CN111571603A

CN111571603A - Workpiece processing system, method, computer equipment and storage medium

Info

Publication number: CN111571603A
Application number: CN202010583438.2A
Authority: CN
Inventors: 徐轲
Original assignee: Suzhou Jiaochi Artificial Intelligence Research Institute Co ltd
Current assignee: Suzhou Jiaochi Artificial Intelligence Research Institute Co ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2020-08-25
Anticipated expiration: 2040-06-23

Abstract

The embodiment of the invention discloses a workpiece processing system, a workpiece processing method, computer equipment and a storage medium, wherein the workpiece processing system comprises at least one workpiece operation module, a vision module and a control module; the workpiece operation module is used for performing workpiece operation processing on a workpiece to be processed, and the workpiece operation processing comprises at least one of loading processing, unloading processing or replacement processing; the vision module is used for acquiring a vision image of the workpiece to be processed, identifying the vision image to acquire vision information of the workpiece to be processed and sending the vision information of the workpiece to be processed to the control module; wherein the visual information comprises position coordinate information and/or flaw information; the control module is used for sending control information to the workpiece operation module according to the visual information of the workpiece to be processed so as to control the workpiece operation module to perform workpiece operation processing on the workpiece to be processed. The technical scheme of the embodiment of the invention can realize full-automatic workpiece processing, so as to reduce the labor cost of workpiece processing and improve the workpiece processing efficiency.

Description

Workpiece processing system, method, computer equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of process treatment, in particular to a workpiece treatment system, a workpiece treatment method, computer equipment and a storage medium.

Background

In the field of process treatment, the treatment of workpieces is a very common process treatment link.

At present, when a workpiece is processed, if an associated processing module of the workpiece has instability or the placement position of the workpiece does not meet the requirement, the workpiece is often manually processed correspondingly. For example, when a workpiece needs to be mounted on a movable hook line, since a hook on the movable hook line has the characteristics of unfixed position and swinging, it is difficult to effectively complete the hook operation of the workpiece only by the fixed moving logic of the mechanical device, and the hook operation needs to be manually completed for each workpiece one by one.

In the process of implementing the invention, the inventor finds that the prior art has the following defects: the manual work flow wastes a lot of manpower, and the work processing efficiency is not high.

Disclosure of Invention

Embodiments of the present invention provide a workpiece processing system, a workpiece processing method, a computer device, and a storage medium, which implement full-automatic workpiece processing to reduce labor cost for workpiece processing and improve workpiece processing efficiency.

In a first aspect, embodiments of the present invention provide a workpiece handling system, comprising at least one workpiece handling module, a vision module, and a control module; the workpiece operation module is in communication with the control module, the vision module is in communication with the control module, wherein:

the workpiece operation module is used for performing workpiece operation processing on a workpiece to be processed, and the workpiece operation processing comprises at least one of loading processing, unloading processing or replacement processing;

the vision module is used for acquiring a vision image of the workpiece to be processed, identifying the vision image to acquire vision information of the workpiece to be processed and sending the vision information of the workpiece to be processed to the control module; the visual information comprises position coordinate information, or the position coordinate information and flaw information; the position coordinate information is irregular position information;

the control module is used for sending control information to the workpiece operation module according to the visual information of the workpiece to be processed so as to control the workpiece operation module to perform workpiece operation processing on the workpiece to be processed.

In a second aspect, an embodiment of the present invention further provides a workpiece processing method, including:

acquiring visual information of a workpiece to be processed; the visual information comprises position coordinate information, or the position coordinate information and flaw information; the position coordinate information is irregular position information;

sending control information to a workpiece operation module according to the visual information of the workpiece to be processed so as to control the workpiece operation module to perform workpiece operation processing on the workpiece to be processed; the workpiece handling process comprises at least one of a loading process, an unloading process, or a replacement process;

and the visual information of the workpiece to be processed is identified and acquired by the visual module according to the visual image of the workpiece to be processed.

In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the workpiece processing method provided by any of the embodiments of the invention.

In a fourth aspect, the present invention further provides a computer storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the workpiece processing method provided in any embodiment of the present invention.

The embodiment of the invention comprises a workpiece processing system consisting of at least one workpiece operation module, a vision module and a control module, wherein the vision module is used for acquiring a vision image of a workpiece to be processed, identifying the vision image to acquire vision information of the workpiece to be processed, sending the vision information of the workpiece to be processed to the control module, and sending control information to the workpiece operation module through the control module according to the vision information of the workpiece to be processed so as to operate and process the workpiece to be processed through the workpiece operation module.

Drawings

FIG. 1 is a schematic view of a workpiece handling system according to an embodiment of the present invention;

FIG. 2 is a schematic view of a workpiece handling system according to a second embodiment of the present invention;

FIG. 3 is a flow chart of a workpiece processing method according to a fifth embodiment of the present invention;

fig. 4 is a schematic view of a workpiece processing apparatus according to a sixth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a computer device according to a seventh embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.

It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

The terms "first" and "second," and the like in the description and claims of embodiments of the invention and in the drawings, are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not set forth for a listed step or element but may include steps or elements not listed.

Example one

Fig. 1 is a schematic diagram of a workpiece handling system according to an embodiment of the present invention, and as shown in fig. 1, the workpiece handling system may include: at least one workpiece handling module 10, a vision module 20, and a control module 30; the workpiece handling module 10 is communicatively coupled to the control module 30, and the vision module 20 is communicatively coupled to the control module 30, wherein: the workpiece operation module 10 is used for performing workpiece operation processing on a workpiece to be processed, wherein the workpiece operation processing comprises at least one of loading processing, unloading processing or replacement processing; the vision module 20 is configured to acquire a vision image of the workpiece to be processed, recognize the vision image to acquire vision information of the workpiece to be processed, and send the vision information of the workpiece to be processed to the control module 30; the visual information comprises position coordinate information, or the position coordinate information and flaw information; the position coordinate information is irregular position information; the control module 30 is configured to send control information to the workpiece handling module 10 according to the visual information of the workpiece to be processed, so as to control the workpiece handling module 10 to perform workpiece handling processing on the workpiece to be processed.

Wherein the workpiece to be processed may be a workpiece to be processed. The workpiece handling module 10 may be a multi-axis robot arm or other specific structure, and may perform operations such as grasping, placing, or holding movement on a workpiece to be processed. The workpiece handling process may be a related process such as loading, unloading, or replacing a workpiece. The vision module 20 may include an image acquisition component and an image processing component. The image acquisition component can be a camera or a scanner, and the like, and is used for acquiring a visual image of the workpiece to be processed. The image Processing component may be a GPU (Graphics Processing Unit), a CPU (central Processing Unit), or the like, and is configured to perform recognition Processing on the visual image to obtain visual information of the workpiece to be processed, such as position coordinate information and defect information of the workpiece to be processed. The control module 30 may be a server, a PC (Personal Computer), an industrial controller, or the like, as long as the control of various modules according to the received information can be completed, and the specific type of the control module 30 is not limited in the embodiment of the present invention.

In the embodiment of the present invention, the workpiece operation module 10 may be configured to perform operation processing on a workpiece to be processed according to actual business requirements. For example, the workpiece handling module 10 may perform loading processing, unloading processing, replacement processing, or the like on a workpiece to be processed. Wherein, the loading treatment is to place the workpiece to be treated in the working position. The unloading processing is to unload the workpiece to be processed in the working position to the designated position. The replacement processing is to replace the workpiece to be processed including the defect problem with the workpiece without the defect problem. Alternatively, the working position may be, for example, a setting type of device or a setting area. The embodiments of the present invention do not limit this. The vision module 20 may be configured to acquire a vision image of the workpiece to be processed, where the vision image may be an image acquired by taking a picture of the workpiece to be processed. The vision module 20 can also perform recognition to acquire visual information of the workpiece to be processed according to the acquired visual image. Alternatively, the visual information may include, but is not limited to, position coordinate information, or position coordinate information and flaw information. The position coordinate information can be used for accurately positioning the position coordinates of the workpiece to be processed, and the flaw information can be used for positioning flaw problems included in the workpiece to be processed. The control module 30 can receive the visual information sent by the visual module 20 to generate corresponding control information, and control the workpiece operation module 10 to perform the workpiece operation processing on the workpiece to be processed.

The working principle of the workpiece processing system in the embodiment of the invention is as follows: the vision module is used for acquiring a vision image of the workpiece to be processed, the vision image is automatically identified to acquire vision information of the workpiece to be processed, and then the control module is used for controlling the workpiece operation module to perform corresponding processing on the workpiece to be processed according to the acquired vision information.

The workpiece processing system provided by the embodiment of the invention can accurately position the workpiece to be processed according to the visual information of the workpiece to be processed or simultaneously determine whether the workpiece to be processed comprises a defect problem or not even if the associated processing module of the workpiece to be processed has instability or the placement position of the workpiece does not meet the requirement and the like, namely the position coordinate of the workpiece to be processed is irregular position information.

For example, the position of the moving hook (i.e. the associated processing module) carrying the workpiece with a hole is not fixed, and a swing phenomenon occurs during the moving process, so that the positions of the moving hook and the workpiece on the hook are difficult to satisfy the fixed moving logic of the robot arm controlled by the encoder. Or the size of the workpiece to be processed is small, and the workpiece to be processed is placed in a messy manner and distributed, so that the fixed moving logic of the mechanical arm controlled by the encoder is difficult to meet. That is, the fixed movement logic of the robot arm controlled by the encoder requires the workpiece to be processed to have a regular, repeatable position, thereby ensuring that its position can be accurately positioned by the control logic of the encoder.

Optionally, the vision module 20 may include a light source assembly, an industrial camera assembly, an image processing assembly, and an interactive display assembly. The light source assembly can provide a light source, and the industrial camera assembly can be used as an image acquisition assembly to acquire a visual image of a workpiece to be processed. The image processing component may employ a GPU, and the interactive display component may display the operation conditions of the workpiece operation module 10, such as the detection and capture progress. Alternatively, the GPU may detect the position coordinate information and the flaw information of the workpiece to be processed by using a code Object detection network (Cascade Object detection network). For example, a Region of Interest (ROI) is extracted from a visual image acquired by an industrial camera component in a preprocessing stage, and an irrelevant background is removed to obtain a preprocessed visual image. Then, the position coordinate information of the workpiece to be processed is positioned on the preprocessing visual image through an Object Detection algorithm (Object Detection), and then whether the workpiece to be processed comprises flaw information or not can be detected through a Fine-Grained image Classification algorithm (Fine-Grained Classification).

The workpiece processing system provided by the embodiment of the invention positions the visual information of the workpiece to be processed through the visual module, and particularly positions the position coordinate information or the flaw information of the workpiece to be processed through the visual module according to the visual image of the workpiece to be processed. The information of the workpiece to be processed is automatically identified and processed in an artificial intelligence mode, and then the workpiece operation module is controlled by the control module to perform corresponding workpiece operation processing on the workpiece to be processed according to the accurate position coordinate information of the workpiece to be processed. Therefore, the workpiece processing system provided by the embodiment of the invention does not need to require the position of the workpiece to be processed to meet a certain rule, can completely replace a manual processing link, and can realize full-automatic workpiece processing, so that the labor cost of workpiece processing is reduced, and the processing efficiency of the workpiece is improved.

Example two

Fig. 2 is a schematic diagram of a workpiece processing system according to a second embodiment of the present invention, which is embodied on the basis of the above-mentioned embodiment, and in this embodiment, a specific alternative implementation manner of performing loading processing on a workpiece to be processed by using the workpiece processing system is given.

Accordingly, as shown in fig. 2, the workpiece processing system of the present embodiment may further include: the workpiece moving module 40 is in communication connection with the control module 30; the workpiece operation module 10 may include a first workpiece operation module 110; wherein: the workpiece moving module 40 is used for carrying the workpiece to be processed to move at a first position; the first position is a work position of the first workpiece handling module 110; the vision module 20 is configured to obtain a first vision image of the workpiece to be processed in the loading area, identify the first vision image to obtain position coordinate information of the workpiece to be processed, and send the position coordinate information of the workpiece to be processed to the control module 30; the control module 30 is used for sending first control information to the first workpiece operation module 110 according to the position coordinate information of the workpiece to be processed; the first workpiece operation module 110 is configured to obtain a workpiece to be processed from the workpiece loading area according to the first control information, and perform loading processing on the workpiece to be processed and the workpiece moving module 40.

The workpiece moving module 40 may be configured to carry the workpiece to be processed for movement. Alternatively, the workpiece to be treated may be a perforated workpiece. Accordingly, the workpiece moving module 40 may be a moving hook wire or the like, and the embodiment of the present invention is not limited to the specific type of the workpiece to be processed and the workpiece moving module 40. The first workpiece handling module 110 may be used to perform an in-feed process on a workpiece to be processed. The area to be loaded may be an area near the first location and may be used for storing workpieces to be processed that require loading. It should be noted that the workpieces to be processed in the material loading area need not to be placed according to strict placement rules, and can be placed at will. The first visual image may be a visual image of the workpiece to be processed in the area to be loaded, and the first control information may be control information generated from position coordinate information of the workpiece to be processed in the area to be loaded.

In an embodiment of the present invention, the workpiece processing system may be specifically configured to perform a loading process on a workpiece to be processed. As shown in fig. 2, the workpiece moving module 40 to the left of the first workpiece handling module 110, the vision module 20, and the control module 30 may constitute a feeding subsystem for feeding processing of workpieces to be processed. Specifically, the workpiece moving module 40 can move with the workpiece to be processed at the working position of the first workpiece handling module 110, and as shown in fig. 2, the position of the workpiece moving module 40 on the left side of the first workpiece handling module 110 can be regarded as the first position. During the process of moving the workpiece to be processed by the workpiece moving module 40, the vision module 20 may acquire a first vision image of the workpiece to be processed in the loading area, so as to recognize the first vision image to acquire position coordinate information of the workpiece to be processed, and send the position coordinate information to the control module 30. After receiving the position coordinate information of the workpiece to be processed in the material loading area, the control module 30 may generate first control information and send the first control information to the first workpiece handling module 110. After receiving the first control information, the first workpiece operation module 110 may accurately position the position coordinates of the workpiece to be processed from the workpiece loading area according to the first control information, and acquire the workpiece to be processed, so as to perform loading processing on the acquired workpiece to be processed and the workpiece moving module 40. For example, the robot arm as the first workpiece handling module 110 hangs the gripped workpiece to be processed on the moving hook of the moving hook line, and performs the loading process between the workpiece to be processed and the workpiece moving module 40. Alternatively, the first workpiece handling module 110 may perform loading processing on the workpiece to be processed in an adsorption or clamping manner.

It should be noted that the workpiece moving module 40 on the left of the first workpiece handling module 110, the vision module 20, and the control module 30 can independently operate as a feeding subsystem for feeding and processing the workpiece to be processed.

By adopting the technical scheme, the first visual image of the workpiece to be processed in the material loading area is obtained by utilizing the visual module, the first visual image is identified to obtain the position coordinate information of the workpiece to be processed, the first control information is generated by the controller according to the position coordinate information of the workpiece to be processed in the material loading area, the first workpiece operation module is controlled to accurately obtain the workpiece to be processed from the material loading area according to the first control information, the workpiece to be processed and the workpiece moving module are subjected to material loading processing, and the full-automatic workpiece loading processing is realized.

EXAMPLE III

The present embodiment is embodied based on the above embodiments, and in the present embodiment, a specific optional implementation manner of using the workpiece processing system to unload the workpiece to be processed is given.

Accordingly, as shown in fig. 2, the workpiece processing system of the present embodiment may further include: a workpiece moving module 40 and a workpiece carrying module 50; the workpiece moving module 40 is in communication with the control module 30; the workpiece support module 50 is in communication with the control module 30; the workpiece operation module 10 may include a second workpiece operation module 120; wherein: the workpiece moving module 40 is used for carrying the workpiece to be processed to move at a second position; the second position is the work position of the second workpiece handling module 120; the vision module 20 is configured to obtain a second vision image of the workpiece to be processed on the workpiece moving module 40, identify the second vision image to obtain position coordinate information of the workpiece to be processed, and send the position coordinate information of the workpiece to be processed to the control module 30; the control module 30 is configured to send second control information to the second workpiece handling module 120 according to the position coordinate information of the workpiece to be processed; the second workpiece operation module 120 is configured to unload the workpiece to be processed on the workpiece moving module 40 according to the second control information, and place the unloaded workpiece to be processed on the workpiece carrying module 50; the workpiece carrying module 50 is used for carrying the workpiece to be processed unloaded by the second workpiece handling module 120.

The workpiece moving module 40 may be configured to carry the workpiece to be processed for movement. Alternatively, the workpiece to be treated may be a perforated workpiece. Accordingly, the workpiece moving module 40 may be a moving hook wire or the like, and the embodiment of the present invention is not limited to the specific type of the workpiece to be processed and the workpiece moving module 40. The workpiece carrier module 50 may be used to carry workpieces to be processed. The second workpiece handling module 120 may be used to unload a workpiece to be processed. The unloading process is also a process of unloading the workpiece to be processed carried by the workpiece moving module 40. The second visual image may be a visual image of the workpiece to be processed on the workpiece moving module 40, and the second control information may be control information generated from position coordinate information of the workpiece to be processed on the workpiece moving module 40.

In an embodiment of the present invention, the workpiece handling system may be specifically configured to unload a workpiece to be processed. As shown in fig. 2, the workpiece moving module 40, the workpiece carrying module 50, the second workpiece handling module 120, the vision module 20, and the control module 30 above the second workpiece handling module 120 may constitute an unloading subsystem for unloading the workpiece to be processed. Specifically, the workpiece moving module 40 can move with the workpiece to be processed at the working position of the second workpiece handling module 120, as shown in fig. 2, the position of the workpiece moving module 40 above the second workpiece handling module 120 can be regarded as the second position. During the process of moving the workpiece to be processed by the workpiece moving module 40, the vision module 20 may acquire a second vision image of the workpiece to be processed on the workpiece moving module 40, so as to recognize the second vision image to acquire the position coordinate information of the workpiece to be processed, and send the position coordinate information to the control module 30. After receiving the position coordinate information of the workpiece to be processed on the workpiece moving module 40, the control module 30 may generate second control information and send the second control information to the second workpiece handling module 120. After receiving the second control information, the second workpiece operation module 120 may accurately position the position coordinates of the workpiece to be processed from the workpiece moving module 40 according to the second control information, and obtain the workpiece to be processed, so as to unload the workpiece to be processed on the workpiece moving module 40, and place the unloaded workpiece to be processed on the workpiece carrying module 50. For example, the robot arm as the second workpiece handling module 120 unloads the workpiece to be processed hung on the transfer hook of the transfer hook line and places the workpiece on the tray, thereby performing unloading processing of the workpiece to be processed on the workpiece transfer module 40. Optionally, the second workpiece handling module 120 may perform unloading processing on the workpiece to be processed on the workpiece moving module 40 in a blowing manner, so as to avoid damage to the workpiece to be processed.

It should be noted that the unloading subsystem, which is composed of the workpiece moving module 40, the second workpiece handling module 120, the vision module 20 and the control module 30 above the second workpiece handling module 120 and used for unloading the workpiece to be processed, can operate independently. It should be noted that the position of the workpiece moving module 40 is not fixed, that is, the loading subsystem and the unloading subsystem can respectively use the independent workpiece moving module 40 to perform loading processing or unloading processing. Alternatively, the loading subsystem and the unloading subsystem may use the same workpiece moving module 40 to perform loading processing or unloading processing, and in practical application, the operation position of the workpiece moving module 40 is changed, which is not limited in the embodiment of the present invention.

In an alternative embodiment of the present invention, the workpiece handling system may further comprise a workpiece unloading module 60, the workpiece unloading module 60 being communicatively coupled to the control module 30; the workpiece unloading module 60 is configured to unload the workpiece to be processed in a physical unloading manner; the vision module 20 is configured to, after the workpiece unloading module 60 unloads the workpiece to be processed, acquire a second remaining vision image of the remaining workpiece to be processed on the workpiece moving module 40, identify the second remaining vision image to acquire position coordinate information of the remaining workpiece to be processed, and send the position coordinate information of the remaining workpiece to be processed to the control module 30; the control module 30 is configured to send second remaining control information to the second workpiece operating module 120 according to the position coordinate information of the remaining workpieces to be processed; the second workpiece operation module 120 is configured to continue to unload the remaining to-be-processed workpieces on the workpiece moving module 40 according to the second remaining control information, and place the unloaded remaining to-be-processed workpieces on the workpiece carrying module 50.

The workpiece unloading module 60 can also be used for unloading the workpiece to be processed, but the workpiece unloading module 60 can unload the workpiece to be processed by adopting an unloading principle different from that of the second workpiece handling module 120. The remaining workpieces to be processed may be the workpieces to be processed left on the workpiece moving module 40 after the workpiece unloading module 60 unloads the workpieces to be processed on the workpiece moving module 40. The second remaining visual image may be a visual image of the workpiece to be processed remaining on the workpiece moving module 40 by the vision module 20 after the workpiece to be processed is unloaded by the workpiece unloading module 60. The second remaining control information may be control information generated from position coordinate information of the remaining to-be-processed workpieces on the workpiece moving module 40.

It is understood that if the number of workpieces to be processed on the workpiece moving module 40 is large, the unloading process using only the second workpiece handling module 120, the vision module 20 and the control module 30 in an artificial intelligence manner may cause a large operation burden on the vision module 20 and the control module 30, and may also increase the load on the second workpiece handling module 120. Therefore, in order to further improve the efficiency of the unloading process, the unloading process can be performed on the workpiece to be processed on the workpiece moving module 40 by using a physical unloading manner. For example, the workpiece unloading module 60 may employ a blowing mechanism, and the workpiece to be processed on the workpiece moving module 40 is blown off onto the workpiece carrying module 50 by air blowing. The benefits of using the blow mechanism as the workpiece unloading module 60 here are: can avoid direct contact with the workpiece to be processed so as to avoid damage to the workpiece to be processed. Generally, when the workpiece unloading module 60 blows off the workpiece to be processed on the workpiece moving module 40 onto the workpiece carrying module 50 by air blowing, about 10% of the remaining workpiece to be processed remains on the workpiece moving module 40. At this time, compensation processing may be performed in an artificial intelligence manner, that is, during the process that the workpiece moving module 40 moves the remaining workpiece to be processed, the vision module 20 may acquire a second remaining vision image of the remaining workpiece to be processed on the workpiece moving module 40, so as to identify the second remaining vision image to acquire the position coordinate information of the remaining workpiece to be processed, and send the position coordinate information to the control module 30. After the control module 30 receives the position coordinate information of the remaining to-be-processed workpieces on the workpiece moving module 40, second remaining control information may be generated and sent to the second workpiece handling module 120. After receiving the second remaining control information, the second workpiece operation module 120 may accurately position the position coordinates of the remaining workpieces to be processed from the workpiece moving module 40 according to the second remaining control information, acquire the remaining workpieces to be processed, perform unloading processing on the remaining workpieces to be processed on the workpiece moving module 40, and place the remaining workpieces to be processed obtained by unloading on the workpiece carrying module 50.

It should be noted that the first workpiece handling module 110 for performing loading processing and the second workpiece handling module 120 for performing unloading processing may be provided with a soft suction pipe transpose for performing suction or air blowing, etc. on the software to be processed. The benefits of such a process are: if the workpiece to be processed is a coating with a surface which is easy to damage, the soft suction pipe is adopted for transferring the software to be processed to absorb or blow air, so that the damage to the surface of the workpiece to be processed can be avoided. Meanwhile, the first workpiece handling module 110 and the second workpiece handling module 120 may further include a clamping component for clamping the workpiece to be processed for movement.

By adopting the technical scheme, the second visual image of the workpiece to be processed on the workpiece moving module is obtained by utilizing the visual module, the second visual image is identified to obtain the position coordinate information of the workpiece to be processed, the second control information is generated by the controller according to the position coordinate information of the workpiece to be processed on the workpiece moving module, the second workpiece operation module is controlled to accurately obtain the workpiece to be processed from the workpiece moving module according to the second control information, the workpiece to be processed on the workpiece moving module is unloaded, and the full-automatic unloading processing of the workpiece is realized.

Example four

The present embodiment is embodied based on the above embodiments, and in the present embodiment, a specific alternative implementation manner of performing replacement processing on a workpiece to be processed by using a workpiece processing system is given.

Accordingly, as shown in fig. 2, the workpiece processing system of the present embodiment may further include: a workpiece carrier module 50; the workpiece support module 50 is in communication with the control module 30; the workpiece handling module 10 further comprises a third workpiece handling module 130; wherein: the workpiece carrying module 50 is used for carrying workpieces to be processed; the vision module 20 is configured to obtain a third vision image of the workpiece to be processed in the workpiece carrying module 50, identify the third vision image to obtain defect information of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information, and send the position coordinate information of the workpiece to be processed including the defect information to the control module 30; the control module 30 is configured to send third control information to the third workpiece handling module 130 according to the position coordinate information of the workpiece to be processed including the flaw information; the third workpiece handling module 130 is configured to obtain a workpiece to be processed including defect information from the workpiece carrying module 50 according to third control information, and perform replacement processing on the workpiece to be processed including the defect information.

The workpiece support module 50 can be used to support a workpiece to be processed. The third workpiece handling module 130 may be used to perform replacement processing on a workpiece to be processed. The replacement process is to replace the workpiece to be processed having the defect problem on the workpiece support module 50. The third visual image may be a visual image of a workpiece to be processed on the workpiece support module 50, and the third control information may be control information generated based on position coordinate information of the workpiece to be processed having defect information on the workpiece support module 50.

In an embodiment of the present invention, the workpiece handling system may be specifically configured to perform replacement processing on a workpiece to be processed. As shown in fig. 2, the third workpiece handling module 130, the workpiece carrier module 50, the vision module 20, and the control module 30 may constitute a replacement subsystem for performing replacement processing on a workpiece to be processed. Specifically, the workpiece carrier module 50 may carry workpieces to be processed, and some of the workpieces to be processed may have defect information. Alternatively, the defect information may include, but is not limited to, chipping information, scratching information, uneven painting information, smudging information, and the like. Meanwhile, the placement position of the workpiece to be processed on the workpiece carrying module 50 may be irregular or regular, which is not limited in the embodiment of the present invention. The vision module 20 may acquire a third vision image of the workpiece to be processed on the workpiece support module 50, to recognize the third vision image to acquire defect information of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information, and to transmit the position coordinate information of the workpiece to be processed including the defect information to the control module 30. After receiving the position coordinate information of the workpiece to be processed including the flaw information, the control module 30 may generate third control information and send the third control information to the third workpiece handling module 130. After receiving the third control information, the third workpiece handling module 130 may accurately position the position coordinates of the workpiece to be processed including the defect information from the workpiece carrying module 50 according to the third control information, and obtain the workpiece to be processed including the defect information, so as to perform replacement processing on the workpiece to be processed including the defect information. For example, the robot arm, as the third workpiece handling module 130, replaces the workpiece to be processed on the workpiece carrying module 50 with the defect information with the workpiece without the defect information, thereby performing replacement processing of the workpiece to be processed on the workpiece carrying module 50. Optionally, the third workpiece handling module 130 may remove the workpiece to be processed including the defect information by clamping, and place a new workpiece on the workpiece bearing module 50 by adsorption, so as to avoid damage to the workpiece to be processed.

In an optional embodiment of the present invention, the workpiece carrying module 50 may be configured to carry the workpiece to be processed in a front carrying manner, so that the vision module 20 obtains a third front visual image of the workpiece to be processed, and after the front flaw detection of the workpiece to be processed is completed, carry the workpiece to be processed in a back carrying manner, so that the vision module 20 obtains a third back visual image of the workpiece to be processed; the vision module 20 is configured to obtain a third front-side vision image and a third back-side vision image, recognize the third front-side vision image and the third back-side vision image to obtain defect information of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information, and send the position coordinate information of the workpiece to be processed including the defect information to the control module 30.

The front bearing mode and the back bearing mode may be two opposite bearing modes, and the combination of the two bearing modes may enable the vision module 20 to obtain a comprehensive vision image of the workpiece to be processed, so as to comprehensively detect whether the surface of the workpiece to be processed has defect information. The third front visual image may be a front visual image of the workpiece to be processed on the workpiece support module 50 and the third back visual image may be a back visual image of the workpiece to be processed on the workpiece support module 50.

In the embodiment of the present invention, when the replacement subsystem performs replacement processing on the workpiece to be processed, two or one workpiece carrying modules 50 may be used to carry the workpiece to be processed. In this application scenario, the placement positions of the workpieces to be processed on the workpiece support module 50 may be regular. Specifically, when two workpiece carrying modules 50 are used to carry the workpiece to be processed, the first workpiece carrying module 50 can be used to carry the workpiece to be processed in a front-side carrying manner, so that the vision module 20 obtains a third front-side vision image of the workpiece to be processed carried on the front side of the first workpiece carrying module 50. The front surface bearing may be that the side of the workpiece to be processed on the workpiece bearing module 50 exposed to the outside is the front surface, and the vision module 20 may acquire a front surface image of the workpiece to be processed. At this time, the vision module 20 may acquire a third front visual image of the workpiece to be processed, which is front-carried on the first workpiece carrying module 50, and recognize the third front visual image to acquire defect information of the front of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information, and transmit the position coordinate information of the workpiece to be processed including the defect information to the control module 30. After receiving the position coordinate information of the workpiece to be processed including the flaw information, the control module 30 may generate third control information and send the third control information to the third workpiece handling module 130. After receiving the third control information, the third workpiece handling module 130 may accurately position the position coordinates of the workpiece to be processed including the defect information from the workpiece carrying module 50 according to the third control information, and obtain the workpiece to be processed including the defect information, so as to perform replacement processing on the workpiece to be processed including the defect information.

After the front defect detection is completed, the control module 30 may control the first workpiece bearing module 50 to place the borne workpiece to be processed on the second workpiece bearing module 50, so that the second workpiece bearing module 50 can bear the workpiece to be processed in a back bearing manner. Alternatively, it is also possible to directly use one workpiece carrying module 50, and after the front defect detection is completed, the third workpiece operating module 130 is used to turn over the workpiece to be processed on the workpiece carrying module 50, so as to implement the back carrying manner. Further, after the front defect detection is completed, the vision module 20 may obtain a third back vision image of the workpiece to be processed, which is carried on the back surface of the workpiece carrying module 50, and identify the third back vision image to obtain defect information of the back surface of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information, and send the position coordinate information of the workpiece to be processed including the defect information to the control module 30. After receiving the position coordinate information of the workpiece to be processed including the flaw information, the control module 30 may generate third control information and send the third control information to the third workpiece handling module 130. After receiving the third control information, the third workpiece handling module 130 may accurately position the position coordinates of the workpiece to be processed including the defect information from the workpiece carrying module 50 according to the third control information, and obtain the workpiece to be processed including the defect information, so as to perform replacement processing on the workpiece to be processed including the defect information.

It should be noted that. In addition to performing replacement processing on workpieces to be processed including defect information, the replacement subsystem may also detect the vacant positions and the number on the workpiece carrying module 50 through the vision module 20, so as to cooperate with the control module 30 to perform operations of supplementing the workpieces to be processed to the vacant positions on the workpiece carrying module 50.

It should be noted that the relative positions of the first workpiece handling module 110, the second workpiece handling module 120, the third workpiece handling module 130, the vision module 20 and the control module 30 may be specifically set according to actual requirements, for example, on the same operation platform 00 or in different operation areas in the form of subsystems. When the respective modules operate independently in the subsystem mode, the vision module 20 and the control module 30 may be shared, or the vision module 20 and the control module 30 may be used independently. In addition, the first workpiece handling module 110, the second workpiece handling module 120, and the third workpiece handling module 130 may employ three identical or different workpiece handling modules, or the first workpiece handling module 110, the second workpiece handling module 120, and the third workpiece handling module 130 may be the same workpiece handling module. When the same workpiece operation module is used for processing workpieces, the workpiece operation module can simultaneously have the functions of adsorption, air blowing or clamping and the like so as to meet the requirements of different processing procedures. Besides the above modules, the workpiece processing system can also configure other functional modules, such as an electric cylinder sliding table and the like, according to actual business requirements, and is used for carrying out automatic displacement control and the like on the workpiece operation module or the vision module. Meanwhile, the communication connection mode between each module and the control module may be a wired mode or a wireless mode, which is not limited in the embodiment of the present invention.

By adopting the technical scheme, the third visual image of the workpiece to be processed on the workpiece bearing module is obtained by utilizing the visual module, the position coordinate information of the workpiece to be processed is obtained by identifying the third visual image, the third control information is generated by the controller according to the position coordinate information of the workpiece to be processed on the workpiece bearing module, the third workpiece operation module is controlled to accurately obtain the workpiece to be processed from the workpiece moving module according to the third control information, the workpiece to be processed on the workpiece moving module is replaced, and the full-automatic replacement processing of the workpiece is realized.

EXAMPLE five

Fig. 3 is a flowchart of a workpiece processing method according to a fifth embodiment of the present invention, which is applicable to a fully automated workpiece processing system, and can be implemented by a workpiece processing apparatus, which can be implemented by software and/or hardware, and can be generally integrated into a computer device. Accordingly, as shown in fig. 3, the method includes the following operations:

s310, acquiring visual information of a workpiece to be processed; the visual information comprises position coordinate information, or the position coordinate information and flaw information; the position coordinate information is irregular position information. And the visual information of the workpiece to be processed is identified and acquired by the visual module according to the visual image of the workpiece to be processed.

S320, sending control information to a workpiece operation module according to the visual information of the workpiece to be processed so as to control the workpiece operation module to perform workpiece operation processing on the workpiece to be processed; the workpiece handling process includes at least one of a loading process, an unloading process, or a replacement process.

Optionally, acquiring the visual information of the workpiece to be processed may include: acquiring position coordinate information corresponding to a first visual image of a workpiece to be processed in a material loading area; sending control information to a workpiece operation module according to the visual information of the workpiece to be processed may include: sending first control information to the first workpiece operation module according to the position coordinate information of the workpiece to be processed, so that the first workpiece operation module obtains the workpiece to be processed from the region to be loaded according to the first control information, and loading the workpiece to be processed and the workpiece moving module; wherein the workpiece to be processed is carried and moved at a first position by a workpiece moving module; the first position is an operative position of the first workpiece handling module.

Optionally, acquiring the visual information of the workpiece to be processed may include: acquiring position coordinate information corresponding to a second visual image of the workpiece to be processed on the workpiece moving module; sending control information to a workpiece operation module according to the visual information of the workpiece to be processed may include: sending second control information to the second workpiece operation module according to the position coordinate information of the workpiece to be processed, so that the second workpiece operation module unloads the workpiece to be processed on the workpiece moving module according to the second control information, and places the workpiece to be processed obtained by unloading on the workpiece bearing module; wherein the workpiece to be processed is carried and moved at a second position by the workpiece moving module; the second position is a working position of the second workpiece handling module; the workpiece carrying module is used for carrying the workpiece to be processed obtained by unloading of the second workpiece operation module.

Optionally, acquiring the visual information of the workpiece to be processed may include: after the workpiece unloading module unloads the workpiece to be processed, acquiring position coordinate information corresponding to a second residual visual image of the residual workpiece to be processed on the workpiece moving module; sending control information to a workpiece operation module according to the visual information of the workpiece to be processed may include: sending the second residual control information to the second residual workpiece operation module according to the position coordinate information of the residual workpieces to be processed, so that the second workpiece operation module continues to unload the residual workpieces to be processed on the workpiece moving module according to the second residual control information, and places the residual workpieces to be processed obtained by unloading on the workpiece carrying module; the workpiece unloading module is used for unloading the workpiece to be processed in a physical unloading mode.

Optionally, acquiring the visual information of the workpiece to be processed may include: acquiring flaw information corresponding to the third visual image of the workpiece to be processed in the workpiece bearing module and position coordinate information of the workpiece to be processed comprising the flaw information; sending control information to a workpiece operation module according to the visual information of the workpiece to be processed may include: sending third control information to the third workpiece operation module according to the position coordinate information of the workpiece to be processed comprising the flaw information; the third workpiece operation module acquires the workpiece to be processed comprising the defect information from the workpiece carrying module according to the third control information, and performs replacement processing on the workpiece to be processed comprising the defect information; the workpiece bearing module is used for bearing the workpiece to be processed.

Optionally, the workpiece bearing module is configured to bear the workpiece to be processed in a front bearing manner, so that the vision module obtains a third front vision image of the workpiece to be processed, and bear the workpiece to be processed in a back bearing manner after the workpiece to be processed completes front defect detection, so that the vision module obtains a third back vision image of the workpiece to be processed; acquiring visual information of a workpiece to be processed may include: and acquiring the third front visual image and the third back visual image, and identifying the third front visual image and the third back visual image to acquire defect information of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information.

Optionally, the workpiece to be processed can be a workpiece with holes; the defect information may include chipping information, scratching information, uneven coloring information, and soiling information.

According to the embodiment of the invention, the visual image of the workpiece to be processed is acquired through the visual module, the visual image is recognized to acquire the visual information of the workpiece to be processed, the visual information of the workpiece to be processed is sent to the control module, the control module sends the control information to the workpiece operation module according to the visual information of the workpiece to be processed, so that the workpiece operation processing is carried out on the workpiece to be processed through the workpiece operation module, the problems of high labor cost, low workpiece processing efficiency and the like of the existing manual workpiece processing are solved, the workpiece is processed in a full-automatic mode, the labor cost of workpiece processing is reduced, and the workpiece processing efficiency is improved.

It should be noted that any permutation and combination between the technical features in the above embodiments also belong to the scope of the present invention.

EXAMPLE six

Fig. 4 is a schematic view of a workpiece processing apparatus according to a sixth embodiment of the present invention, as shown in fig. 4, the apparatus including: a visual information acquisition module 410 and a control information transmission module 420, wherein:

the visual information acquisition module 410 is used for acquiring visual information of a workpiece to be processed; the visual information comprises position coordinate information, or the position coordinate information and flaw information; the position coordinate information is irregular position information;

the control information sending module 420 is configured to send control information to a workpiece operation module according to the visual information of the workpiece to be processed, so as to control the workpiece operation module to perform workpiece operation processing on the workpiece to be processed; the workpiece handling process comprises at least one of a loading process, an unloading process, or a replacement process;

Optionally, the visual information obtaining module 410 is specifically configured to: acquiring position coordinate information corresponding to a first visual image of a workpiece to be processed in a material loading area; the control information sending module 420 is specifically configured to: sending first control information to the first workpiece operation module according to the position coordinate information of the workpiece to be processed, so that the first workpiece operation module obtains the workpiece to be processed from the region to be loaded according to the first control information, and loading the workpiece to be processed and the workpiece moving module; wherein the workpiece to be processed is carried and moved at a first position by a workpiece moving module; the first position is an operative position of the first workpiece handling module.

Optionally, the visual information obtaining module 410 is specifically configured to: acquiring position coordinate information corresponding to a second visual image of the workpiece to be processed on the workpiece moving module; the control information sending module 420 is specifically configured to: sending second control information to the second workpiece operation module according to the position coordinate information of the workpiece to be processed, so that the second workpiece operation module unloads the workpiece to be processed on the workpiece moving module according to the second control information, and places the workpiece to be processed obtained by unloading on the workpiece bearing module; wherein the workpiece to be processed is carried and moved at a second position by the workpiece moving module; the second position is a working position of the second workpiece handling module; the workpiece carrying module is used for carrying the workpiece to be processed obtained by unloading of the second workpiece operation module.

Optionally, the visual information obtaining module 410 is specifically configured to: after the workpiece unloading module unloads the workpiece to be processed, acquiring position coordinate information corresponding to a second residual visual image of the residual workpiece to be processed on the workpiece moving module; the control information sending module 420 is specifically configured to: sending the second residual control information to the second residual workpiece operation module according to the position coordinate information of the residual workpieces to be processed, so that the second workpiece operation module continues to unload the residual workpieces to be processed on the workpiece moving module according to the second residual control information, and places the residual workpieces to be processed obtained by unloading on the workpiece carrying module; the workpiece unloading module is used for unloading the workpiece to be processed in a physical unloading mode.

Optionally, the visual information obtaining module 410 is specifically configured to: acquiring flaw information corresponding to the third visual image of the workpiece to be processed in the workpiece bearing module and position coordinate information of the workpiece to be processed comprising the flaw information; the control information sending module 420 is specifically configured to: sending third control information to the third workpiece operation module according to the position coordinate information of the workpiece to be processed comprising the flaw information; the third workpiece operation module acquires the workpiece to be processed comprising the defect information from the workpiece carrying module according to the third control information, and performs replacement processing on the workpiece to be processed comprising the defect information; the workpiece bearing module is used for bearing the workpiece to be processed.

Optionally, the workpiece bearing module is configured to bear the workpiece to be processed in a front bearing manner, so that the vision module obtains a third front vision image of the workpiece to be processed, and bear the workpiece to be processed in a back bearing manner after the workpiece to be processed completes front defect detection, so that the vision module obtains a third back vision image of the workpiece to be processed; the visual information obtaining module 410 is specifically configured to: and acquiring the third front visual image and the third back visual image, and identifying the third front visual image and the third back visual image to acquire defect information of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information.

The workpiece processing device can execute the workpiece processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the workpiece processing method according to any embodiment of the present invention, reference may be made to the following description.

Since the workpiece processing apparatus described above is an apparatus capable of executing the workpiece processing method in the embodiment of the present invention, based on the workpiece processing method described in the embodiment of the present invention, a person skilled in the art can understand the specific implementation of the workpiece processing apparatus in the embodiment and various modifications thereof, and therefore, how to implement the workpiece processing method in the embodiment of the present invention by the workpiece processing apparatus will not be described in detail herein. The scope of the present application is not limited to the particular embodiments of the apparatus used to implement the method of the present invention.

EXAMPLE seven

Fig. 5 is a schematic structural diagram of a computer device according to a seventh embodiment of the present invention. FIG. 5 illustrates a block diagram of a computer device 512 suitable for use in implementing embodiments of the present invention. The computer device 512 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.

As shown in FIG. 5, computer device 512 is in the form of a general purpose computing device. Components of computer device 512 may include, but are not limited to: one or more processors 516, a storage device 528, and a bus 518 that couples the various system components including the storage device 528 and the processors 516.

Bus 518 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 512 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 512 and includes both volatile and nonvolatile media, removable and non-removable media.

Storage 528 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 530 and/or cache Memory 532. The computer device 512 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 534 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk-Read Only Memory (CD-ROM), a Digital Video disk (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 518 through one or more data media interfaces. Storage 528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

Program 536 having a set (at least one) of program modules 526 may be stored, for example, in storage 528, such program modules 526 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination may include an implementation of a network environment. Program modules 526 generally perform the functions and/or methodologies of the described embodiments of the invention.

Computer device 512 may also communicate with one or more external devices 514 (e.g., keyboard, pointing device, camera, display 524, etc.), with one or more devices that enable a user to interact with computer device 512, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 512 to communicate with one or more other computing devices. Such communication may be through an Input/Output (I/O) interface 522. Further, computer device 512 may also communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), and/or a public Network, such as the internet) via Network adapter 520. As shown, the network adapter 520 communicates with the other modules of the computer device 512 via the bus 518. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the computer device 512, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.

The processor 516 executes various functional applications and data processing by executing programs stored in the storage device 528, for example, to implement the workpiece processing method provided by the above-described embodiment of the present invention.

That is, the processing unit implements, when executing the program: acquiring visual information of a workpiece to be processed; the visual information comprises position coordinate information, or the position coordinate information and flaw information; the position coordinate information is irregular position information; sending control information to a workpiece operation module according to the visual information of the workpiece to be processed so as to control the workpiece operation module to perform workpiece operation processing on the workpiece to be processed; the workpiece handling process comprises at least one of a loading process, an unloading process, or a replacement process; and the visual information of the workpiece to be processed is identified and acquired by the visual module according to the visual image of the workpiece to be processed.

Example eight

An eighth embodiment of the present invention further provides a computer storage medium storing a computer program which, when executed by a computer processor, is configured to perform the workpiece processing method according to any one of the above embodiments of the present invention: acquiring visual information of a workpiece to be processed; the visual information comprises position coordinate information, or the position coordinate information and flaw information; the position coordinate information is irregular position information; sending control information to a workpiece operation module according to the visual information of the workpiece to be processed so as to control the workpiece operation module to perform workpiece operation processing on the workpiece to be processed; the workpiece handling process comprises at least one of a loading process, an unloading process, or a replacement process; and the visual information of the workpiece to be processed is identified and acquired by the visual module according to the visual image of the workpiece to be processed.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM) or flash Memory), an optical fiber, a portable compact disc Read Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A workpiece handling system comprising at least one workpiece handling module, a vision module, and a control module; the workpiece operation module is in communication with the control module, the vision module is in communication with the control module, wherein:

2. The system of claim 1, wherein the workpiece handling system further comprises a workpiece movement module, the workpiece movement module communicatively coupled to the control module; the workpiece handling module comprises a first workpiece handling module; wherein:

the workpiece moving module is used for carrying the workpiece to be processed to move at a first position; the first position is a working position of the first workpiece handling module;

the vision module is used for acquiring a first vision image of the workpiece to be processed in a loading area, identifying the first vision image to acquire position coordinate information of the workpiece to be processed, and sending the position coordinate information of the workpiece to be processed to the control module;

the control module is used for sending first control information to the first workpiece operation module according to the position coordinate information of the workpiece to be processed;

the first workpiece operation module is used for acquiring the workpiece to be processed from the region to be loaded according to the first control information and loading the workpiece to be processed and the workpiece moving module.

3. The system of claim 1, wherein the workpiece handling system further comprises a workpiece moving module and a workpiece carrying module; the workpiece moving module is in communication connection with the control module; the workpiece bearing module is in communication connection with the control module; the workpiece handling module comprises a second workpiece handling module; wherein:

the workpiece moving module is used for carrying the workpiece to be processed to move at a second position; the second position is a working position of the second workpiece handling module;

the vision module is used for acquiring a second vision image of the workpiece to be processed on the workpiece moving module, identifying the second vision image to acquire position coordinate information of the workpiece to be processed and sending the position coordinate information of the workpiece to be processed to the control module;

the control module is used for sending second control information to the second workpiece operation module according to the position coordinate information of the workpiece to be processed;

the second workpiece operation module is used for unloading the workpiece to be processed on the workpiece moving module according to the second control information and placing the workpiece to be processed obtained by unloading on the workpiece bearing module;

the workpiece carrying module is used for carrying the workpiece to be processed obtained by unloading of the second workpiece operation module.

4. The system of claim 3, wherein the workpiece handling system further comprises a workpiece unloading module, the workpiece unloading module communicatively coupled to the control module; wherein,

the workpiece unloading module is used for unloading the workpiece to be processed in a physical unloading mode;

the vision module is used for acquiring a second residual vision image of the residual workpiece to be processed on the workpiece moving module after the workpiece unloading module unloads the workpiece to be processed, identifying the second residual vision image to acquire position coordinate information of the residual workpiece to be processed and sending the position coordinate information of the residual workpiece to be processed to the control module;

the control module is used for sending the second residual control information to the second residual workpiece operation module according to the position coordinate information of the residual workpieces to be processed;

the second workpiece operation module is used for continuously unloading the rest workpieces to be processed on the workpiece moving module according to the second rest control information and placing the rest workpieces to be processed obtained by unloading on the workpiece bearing module.

5. The system of claim 1, wherein the workpiece handling system further comprises a workpiece carrier module; the workpiece bearing module is in communication connection with the control module; the workpiece operation module comprises a third workpiece operation module; wherein:

the workpiece bearing module is used for bearing the workpiece to be processed;

the vision module is used for acquiring a third vision image of the workpiece to be processed in the workpiece bearing module, identifying the third vision image to acquire flaw information of the workpiece to be processed and position coordinate information of the workpiece to be processed including the flaw information, and sending the position coordinate information of the workpiece to be processed including the flaw information to the control module;

the control module is used for sending third control information to the third workpiece operation module according to the position coordinate information of the workpiece to be processed comprising the flaw information;

and the third workpiece operation module is used for acquiring the workpiece to be processed comprising the defect information from the workpiece bearing module according to the third control information and carrying out replacement processing on the workpiece to be processed comprising the defect information.

6. The system of claim 5, wherein:

the workpiece bearing module is used for bearing the workpiece to be processed in a front bearing mode so that the vision module acquires a third front vision image of the workpiece to be processed, and bearing the workpiece to be processed in a back bearing mode after the workpiece to be processed completes front flaw detection so that the vision module acquires a third back vision image of the workpiece to be processed;

the vision module is used for acquiring the third front visual image and the third back visual image, identifying the third front visual image and the third back visual image to acquire defect information of the workpiece to be processed and position coordinate information of the workpiece to be processed including the defect information, and sending the position coordinate information of the workpiece to be processed including the defect information to the control module.

7. The system according to any one of claims 1-6, wherein:

the workpiece to be processed is a workpiece with a hole;

the defect information includes chipping information, scratching information, uneven coloring information, and soiling information.

8. A method of processing a workpiece, comprising:

9. A computer device, characterized in that the computer device comprises:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of workpiece processing as claimed in claim 8.

10. A computer storage medium on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out the method of workpiece processing as claimed in claim 8.