CN110127523A - The suspention transport device and system of automated optical identification material - Google Patents
The suspention transport device and system of automated optical identification material Download PDFInfo
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- CN110127523A CN110127523A CN201810350635.2A CN201810350635A CN110127523A CN 110127523 A CN110127523 A CN 110127523A CN 201810350635 A CN201810350635 A CN 201810350635A CN 110127523 A CN110127523 A CN 110127523A
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- 239000000463 material Substances 0.000 title claims abstract description 234
- 230000003287 optical effect Effects 0.000 title claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 33
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 15
- 230000037433 frameshift Effects 0.000 claims description 3
- 238000009415 formwork Methods 0.000 claims 1
- 230000032258 transport Effects 0.000 description 70
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Abstract
The present invention discloses the suspention transport device and system of a kind of automated optical identification material.The suspention transport device includes device noumenon, takes and set module, image acquisition module, storage module and control module.Device noumenon can be movably connected in track.It takes and sets module to take or place the material below device noumenon.Image acquisition module is to pick-up image picture.Storage module stores material image database, and material image database stores the material image feature corresponding to material.Control module is set module, image acquisition module and storage module communication with one another and is connect with taking, the comparison result of control module image frame and material image feature based on the received, is taken with driving and sets module and take material.The material being placed in below suspention transport device is judged automatically with this situations such as whether to have dislocation or deflect.
Description
Technical field
The present invention relates to a kind of suspention transport device and systems, can pass through automated optical discriminating function more particularly to a kind of
The suspention transport device and system of automatic identification material.
Background technique
In order to meet the requirement in industry for production efficiency and quality stability, for the demand of automation equipment
Increasingly improve.Wherein, in terms of material carrying, compared to the passing practice for taking manpower transport, due to using automation equipment
Not only there are aforementioned advantages, more can be avoided the safety in production accident occurred under manpower transport, in modern plant nearly all
Change comprehensively and has been taken with automatic material transport system (automated material handling system, abbreviation AMHS)
Instead of.
Existing AMHS include unmanned homing guidance carrier (Automated Guided Vehicle, abbreviation AGV) with
And the variforms such as aerial walking type transport carriage (Overhead Hoist Transfer, abbreviation OHT).In view of accounting for for workshop
Ground range effects running cost is very huge, and the OHT system that can efficiently use space usually becomes one of preferred scheme, especially
In the higher place of the space costs such as dust free room, even more a large amount of main paths carried using OHT equipment as material.
Existing OHT system often while plant designing it is necessary to by the route of all tracks complete planning and set
Meter to determine the trend of trolley in OHT system (suspention transport device), and is determined for placing materials or is detected each
The position of website.By trolley by material from during taking object point to be moved to glove point, trolley can be first along preset rail
Road is moved to the top for taking object point, and declines to grab material.After taking material to trolley, trolley is again first along track
It is moved to glove point and places material.
Although take the position of object point and glove point be all it is pre-planned, take the material of object point usually to may be
It is placed on cart, cart is transported to designated place by manpower either equipment and is placed, then is taken from cart object by trolley
Material.In view of this, usually having inaccurate problem of putting in cart positioning, and there is a phenomenon where dislocation and/or may deflect.
Aforementioned phenomenon can not successfully take material when trolley being caused to decline, this one as a result, not only probably due to trolley is risen,
Trolley position is readjusted, then falls trolley again with material of taking, and the whole fluency for transporting work is caused to be interrupted；More
The serious is trolley decline may collide the material to be taken originally, cause material impaired and be not available.It can by above description
Know, existing OHT system is because material puts problem, it is possible to create the extra cost in time, manpower and material consume,
It is very undesirable.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of automated optical identification object in view of the deficiencies of the prior art
The suspention transport device and system of material, to judge automatically whether the material being placed in below the suspention transport device has dislocation
And/or the situations such as deflection, and decide whether to take described in driving accordingly and set module and take the material, or the aforementioned dislocation of amendment and/
Or the material of taking again after the situation of deflection.
In order to solve the above technical problems, a wherein technical solution of the present invention is to provide a kind of automatic light
Learn the suspention transport device of identification material comprising a device noumenon, one, which take, sets module, an image acquisition module, a storage mould
Block and a control module, this physical efficiency of described device are movably connected in a track；Described take sets module and is set to described device
Ontology, it is described to take the material for setting module to take or place below described device ontology；The image capture mould
Block is set to described device ontology, and the image acquisition module is drawn to capture the image being located at below described device ontology
Face；The storage module is set to described device ontology, and the storage module stores a material image database, the material
Image database stores the material image feature corresponding to the material；The control module is set to described device sheet
Body, the control module are set module, the image acquisition module and the storage module communication with one another and are connect with described take, institute
The comparison result of the control module image frame and the material image feature based on the received is stated, to take described in driving
Module is set to take the material.
Preferably, the suspention transport device further includes a nformation alert module, is set to described device ontology, described
Nformation alert module is connect with the control module communication with one another.When the control module judges the image frame and the object
When expecting that image feature mismatches, the control module drives the nformation alert module to issue a prompt information.
Preferably, the suspention transport device further includes a rotating module, to change it is described take set module take or
Person places the angle of the material, and the rotating module is connect with the control module communication with one another.When the control module is sentenced
When angled compared to the material image feature deflection of the image frame that breaks, the control module drives the rotating module
And the angle for setting module is taken described in adjusting.
Preferably, the suspention transport device further includes a displacement module, to change it is described take set module with it is described
The relative position of track, the displacement module are connect with the control module communication with one another.Described in control module judgement
When image frame shifts compared to the material image feature, the control module driving described device ontology is along the rail
Road is mobile or the control module drives the displacement module and adjusts and described takes the position for setting module relative to the track
It sets.
Preferably, judged below described device ontology according to the image frame without described in other when the control module
When material, is taken described in control module driving and set module described take is set the material that module is taken and placed.
In order to solve the above technical problems, an other technical solution of the present invention is to provide a kind of automatic light
Learn the suspention transportation system of identification material comprising at least one takes object point, at least a glove point, a track, a suspention transport dress
It sets and a servomechanism installation, it is described to take object point to place an at least material；The glove point is to accept the material；It is described
Track is taken above object point and glove point by described；The suspention transport device can be movably connected in the track,
To move above object point and glove point in described take, the suspention transport device takes including one and sets module and an image
Acquisition module, described take set module to take or place the material；The image acquisition module is located at institute to capture
State the image frame below suspention transport device；The servomechanism installation includes a storage module and a control module, described
Storage module stores a material image database, and the material image database stores the material corresponding to the material
Image feature；The control module and described take set module, the image acquisition module and the storage module communication with one another
Connection；Wherein, when the suspention transport device is moved to described take above object point, the control module is based on the received
The comparison result of the image frame and the material image feature sets module and takes the material to take described in driving.
Preferably, the suspention transportation system further includes a nformation alert module, is set to the servomechanism installation, described
Nformation alert module is connect with the control module communication with one another.The image frame and the object are judged in the control module
In the case of expecting that image feature mismatches, the control module drives the nformation alert module to issue a prompt information.
Preferably, the suspention transport device further includes a rotating module, to change it is described take set module take or
Person places the angle of the material, and the rotating module is connect with the control module communication with one another.Sentence in the control module
In the case of the image frame break compared to the angled deflection of material image feature, the control module driving is described to be turned
Dynamic model block and adjust and described take the angle for setting module.
Preferably, the suspention transport device further includes a displacement module, to change it is described take set module with it is described
The relative position of track, the displacement module are connect with the control module communication with one another.Wherein, judge in the control module
In the case of the image frame shifts compared to the material image feature, the control module drives the suspention fortune
Defeated device is moved along the track or the control module drives the displacement module and adjust it is described take set module relative to
The position of the track.
Preferably, when the suspention transport device is moved to above the glove point, described in the control module reception
Image frame, and judge whether the glove point has according to the image frame and place other described materials, when the control mould
When root tuber is judged below described device ontology according to the image frame without other described materials, described in the control module driving
It takes and sets module described take is set the material that module is taken and placed.
A wherein beneficial effect of the invention is that dress is transported in the suspention of automated optical identification material provided by the present invention
It sets and system, it can be by the way that " image acquisition module is drawn to capture the image being located at below the suspention transport device
Face ", " storage module stores a material image database, and the material image database is stored corresponding to the object
One material image feature of material " and " control module image frame and the material image based on the received
The comparison result of feature sets module and takes the material to take described in driving " technical solution, with judge automatically be placed in it is described
Whether the material below suspention transport device the situations such as has dislocation and/or deflect, and takes described in deciding whether to drive accordingly and set mould
Block is taken the material, or the material of taking again after the situation of the aforementioned dislocation of amendment and/or deflection.
Be further understood that feature and technology contents of the invention to be enabled, please refer to below in connection with it is of the invention specifically
Bright and attached drawing, however provided attached drawing is merely provided for reference and description, is not intended to limit the present invention.
Detailed description of the invention
Fig. 1 is the overall architecture schematic diagram of present pre-ferred embodiments；
Fig. 2 is the component connection relationship block diagram of the suspention transport device of first embodiment of the invention；
Fig. 3 is that the control module of present pre-ferred embodiments judges the schematic diagram that material misplaces；
Fig. 4 is that the control module of present pre-ferred embodiments judges the schematic diagram that material deflects；
Fig. 5 is that the control module of present pre-ferred embodiments judges the schematic diagram that unclassified stores is placed on glove point；
Fig. 6 is the component connection relationship block diagram of the suspention transportation system of second embodiment of the invention.
Specific embodiment
Be below illustrated by specific specific example it is presently disclosed in relation to " automated optical identification material suspention
The embodiment of transport device and system ", those skilled in the art can be understood of the invention by content disclosed in this specification
Advantage and effect.The present invention can be implemented or be applied by other different specific embodiments, and the items in this specification are thin
Section may be based on different viewpoints and application, carry out various modifications and changes in the case where not departing from design of the invention.In addition, of the invention
Attached drawing be only it is simple schematically illustrate, not according to the description of actual size, state in advance.The following embodiments and the accompanying drawings will be further detailed
Describe bright the relevant technologies content of the invention, but the protection scope that disclosure of that is not intended to limit the invention in detail.
It should be understood that although various assemblies or signal may be described using term first, second, third, etc. herein,
But these components or signal should not be limited by these terms.These terms are mainly to distinguish a component and another group
Part or a signal and another signal.In addition, term "or" used herein, should may include correlation depending on actual conditions
Connection lists any of project or multiple combinations.
First embodiment
It please refers to shown in Fig. 1 to Fig. 5, Fig. 1 is the overall architecture schematic diagram of present pre-ferred embodiments, and Fig. 2 is the present invention
The component connection relationship block diagram of the suspention transport device of first embodiment, Fig. 3 are the control module of present pre-ferred embodiments
Judge the schematic diagram that material misplaces, Fig. 4 is that the control module of present pre-ferred embodiments judges that material deflected shows
It is intended to, Fig. 5 is that the control module of present pre-ferred embodiments judges the schematic diagram that unclassified stores is placed on glove point.By above-mentioned
It is found that first embodiment of the invention provides a kind of suspention transport device 1 of automated optical identification material in figure comprising device sheet
Body 11 takes and sets module 12, image acquisition module 13, storage module 14 and control module 15.In the first embodiment of the present invention
In, storage module 14 and control module 15 be all belong to some for the industrial computer being installed in device noumenon 11, but
Embodiments of the present invention are not limited with this aspect.
Also referring to shown in Fig. 1 and Fig. 2, in the present embodiment, device noumenon 11 can be movably connected in track T,
And device noumenon 11 can be moved along track T.Be provided with to take in device noumenon 11 and set module 12, take set module 12 taking or
Person places the material M for being located at 11 lower section of device noumenon.Although it should be strongly noted that in the diagram with the knot of similar clamping jaw
Structure representative, which takes, sets module 12, but its purpose is only to facilitate the people refering to this specification can think Xiang Qigong easily and intuitively
Can, specific structure is simultaneously not construed as the present invention and takes the limitation for setting module 12, in practical application, in order to pass through suspention transport
Device 1 transports different material M, takes and sets module 12 and may be designed to a variety of different structures.
Since track T is by taking the top of object point A1 and glove point A2, object point is taken when device noumenon 11 is moved to
When the top of A1, suspention transport device 1 just can be placed on the material M for taking object point A1 by taking to set module 12 and take；Another party
After face sets module 12 and takes material M when taking, and device noumenon 11 further moves to the top of glove point A2, suspention transport dress
Module 12 can be set the material M to have taken is placed in glove point A2 by taking by setting 1.Though it should be strongly noted that here
It so will be referred to as glove point A2 to the place for accepting material M, but be not meant to that the place can only set the placement of module 12 for taking
Material, if glove point A2 is the detection website tested in factory, and the test factory will be to by suspending transport device 1 in midair
The material M of detection is placed in the website, after material M detection, again may be by suspention transport device 1 and takes material M
It walks, at this point, the same website can also be considered as taking object point A1.
Next also referring to shown in Fig. 1 to Fig. 3, in the present embodiment, suspention transport device 1 further includes image capture
Module 13.Image acquisition module 13 is set to device noumenon 11, to capture the image frame for being located at 11 lower section of device noumenon
P.More specifically, when device noumenon 11 is moved to the top for taking object point A1, suspention transport device 1 just can be picked by image
Modulus block 13 gets the image frame P corresponding to material M.
From the above, in the present embodiment, suspention transport device 1 further includes storage module 14.Storage module 14 is set to
Device noumenon 11, and wherein store material image database 141.Material image database 141 is stored corresponding to material M's
Material image feature F, when suspention transport device 1 of the invention is applied to a variety of different material M (such as wafer, substrate or face
Plate etc.) hauling operation when, corresponding difference can be stored respectively for different material M in material image database 141
Material image feature F.More specifically, the material image feature F in material image database 141 is established, is to correspond to
Under optimal crawl position and angle, image frame P that image acquisition module 13 should can obtain.It is so-called here
" correspondence " is not necessarily referring to the two and has to be perfectly the same, but refers to sentence another characteristic by optics automatic identification to execute image
Point can be mutually matched therebetween.
Referring again to shown in Fig. 1 to Fig. 3, in the present embodiment, suspention transport device 1 further includes control module 15.Control
Module 15 is set to device noumenon 11, control module 15 and taking set module 12, image acquisition module 13 and storage module 14 that
This communication connection.As described in previously, when device noumenon 11 is moved to the top for taking object point A1, suspention transport device 1 just can
The image frame P corresponding to material M is enough got by image acquisition module 13.Due to control module 15 and image acquisition module
13 communication connections, control module 15 can receive image frame P from image acquisition module 13.On the other hand, due to control module
15 can read the material image database being stored in storage module 14 with 14 communication connection of storage module, control module 15
141 and material image database 141 in material image feature F.Accordingly, control module 15 can be by received shadow
As picture P is compared with material image feature F, and it can be taken with driving according to comparison result and set module 12 and take material
M。
More specifically, material image feature F can be the appearance profile corresponding to material M, and control module 15 is by institute
The image frame P received is compared with aforementioned appearance profile pair.If control module 15 judges that the material M's in image frame P is outer
Profile is seen, appearance profile corresponding compared to material image feature F is misplaced, then it represents that positioned at the material M for taking object point A1
It is not placed in be most suitable for taking and sets the ideal position that module 12 is taken.Except the mode for carrying out interpretation except through appearance profile,
In practical application, material M may also be comprising there are many identification feature C1, C2 or C3.It for example, may printing on material M
There is identification to mark, identification label can be used as identification feature C1 at this time；Furthermore the edge of material M may also have lug, this lug
Structure also can be used as identification feature C2；The edge or corner of material M there may also be recess portion, this recess portion equally can be special as identification
Levy C3.It is noted that in the present embodiment, two identification feature C1 are made into asymmetrical form, one is X-shaped, separately
It first is cross.The advantages of doing so is, by these asymmetric designs, before can distinguishing easily material M
End and rear end, to distinguish the directionality of material M whereby.It, can also be by changing the length of different lugs, changing when actually applying
The modes such as the depth of recess portion or the setting position or the quantity that change lug and/or recess portion, reach similar effect, affiliated technology
Have usually intellectual in field after refering to this specification, it, should all according to the equivalent change or modification that actual demand is carried out
Belong to the scope that the present invention covers.It should be strongly noted that though aforementioned identification feature C1, C2 or C3 facilitate the object of the invention
Reach, but simultaneously essential features of non-present invention, mainly pass through optics recognizes (automated to the present invention automatically
Optical inspection, abbreviation AOI) function, the placement position of automatic identification material M and angle are only led to as aforementioned
The image features such as appearance profile are crossed, are still enough to make AOI functional operation, and then reach the purpose of the present invention.Even aforementioned identification
The function of the placing direction of material M, as long as there is asymmetric image feature to be recognized enough for AOI system on appearance profile,
Suspention transport device 1 can be allowed automatically to identify and to be correctly oriented the material M that takes under the assistance of AOI system.
More specifically, in addition to directly judging the angle of material M by appearance profile or identification feature C1, C2 or C3
Except, bar code, two dimensional code or various figure text informations can also be printed above material M, in order to recognize the kind of material M
Class, and then facilitate in the operation of AOI system, can more accurately will be in material M and material image database 141
Correct data are corresponding, and the angle of material M is differentiated according to correct material image feature F, to avoid because of certain material M
It is more approximate in appearance, lead to erroneous judgement.
From the above, after whether the placement position and angle for judging material M by AOI function are appropriate, control
Module 15 will decide whether that driving takes according to comparison result and set module 12 and take material M.If control module 15 judges object
Material M is placed in ideal position and angle, then control module 15 directly drives to take and sets module 12 and take material M；If conversely,
If control module 15 judges that material M is not placed in ideal position and angle, there must be the position some amendment material M
And/or the mode of angle.
It please refers to shown in Fig. 2, in the preferred embodiment, suspention transport device 1 further includes nformation alert module
16, rotating module 17 and displacement module 18.It arranges in pairs or groups below this preferred embodiment, illustrates feasible several correcting modes respectively,
And possible other of the present invention extend application.
First illustrate in such a way that manpower is modified below.
Firstly, in the preferred embodiment, nformation alert module 16 is set to dress shown in please referring to Fig.1 to Fig.3
Ontology 11 is set, is connect with 15 communication with one another of control module, and can be driven by control module 15 to issue prompt information.It is specific next
It says, when control module 15 judges that image frame P and material image feature F is mismatched, 15 activation bit of control module prompts mould
Block 16 issues prompt information, so that staff can have found aforementioned circumstances in real time.In practical application, nformation alert module 16 can be with
Light emitting module, with by light signal as prompt information, and then allow the staff in workshop by observing before
Light signal is stated, discovery material M's puts the situation for having dislocation and/or deflecting；In addition, nformation alert module 16 can also be sound
Frequency module follows as prompt information so that staff is when hearing alarm audible in a manner of by issuing alarm audible
Sound source finds the website for having dislocation and/or deflecting of putting of material M, and corrects in time；Even, nformation alert module 16 is gone back
It can be signal transmitting module, and control module 15 judged that image frame P and material image feature F is unmatched as a result, hair
It send to the middle control center of factory, so that middle control center can grasp the operation situation of each website in workshop in time.Provided above
Example is all the possible embodiment of nformation alert module 16 of the present invention, but the present invention is not limited thereto, can also use other instead
Technology with prompting effect is replaced.
Under the premise of no other mechanism auxiliary is automatic modified, the prompt information issued by nformation alert module 16,
Staff can be made to be corrected the situation for misplacing and/or deflecting by modes such as manpower movement carts.
Illustrate below through the component of rotation suspention transport device 1 in a manner of angle correction deflection.
Next, please referring to shown in Fig. 1, Fig. 2 and Fig. 4, in the preferred embodiment, transport device 1 is suspended in midair
Further include rotating module 17, is connect with 15 communication with one another of control module, and can be under the driving of control module 15, change takes
Set the angle that material M was taken or placed to module 12.Specifically, when control module 15 judges image frame P compared to material
When the angled deflection of image feature F (as shown in Figure 4), control module 15 will drive rotating module 17 and adjust to take and set module 12
Angle.In practical application, rotating module 17 can be set to be set between module 12 in device noumenon 11 and taking, to change device sheet
Body 11 and the relative angle set between module 12 is taken, to realize the purpose of angle adjustment；On the other hand, rotating module 17 can also be with
It is arranged between track T and device noumenon 11, without changing device noumenon 11 and taking the relative angle set between module 12, such as
This can also change the angle for taking and setting module 12 relative to track T, this practice when device noumenon 11 is deflected relative to track T
It equally can be realized the purpose of angle adjustment.
On the other hand, as described above, the present invention can reach identification object by designing asymmetric identification feature C1
Expect the effect in the direction M, this especially has advantage under certain applications.For example, when suspention transport device 1 is designed to
There are two groups to take and set module 12, and two groups take and set module 12 respectively to grab contrary material M.In this case, when it
In one group take set module 12 grab material M after, control module 15 judges the placement angle of material M according to image frame P, and recognizes
Determine the angle and is suitble to another group to take the angle for setting the crawl of module 12 material M on the contrary, at this point, the driving rotating module of control module 15
17 rotation 180 degrees, and then enable this another group to take and set module 12 to be correctly oriented crawl material M.
Illustrate below being displaced in a manner of angle correction offset.
Next, in the preferred embodiment, suspention transport device 1 also wraps referring again to shown in Fig. 1 to Fig. 3
Displacement module 18 is included, is connect with 15 communication with one another of control module, and can be taken under the driving of control module 15 to change
Set the relative position of module 12 Yu track T.Specifically, when control module 15 judges that image frame P is special compared to material image
When sign F shifts (as shown in Figure 3), control module 15 can adjust to take and set module 12 relatively by drive displacement module 18
In the position of track T.More specifically, when the phenomenon that judgement of control module 15 is offset occurs, there may be the inclined of different directions
Shifting amount, if the direction of offset happens to be the extending direction of track T, then control module 15 only needs driving device ontology 11 along rail
Road T is mobile, can correct offset situation above-mentioned；However, if the direction of offset further comprises the components of other angles, then without
Method is moved along track T only by driving device ontology 11 to be modified, now it is necessary to pass through 15 drive displacement of control module
Module 18 to take and sets module 12 along the other direction displacement for being different from track T extending direction, taken with adjustment and set module
The situation of aforementioned offset is corrected in 12 position relative to track T accordingly.
Illustrate the extension application for carrying out " the confirmation operation before placing material M " below.
Being different from and taking the material M of object point A1 may be to be transported to designated place by cart, then " taken by suspention transport device 1
Take ", the problem of misplacing and/or deflecting, less easily occurs for the position of general glove point A2 and angle.Although master of the invention
Syllabus, be to enable to suspend in midair transport device 1 before " taking " material M, the placement position and angle for judging automatically material M are
It is no appropriate, however, whether being suitable for " placing " material M for glove point A2, it can also play the effect of duplicate test.Please join together
It reads shown in Fig. 1, Fig. 2 and Fig. 5, in the preferred embodiment, when device noumenon 11 is moved to the top of glove point A2
When, suspention transport device can equally capture the image frame P for being located at 11 lower section of device noumenon by image acquisition module 13.?
When storing the data corresponding to glove point A2 in storage module 14, naturally it is also possible to by AOI function judge glove point A2 with
It suspends in midair whether there is or not dislocation and/or deflection occurs between transport device 1, however, in the more meaningful function of glove point A2
It is that it is possible to judge by AOI function on glove point A2 whether headroom.Specifically, being set when device noumenon 11 is moved to
The top of object point A2, whether there is or not unclassified stores M according to 11 lower section of image frame P judgment means ontology for control module 15, in control mould
When below 15 judgment means ontology 11 of block without unclassified stores M, control module 15, which just can drive to take to set module 12 and will take, sets mould
The material M that block 12 is taken is placed in glove point A2；Conversely, if there are also not yet below 15 judgment means ontology of control module 11
The unclassified stores M being removed then takes and sets module 12 the material M that it is taken will not be placed in glove point A2.Practical application
On, prompt information can be issued by aforementioned information cue module 16, so that staff carries out the exclusion of problem, but the present invention
It is not limited to this.
In addition, as described above, since section Example of the present invention can be printed above material M for identification material M
Therefore the figure text information of type after material M to be placed into glove point A2, can also be reaffirmed by AOI function and be put
It is whether correct in the material M of glove point A2.
Second embodiment
Collocation Fig. 1 and Fig. 3 to Fig. 6 illustrates the second embodiment of the present invention below, and Fig. 6 is second embodiment of the invention
Suspend the component connection relationship block diagram of transportation system S in midair.By in above-mentioned figure it is found that second embodiment of the invention provide it is a kind of automatic
The suspention transportation system S of optical identification material comprising at least one takes an object point A1, at least glove point A2, track T, suspention fortune
Defeated device 1 and servomechanism installation 2.As described in previous embodiment, taking object point A1 may be that material M is temporarily placed in workshop
Cart, it is also possible to a wherein station for several websites of connecting, as long as suspending transport device 1 in midair in entirely suspention transportation system S
Can take the point of material M, that is, meet it is defined here take object point A1, similarly, as long as being used in entirely suspention transportation system S
To accept the material M that suspention transport device 1 is placed, that is, meet glove point A2 defined here.In order to allow suspention transport to fill
Material M can be transported taking by setting 1 between object point A1 and glove point A2, track T can be by taking above object point A1 and glove point A2.
Top referred to herein is not the surface for referring in particular to take object point A1 or glove point A2, as long as having in the art
Under the cognition of usually intellectual, it is general suspend transportation system S in midair take object point A1 or the periphery glove point A2, track T can be by
Nearby sphere belongs to top referred to herein.
From the above, suspention transport device 1 can be movably connected in track T, on taking object point A1 and glove point A2
Fang Yidong, and material M is transported accordingly.In detail, suspention transport device 1 includes taking to set module 12 and image acquisition module
13, it takes and sets module 12 to take or place material M, and image acquisition module 13 is then located at suspention transport device to capture
One image frame P of 1 lower section.Other technologies details is identical with the first embodiment in principle, is not repeated separately herein.
Referring again to shown in Fig. 1 and Fig. 3 to Fig. 6, in the present embodiment, suspention transportation system S further includes servomechanism installation
2.In the present embodiment, suspention transport device 1 is provided with the first communication interface 19, and servomechanism installation 2 is then provided with the second communication
Interface 23 so that between suspention transport device 1 and servomechanism installation 2 can communication with one another connect, but connection type between the two is simultaneously
It is not limited.Servomechanism installation 2 includes storage module 21 and control module 22.In the second preferred embodiment of the invention,
Material image database 211 is previously stored in the storage module 21 of servomechanism installation 2, and material image database 211 equally stores
There is the material image feature F corresponding to material M.In addition, control module 22 is connect with 21 communication with one another of storage module, to read storage
The material image feature F being stored in the material image database 211 and material image database 211 in storage module 21.By
Connected between suspention transport device 1 and servomechanism installation 2 by the first communication interface 19 and 23 communication with one another of the second communication interface
It connects, therefore control module 22 also can set 13 communication connection of module 12 and image acquisition module with taking.
From the above, when suspention transport device 1, which is moved to, to be taken above object point A1, control module 22 can be logical by second
News interface 23 receives the image frame P from image acquisition module 13, therefore, being capable of image frame P based on the received
With the comparison result of material image feature F, by the second communication interface 23 to take set module 12 send control signal, with driving take
Module 12 is set to take material M.
In the present embodiment, servomechanism installation 2 may be the computer at middle control center, and once connect multiple suspention transport dresses
It sets 1, and is planning as a whole, except the sending with charge free of planning suspention transport device 1, also receive the signal that suspention transport device 1 is passed back, and hold
The function of the aforementioned AOI of row.
Referring again to shown in Fig. 1 and Fig. 3 to Fig. 6, suspention transportation system S also includes nformation alert module 24, in this reality
It applies in example, nformation alert module 24 is set to servomechanism installation 2, mentions so that the staff on 2 periphery of servomechanism installation grasps in real time
Show information.Nformation alert module 24 is equally connect with 22 communication with one another of control module, and as aforementioned, is judged in control module 22
In the case of image frame P and material image feature F is mismatched, 22 activation bit cue module 24 of control module issues prompt letter
Breath.
From the above, in the present embodiment, suspention transportation system S also includes rotating module 17 and displacement module 18.For
The purpose of reaching " adjustment takes the angle for setting module 12 " and/or " adjustment takes the position for setting module 12 relative to track T ", at this
In embodiment, rotating module 17 and displacement module 18 are also setting in suspention transport device 1.Its related concrete configuration and work
With being substantially substantially identical with the first embodiment, do not repeat to repeat herein.Similarly, in the present embodiment, when suspention transport dress
The confirmation work of duplicate test will be similarly able to carry out before glove point A2 " placement " material M by setting 1.This means, when suspention is transported
Defeated device 1 is moved to above glove point A2, and control module 22 can receive image frame P and judge whether glove point A2 has placement
Unclassified stores M.When below 22 judgment means ontology 11 of control module without unclassified stores M, control module 22 will drive and take
It sets module 12 and will take and set the material M that module 12 is taken and place.
The beneficial effect of embodiment
The suspention transport device D of automated optical identification material provided by the present invention and hanging for automated optical identification material
Hang transportation system S, can by " the image frame P that image acquisition module 13 is located to capture suspention transport device 1 lower section ",
" storage module 14,21 stores material image database 141,211, and material image database 141,211 is stored corresponding to object
Expect the material image feature F " and " control module 15,22 image frame P and material image feature F based on the received of M
Comparison result sets module 12 and takes the technical solution of material M ", is placed under suspention transport device 1 with judging automatically to drive to take
Whether the material M of side the situations such as has dislocation and/or deflect, and decides whether to drive accordingly to take and set module 12 and take material M, or repair
Take material M again after the situation of just aforementioned dislocation and/or deflection.
More specifically, the present invention can also be by the way that " control module 15,22 judges that image frame P and material image are special
Levy F mismatch when, control module 15,22 activation bit cue modules 16,24 issue a prompt information " technical solution, so as to
Staff finds the problem in real time, and enable staff by the modes such as manpower movement cart by misplace and/or deflection
Situation is corrected.
Furthermore the present invention can also be by the way that " control module 15,22 judges that image frame P has compared to material image feature F
When angular deflection, control module 15,22 drive rotating module 17 and adjust take the angle for setting module 12 " technical solution, with from
The problem of dynamic angle correction deflection；It on the other hand, also can be by the way that " control module 15,22 judges image frame P compared to material
When image feature F shifts, the driving suspention of control module 15,22 transport device 1 (or device noumenon 11) is moved along track T,
Or control module 15,22 drive displacement modules 18 and adjust take the position for setting module 12 relative to track T " technical solution,
The problem of with automatic amendment offset, dislocation.
It's also worth mentioning that the present invention even can be by the way that " control module 15,22 judges to hang according to the image frame P
When hanging below transport device 1 (or device noumenon 11) without unclassified stores M, the driving of control module 15,22, which takes, sets module 12 and will take
The material M that module 12 is taken is set to be placed " technical solution execute with before material M to be placed in glove point A2
The confirmation work of duplicate test.
Content disclosed above is only preferred possible embodiments of the invention, not thereby limits to right of the invention and wants
The protection scope of book is sought, so all equivalence techniques variations done with description of the invention and accompanying drawing content, are both contained in
In the protection scope of claims of the present invention.
Claims (10)
1. a kind of suspention transport device of automated optical identification material, which is characterized in that the automated optical identification material hangs
Hanging transport device includes:
One device noumenon can be movably connected in a track；
One takes and sets module, is set to described device ontology, described take sets module to take or place positioned at described device
A material below ontology；
One image acquisition module, is set to described device ontology, and the image acquisition module is located at described device to capture
An image frame below ontology；
One storage module, is set to described device ontology, and the storage module stores a material image database, the object
Material image database stores the material image feature corresponding to the material；And
One control module, is set to described device ontology, and the control module and described take set module, the image capture mould
Block and storage module communication with one another connection, the control module image frame and the object based on the received
Expect the comparison result of image feature, sets module to be taken described in driving and take the material.
2. the suspention transport device of automated optical identification material according to claim 1, which is characterized in that the automatic light
Learn the suspention transport device of identification material further include: a nformation alert module is set to described device ontology, and the information mentions
Show that module is connect with the control module communication with one another；
Wherein, when the control module judges the image frame and the material image feature mismatches, the control mould
Block drives the nformation alert module to issue a prompt information.
3. the suspention transport device of automated optical identification material according to claim 1, which is characterized in that the automatic light
Learn the suspention transport device of identification material further include: a rotating module sets module and take or place to change described take
The angle of the material, the rotating module are connect with the control module communication with one another；
Wherein, when the control module judges angled compared to the material image feature deflection of the image frame, institute
Control module is stated to drive the rotating module and adjust and described take the angle for setting module.
4. the suspention transport device of automated optical identification material according to claim 1, which is characterized in that the automatic light
Learn the suspention transport device of identification material further include: a displacement module sets module and the track to change described take
Relative position, the displacement module are connect with the control module communication with one another；
Wherein, described when the control module judges that the image frame shifts compared to the material image feature
Control module driving described device ontology is moved along the track or the control module drives the displacement module and adjusts
It is described to take the position for setting module relative to the track.
5. the suspention transport device of automated optical identification material according to claim 1, which is characterized in that when the control
When module is judged below described device ontology according to the image frame without other described materials, the control module drives institute
It states to take and sets module described take is set the material that module is taken and placed.
6. a kind of suspention transportation system of automated optical identification material, which is characterized in that the automated optical identification material hangs
Hanging transportation system includes:
At least one takes object point, to place an at least material；
An at least glove point, to accept the material；
One track is taken above object point and glove point by described；
One suspention transport device, can be movably connected in the track, to take above object point and glove point described
Mobile, the suspention transport device includes:
One takes and sets module, to take or place the material；And
One image acquisition module, to capture the image frame being located at below the suspention transport device；And
One servomechanism installation comprising:
One storage module, stores a material image database, and the material image database is stored corresponding to the object
One material image feature of material；And
One control module is set module, the image acquisition module and the storage module communication with one another and is connect with described take；
Wherein, when the suspention transport device is moved to described take above object point, the control module is based on the received
The comparison result of the image frame and the material image feature sets module and takes the material to take described in driving.
7. the suspention transportation system of automated optical identification material according to claim 6, which is characterized in that the automatic light
Learn the suspention transportation system of identification material further include: a nformation alert module is set to the servomechanism installation, and the information mentions
Show that module is connect with the control module communication with one another；
Wherein, described in the case of the control module judges the image frame and the material image feature mismatches
Control module drives the nformation alert module to issue a prompt information.
8. the suspention transportation system of automated optical identification material according to claim 6, which is characterized in that the suspention fortune
Defeated device further include: a rotating module, to change it is described take the angle set module and take or place the material, it is described
Rotating module is connect with the control module communication with one another；
Wherein, situation of the image frame compared to the angled deflection of material image feature is judged in the control module
Under, the control module drives the rotating module and adjusts and described take the angle for setting module.
9. the suspention transportation system of automated optical identification material according to claim 6, which is characterized in that the suspention fortune
Defeated device a further include: displacement module sets the relative position of module Yu the track to change described take, the displacement mould
Block is connect with the control module communication with one another；
Wherein, judge the image frame compared to the situation that the material image feature shifts in the control module
Under, the control module driving suspention transport device is moved along the track or control module driving institute's rheme
Shifting formwork block and adjust and described take the position for setting module relative to the track.
10. the suspention transportation system of automated optical identification material according to claim 6, which is characterized in that when described outstanding
When hanging transport device and being moved to above the glove point, the control module receives the image frame, and according to the image
Picture judges whether the glove point has and places other described materials, when the control module judges institute according to the image frame
When stating below device noumenon without other described materials, is taken described in the control module driving and set module described take is set into module institute
The material taken is placed.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201862625369P | 2018-02-02 | 2018-02-02 | |
| US62/625,369 | 2018-02-02 | ||
| TW107112713 | 2018-04-13 | ||
| TW107112713A TW201934445A (en) | 2018-02-02 | 2018-04-13 | Overhead hoist transfer device with automated optical inspection function and system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110127523A true CN110127523A (en) | 2019-08-16 |
Family
ID=67568201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810350635.2A Pending CN110127523A (en) | 2018-02-02 | 2018-04-18 | The suspention transport device and system of automated optical identification material |
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| CN (1) | CN110127523A (en) |
Cited By (1)
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|---|---|---|---|---|
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