviation is larger than the preset deviation angle threshold, determining that the rechecking result of the workpiece to be pasted is that the posture of the workpiece to be pasted is unqualified.
8. The method of claim 1, wherein the step of processing the workpiece to be pasted according to the recheck result comprises: when the rechecking result is that the posture of the workpiece to be pasted is unqualified, determining the accumulated rechecking failure times of the current layer of the current material box: when the accumulated recheck failure times are smaller than a preset time threshold, controlling a loading and unloading mechanism to withdraw or move the workpiece to be pasted to a buffer area so as to recheck the workpiece to be pasted; And when the rechecking result shows that the gesture of the workpiece to be pasted is qualified, pasting the workpiece to be pasted.
9. The utility model provides a go up unloading and work piece retest cooperative control device which characterized in that, the device includes: The recording module is used for taking out the workpiece to be pasted from the current effective layer of the target material box, and recording source information of the workpiece to be pasted, wherein the source information comprises a material box name, a layer number and a position serial number in the layer; the collecting module is used for collecting workpiece images of the workpiece to be pasted through an industrial camera after the workpiece to be pasted is conveyed to the pasting station; the preprocessing module is used for preprocessing the workpiece image to obtain a binarized image containing rectangular features; The extraction module is used for extracting the identification region of the binarized image to obtain a region of interest; The positioning module is used for performing double-rectangle positioning on the region of interest to obtain a first local rectangle and a second local rectangle; The weighted fitting module is used for performing weighted fitting on the basis of the first local rectangle and the second local rectangle to obtain a target rectangle representing the overall outline of the workpiece to be pasted; the calculating module is used for calculating deflection angle deviation of the target rectangle relative to the standard posture rectangle; The determining module is used for determining a rechecking result of the workpiece to be pasted according to the deflection angle deviation; And the processing module is used for processing the workpiece to be pasted according to the rechecking result.
10. A storage medium, characterized in that the storage medium is a computer readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the cooperative control method for feeding and discharging and workpiece review according to any one of claims 1 to 8 are implemented.

Description

Cooperative control method, device and storage medium for loading and unloading and workpiece rechecking Technical Field The application relates to the technical field of workpiece processing, in particular to a cooperative control method, a cooperative control device and a storage medium for loading and unloading and workpiece reinspection. Background In the technical field of workpiece processing in SMT (surface mount technology), automatic production, particularly in an automatic production line, loading and unloading and workpiece rechecking are two vital links. In the conventional production process, loading and unloading and workpiece rechecking are often performed as independent steps, which results in certain limitation on production efficiency and may introduce errors due to manual operation or connection problem between devices. Along with the development of intelligent manufacturing and industrial automation, how to realize efficient cooperative control of feeding and discharging and workpiece rechecking becomes a key problem for improving production efficiency and product quality. Disclosure of Invention The application mainly aims to provide a cooperative control method, a cooperative control device and a storage medium for feeding and discharging and workpiece rechecking, and aims to solve the technical problems of limited production efficiency and error introduction caused by independent feeding and discharging and workpiece rechecking in the prior art. In order to achieve the above purpose, the application provides a cooperative control method for feeding and discharging and workpiece rechecking, which comprises the following steps: taking out a workpiece to be pasted from a current effective layer of a target material box, and recording source information of the workpiece to be pasted, wherein the source information comprises a material box name, a layer number and a position serial number in the layer; after the workpiece to be pasted is conveyed to a pasting station, a workpiece image of the workpiece to be pasted is acquired through an industrial camera; Preprocessing the workpiece image to obtain a binarized image containing rectangular features; extracting an identification region of the binarized image to obtain a region of interest; Double-rectangle positioning is carried out on the region of interest to obtain a first local rectangle and a second local rectangle; performing weighted fitting on the basis of the first local rectangle and the second local rectangle to obtain a target rectangle representing the overall outline of the workpiece to be pasted; calculating deflection angle deviation of the target rectangle relative to a standard posture rectangle; determining a rechecking result of the workpiece to be pasted according to the deflection angle deviation; and processing the workpiece to be pasted according to the rechecking result. In an embodiment, the step of performing double-rectangle positioning on the region of interest to obtain a first local rectangle and a second local rectangle includes: Acquiring characteristic parameters of a preset local rectangle, wherein the characteristic parameters of the preset local rectangle comprise an aspect ratio range, an area range and an edge gradient threshold value of the preset local rectangle; in the region of interest, performing double-rectangle screening through the characteristic parameters of the preset local rectangle to obtain candidate local rectangles; determining whether the central connecting line of the candidate local rectangle is parallel to the length direction of the workpiece to be pasted; And when the central connecting line of the candidate local rectangle is parallel to the length direction of the workpiece to be pasted, obtaining a first local rectangle and a second local rectangle through the candidate local rectangle. In an embodiment, the step of performing weighted fitting based on the first local rectangle and the second local rectangle to obtain a target rectangle characterizing the overall contour of the workpiece to be pasted includes: Acquiring local rectangular center coordinates, local rectangular length and width parameters and rectangular types of the first local rectangle and the second local rectangle; Determining a first weight of the first local rectangle and a second weight of the second local rectangle according to the rectangle type; And carrying out weighted fitting based on the local rectangular center coordinates, the local rectangular length and width parameters, the first weight and the second weight to obtain a target rectangle representing the overall outline of the workpiece to be pasted. In an embodiment, the step of performing weighted fitting based on the local rectangular center coordinates, the local rectangular length and width parameters, the first weights and the second weights to obtain a target rectangle representing the overall contour of the workpiece to be pasted includ