CN114240164A

CN114240164A - Target transfer method, device, equipment and storage medium

Info

Publication number: CN114240164A
Application number: CN202111555213.7A
Authority: CN
Inventors: 王文超; 王广炎
Original assignee: Hefei Sineva Intelligent Machine Co Ltd
Current assignee: Hefei Sineva Intelligent Machine Co Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-03-25

Abstract

The embodiment of the application provides a target transfer method, a device, equipment and a storage medium, which relate to the technical field of sequencing, and the method comprises the following steps: the target transfer system acquires the coordinates of the multiple targets to be transferred which are respectively and relatively marked under the coordinate system of the transfer equipment, and then sorts the multiple targets to be transferred based on the respective corresponding coordinates of the multiple targets to be transferred to obtain a position information table. And finally, sequentially transferring the targets to be transferred according to the position information table. When the target to be transferred on the bearing device generates nonlinear stretching or lacks part of the target to be transferred, the target transfer method in the embodiment of the application avoids the deviation of the target to be transferred from the specified transfer position caused by the fact that the transfer equipment generates violent residual vibration after the movement of the transfer instruction is finished, and the target to be transferred is transferred efficiently and accurately.

Description

Target transfer method, device, equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of sorting, in particular to a target transfer method, a target transfer device, target transfer equipment and a storage medium.

Background

In the field of Mini LEDs, after the Mini LED chips are manufactured, a huge amount of transfer is performed, and specifically, a large amount (usually several tens of thousands to several hundreds of thousands) of Mini LED chips are transferred to a target substrate or a driving circuit board by a high-precision transfer device to form an LED array. As shown in fig. 1, when the Mini LED chip is transferred by the transferring apparatus, the Mini LED chip needs to be loaded on the carrying device, and then transferred from the carrying device to the target substrate or the driving circuit board.

However, loading the Mini LED chips into the carrier device causes non-linear stretching of each Mini LED chip, which in turn causes the actual positions of the Mini LED chips to deviate from the original positions, as shown in fig. 2. At this time, the Mini LED chip is transferred from the carrying device to the target substrate or the driving circuit board, which may cause the transfer device to generate a severe residual vibration after the transfer instruction movement is finished, thereby causing the chip to deviate from the designated transfer position, and further affecting the accuracy of chip transfer.

Disclosure of Invention

The embodiment of the application provides a target transfer method, a target transfer device and a storage medium, which are used for solving the problems of low chip transfer efficiency and low precision.

In one aspect, an embodiment of the present application provides a target transfer method, where the method includes:

acquiring coordinates of a plurality of targets to be transferred which are respectively marked relatively under a transfer equipment coordinate system;

based on the respective corresponding coordinates of the multiple targets to be transferred, sequencing the multiple targets to be transferred to obtain a position information table;

and transferring the plurality of targets to be transferred in sequence according to the position information table.

Optionally, the sorting the targets to be transferred based on the respective coordinates corresponding to the targets to be transferred to obtain a position information table includes:

selecting one target to be transferred as a reference target from the plurality of targets to be transferred;

adding the coordinates of the targets to be transferred which belong to the same group with the reference target to the position information table based on the coordinates of the reference target and the respective corresponding coordinates of other targets to be transferred, and establishing a reference model corresponding to the reference target;

and sequentially determining a next group of adjacent targets to be transferred based on the reference model, adding the determined coordinates of the targets to be transferred to the position information table, and determining a next adjacent reference model.

Optionally, the adding, based on the coordinates of the reference target and the respective coordinates of other targets to be transferred, the coordinates of the targets to be transferred that belong to the same group as the reference target to the position information table, and establishing the reference model corresponding to the reference target includes:

iteratively executing the following steps until an iteration stop condition is met:

determining a target screening area based on a first transverse distance and a first longitudinal distance by taking the coordinates of the reference target as a reference position, wherein the first transverse distance is determined based on a transverse reference distance, and the first longitudinal distance is determined based on a longitudinal reference distance;

determining whether at least one target to be transferred exists in the target screening area or not based on the corresponding coordinates of the other targets to be transferred;

if so, determining a target closest to the reference target from the at least one target to be transferred, adding the coordinates of the target to the position information table, adding the coordinates of the target to the reference model to be used as reference coordinates in the reference model, and using the target as the reference target;

and otherwise, creating a virtual target, adding the coordinates of the virtual target into the reference model to be used as the reference coordinates in the reference model, and using the virtual target as the reference target.

Optionally, the sequentially determining, based on the reference model, a next group of targets to be transferred that are adjacent to each other, adding the coordinates of the determined targets to be transferred to the position information table, and determining a next reference model that is adjacent to each other includes:

for each reference coordinate in the reference model, respectively performing the following steps:

determining a target screening area based on a second transverse distance and a second longitudinal distance by taking one reference coordinate as a reference position, wherein the second transverse distance is determined based on the transverse reference distance, and the second longitudinal distance is determined based on the longitudinal reference distance;

if so, adding the coordinates of the target with the shortest longitudinal distance to the reference coordinate in the at least one target to be transferred to the position information table, and adding the coordinates of the target to a next reference model as the reference coordinates in the next reference model;

otherwise, creating a virtual target, and adding the coordinates of the virtual target to the next reference model to be used as the reference coordinates in the next reference model;

taking the next reference model as the reference model.

Optionally, the transverse reference distance and the longitudinal reference distance are determined in the following manner:

selecting N characteristic targets from the targets to be transferred; wherein N is an integer greater than 0;

aiming at the N characteristic targets, respectively executing the following steps:

sequencing other targets to be transferred based on the distance between the target to be transferred and one characteristic target, and selecting the top M targets to be transferred; wherein M is an integer greater than 0;

determining a sub-transverse distance array and a sub-longitudinal distance array of the feature target based on the coordinates of the feature target and the coordinates of the M targets to be transferred, wherein the sub-transverse distance array or the sub-longitudinal distance array is not empty;

and determining the transverse reference distance and the longitudinal reference distance based on the sub transverse distance array and the sub longitudinal distance array respectively corresponding to the N characteristic targets.

Optionally, the determining the sub-transverse distance array and the sub-longitudinal distance array of the one feature target based on the coordinates of the one feature target and the coordinates of the M targets to be transferred includes:

aiming at the M targets to be transferred, respectively executing the following steps:

determining the transverse distance and the longitudinal distance between the one characteristic target and the one target to be transferred based on the coordinates of the one characteristic target and the coordinates of the one target to be transferred;

if the transverse distance is greater than or equal to the longitudinal distance, adding the transverse distance to the sub transverse distance array;

if the lateral distance is less than the longitudinal distance, adding the longitudinal distance to the sub-longitudinal distance array.

Optionally, the determining the transverse reference distance and the longitudinal reference distance based on the sub transverse distance array and the sub longitudinal distance array corresponding to each of the N feature targets includes:

merging the sub-transverse distance arrays corresponding to the N characteristic targets to obtain a target transverse distance array, and removing transverse distances which are larger than a transverse distance threshold value in the target transverse distance array;

taking the average value of all transverse distances reserved in the target transverse distance array as the transverse reference distance;

merging the sub-longitudinal distance arrays corresponding to the N characteristic targets to obtain a target longitudinal distance array, and removing the longitudinal distance which is greater than a longitudinal distance threshold value in the target longitudinal distance array;

and taking the average value of all the reserved longitudinal distances in the target longitudinal distance array as the longitudinal reference distance.

Optionally, before the obtaining coordinates of the relative marks of the multiple targets to be transferred under the coordinate system of the transfer device, the method further includes:

controlling a bearing device in the transfer equipment to move for multiple times relative to the visual system according to a preset route until a movement stop condition is met, and obtaining coordinates of the targets to be transferred under a coordinate system of the transfer equipment respectively relative to the mark;

acquiring the visual field center of the visual system and the visual field center coordinate of the visual system under the transfer equipment coordinate system;

after each movement, determining a mark on the bearing device, a mark coordinate under the coordinate system of the transfer equipment, and coordinates of each target to be transferred in the visual field range of the visual system relative to the visual field center;

and determining the coordinates of the targets to be transferred relative to the mark under the coordinate system of the transfer equipment based on the mark coordinates, the coordinates of the center of the visual field and the coordinates of the targets to be transferred relative to the center of the visual field.

In one aspect, an embodiment of the present application provides a target transfer apparatus, where the apparatus includes:

the acquisition module is used for acquiring the coordinates of the relative marks of the targets to be transferred under the coordinate system of the transfer equipment;

the sorting module is used for sorting the targets to be transferred based on the respective corresponding coordinates of the targets to be transferred to obtain a position information table;

and the transfer module is used for sequentially transferring the targets to be transferred according to the position information table.

Optionally, the sorting module is specifically configured to:

taking the next reference model as the reference model.

Optionally, the mobile terminal further includes a distance determining module, where the distance determining module is specifically configured to:

determining the lateral reference distance and the longitudinal reference distance in the following manner:

Optionally, the distance determining module is specifically configured to:

Optionally, the obtaining module is further configured to:

before the coordinates of the targets to be transferred, which are respectively opposite to the marks, under the coordinate system of the transfer equipment are obtained, controlling a bearing device in the transfer equipment to move for multiple times relative to the visual system according to a preset route until a movement stop condition is met, and obtaining the coordinates of the targets to be transferred, which are respectively opposite to the marks, under the coordinate system of the transfer equipment;

In one aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the target transfer method when executing the program.

In one aspect, embodiments of the present application provide a computer-readable storage medium, which stores a computer program executable by a computer device, and when the program runs on the computer device, the computer device is caused to execute the steps of the target transfer method.

In the embodiment of the application, the target transfer system acquires the coordinates of the multiple targets to be transferred which are respectively and relatively marked under the coordinate system of the transfer device, and then sorts the multiple targets to be transferred based on the respective corresponding coordinates of the multiple targets to be transferred to obtain the position information table. And finally, sequentially transferring the targets to be transferred according to the position information table. When the target to be transferred on the bearing device generates nonlinear stretching or lacks part of the target to be transferred, the target transfer method in the embodiment of the application avoids the deviation of the target to be transferred from the specified transfer position caused by the fact that the transfer equipment generates violent residual vibration after the movement of the transfer instruction is finished, and the target to be transferred is transferred efficiently and accurately.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic diagram of an arrangement structure of a Mini LED chip according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of an arrangement structure of a Mini LED chip according to an embodiment of the present disclosure;

FIG. 3 is a system architecture diagram according to an embodiment of the present application;

fig. 4 is a schematic flowchart of a target transfer method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a target to be transferred according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a target to be transferred according to an embodiment of the present disclosure;

fig. 7 is a schematic flowchart of adding a location information table according to an embodiment of the present application;

FIG. 8 is a schematic flow chart of obtaining a reference model according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

FIG. 13 is a schematic flow chart illustrating a process for obtaining a next reference model according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 15 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of a target to be transferred according to an embodiment of the present disclosure;

fig. 17 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 18 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

FIG. 19 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 20 is a schematic structural diagram of a target screening area according to an embodiment of the present disclosure;

fig. 21 is a schematic structural diagram of a target to be transferred according to an embodiment of the present disclosure;

fig. 22 is a schematic structural diagram of a target to be transferred according to an embodiment of the present disclosure;

fig. 23 is a schematic structural diagram of a target transfer device according to an embodiment of the present application;

fig. 24 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 3, a system architecture diagram applicable to the embodiment of the present application is shown, where the system architecture includes at least a terminal device 301 and a target transfer system 302.

The terminal device 301 is installed with a target application for target transfer, which may be a client installed in advance, a web page version application, or an applet embedded in other applications, or the like. The terminal device 301 may be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., and may be embedded in the transfer device, but is not limited thereto.

The target transfer system 302 serves the target application as a background server for the target application. The target transfer system 302 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a Content Delivery Network (CDN), a big data and artificial intelligence platform, and the like, and may be built in the transfer device.

The terminal device 301 is connected to the target transfer system 302, and may be directly or indirectly connected through wired or wireless communication, which is not limited herein.

The terminal device 301 sends a target transfer instruction to the target transfer system 302, and the target transfer system 302 acquires coordinates of a plurality of targets to be transferred on the carrying device, which are respectively marked relatively under a transfer device coordinate system, and sorts the plurality of targets to be transferred based on the respective corresponding coordinates of the plurality of targets to be transferred, so as to obtain a position information table. And finally, transferring the plurality of targets to be transferred in sequence according to the position information table.

Based on the system architecture diagram shown in fig. 3, an embodiment of the present application provides a flow of a target transfer method, as shown in fig. 4, where the flow of the method is executed by the target transfer system 302 shown in fig. 4, and includes the following steps:

step S401, obtaining the coordinates of the relative marks of the targets to be transferred under the coordinate system of the transfer equipment.

As shown in fig. 5, the transfer apparatus coordinate system is a 2-dimensional plane coordinate system composed of an X axis and a Y axis.

Specifically, a plurality of targets to be transferred are placed on a bearing device of the transfer equipment, and coordinates of the central positions of the targets to be transferred on the bearing device, which are respectively marked relatively under a coordinate system of the transfer equipment, are obtained.

Step S402, based on the respective corresponding coordinates of the multiple targets to be transferred, the multiple targets to be transferred are sequenced, and a position information table is obtained.

Sequencing the targets to be transferred in fig. 5, storing the coordinates corresponding to the targets to be transferred into a position information table, and obtaining the position information table as shown in table 1.

Table 1.

(2,5)	(3,4.5)	(4,4.5)	(5,4.5)
				(2.1,4)	(3.1,3.4)	(4.1,3.5)	(5.1,3.5)
(2.2,3)	(3.2,2.5)	(4.3,2.5)	(5.2,2.5)
				(2.3,2)	(3.3,1.5)	(4.4,1.6)	(5.3,1.6)

And step S403, transferring the targets to be transferred in sequence according to the position information table.

Specifically, the targets to be transferred in the plurality of target groups to be transferred are sequentially transferred in the order from small to large of the X-axis in the coordinate system of the transfer device.

For example, the targets to be transferred in table 1 are transferred in the order of the first column, the second column, the third column, and the fourth column according to the coordinates.

Optionally, before the step S401, due to the limited field of view of the vision system, only the coordinates of the relative markers of a part of the targets to be transferred under the coordinate system of the transfer device can be obtained each time through the field of view of the vision system. Therefore, the carrying device in the transfer equipment is controlled to move for a plurality of times relative to the vision system according to the preset route until the movement stop condition is met, and the coordinates of the marks of all the targets to be transferred under the coordinate system of the transfer equipment are obtained.

Specifically, the preset route may be an S-shaped route, and may also be another preset route. The transfer device comprises a bearing device, a vision system and a target transfer system, and the bearing device further comprises a mark. The target transfer system can directly acquire the coordinates of the mark under the coordinate system of the transfer equipment, but cannot directly acquire the coordinates of the target to be transferred on the bearing device under the coordinate system of the transfer equipment. When the carrying device moves, the mark and the target to be transferred move corresponding distances with the carrying device, but the vision system is kept fixed.

For two adjacent movements of the carrying device, the visual field range of the visual system may have a partial overlapping region or no overlapping region.

When the carrying device moves twice and the visual field range of the visual system has a partial overlapping area, the coordinates of the relative marks of all the targets to be transferred under the coordinate system of the transfer equipment are obtained, and the method comprises the following steps:

and when the carrying device moves each time, obtaining the coordinates of the targets to be transferred in the visual field range of the visual system under the coordinate system of the transfer equipment respectively. And then removing coordinates of the targets to be transferred which are repeatedly acquired in any overlapping area and are relatively marked under the coordinate system of the transfer equipment.

Aiming at obtaining the coordinates of the targets to be transferred in the visual field range of the visual system under the coordinate system of the transfer equipment respectively when the carrying device moves each time, the method comprises the following steps:

step S501, the visual field center of the visual system and the visual field center coordinate under the transfer equipment coordinate system are obtained.

In particular, since the vision system remains fixed, the center coordinates of the field of view of the vision system are also fixed. Before the carrier is moved, the center coordinates of the field of view of the vision system are determined.

Firstly, obtaining the mark coordinate of the mark on the bearing device under the coordinate system of the transfer equipment, then determining the offset of the visual field center relative to the mark, and adding the mark and the offset of the visual field center relative to the mark, thus determining the visual field center coordinate of the visual field center under the coordinate system of the transfer equipment.

Step S502, determining the mark coordinates of the mark on the bearing device in the coordinate system of the transfer equipment.

Step S503, determining the relative coordinates of each target to be transferred in the visual field range of the visual system relative to the visual field center.

Step S504, determining the coordinates of each target to be transferred relative to the mark under the coordinate system of the transfer equipment based on the mark coordinates, the coordinates of the center of the visual field and the coordinates of each target to be transferred relative to the center of the visual field.

Specifically, the coordinate of the center of the visual field and the coordinate of each target to be transferred relative to the center of the visual field are added to determine the coordinate of each target to be transferred under the coordinate system of the transfer equipment, and then the coordinate of each target to be transferred under the coordinate system of the transfer equipment is subtracted from the coordinate of the mark marked under the coordinate system of the transfer equipment to obtain the coordinate of each target to be transferred relative to the mark under the coordinate system of the transfer equipment.

For example, as shown in fig. 6, the carrying device moves along an S-shaped route, after the carrying device moves for the first time, the visual field range of the visual system is an area a, and there are 3 targets to be transferred in the area a, which are target 1 to be transferred, target 2 to be transferred, and target 3 to be transferred, respectively.

The coordinates of the center of the visual field of the visual system in the coordinate system of the transfer apparatus are determined to be (Xc, Yc), and after the first movement, the coordinates of the marker marked in the coordinate system of the transfer apparatus are (Xb1, Yb1), and the coordinates of the object to be transferred 1, the object to be transferred 2, and the object to be transferred 3 with respect to the center of the visual field are (X1, Y1), (X2, Y2), (X31, Y31), respectively. Then, the coordinates of the target to be transferred 1, the target to be transferred 2, and the target to be transferred 3 relative to the markers in the coordinate system of the transferring apparatus are (Xc + X1-Xb1, Yc + Y1-Yb1), (Xc + X2-Xb1, Yc + Y2-Yb1), (Xc + X31-Xb1, Yc + Y31-Yb1), respectively.

After the bearing device moves for the second time, the visual field range of the visual system is a B area, and 2 targets to be transferred exist in the B area, namely a target 3 to be transferred and a target 4 to be transferred respectively.

The coordinates of the center of the visual field of the visual system in the coordinate system of the transfer apparatus are determined to be (Xc, Yc), and after the second movement, the coordinates of the marker marked in the coordinate system of the transfer apparatus are (Xb2, Yb2), and the coordinates of the target to be transferred 3 and the target to be transferred 4 with respect to the center of the visual field are (X32, Y32), (X4, Y4), respectively. Then, the coordinates of the target to be transferred 3, the target to be transferred 4 relative to the markers under the transfer apparatus coordinate system are (Xc + X32-Xb2, Yc + Y32-Yb2), (Xc + X4-Xb2, Yc + Y4-Yb2), respectively.

Since the relative positions of the marker and the target to be transferred remain unchanged each time the transfer device is moved, the difference between the two coordinates of the coordinates (Xc + X31-Xb1, Yc + Y31-Yb1) of the target to be transferred 3 in the a region under the marker coordinate system and the coordinates (Xc + X32-Xb2, Yc + Y32-Yb2) of the target to be transferred 3 in the B region under the marker coordinate system is smaller than a certain threshold value, the coordinates of the target to be transferred 3 in the B region are removed, and the results finally obtained are the coordinates of the target to be transferred 1, the target to be transferred 2, and the target to be transferred 3 in the a region relative to the marker under the transfer device coordinate system, and the coordinates of the target to be transferred 4 in the B region relative to the marker under the transfer device coordinate system.

And repeating the above process to obtain the coordinates of the targets to be transferred relative to the marks under the coordinate system of the transfer equipment.

In the embodiment of the application, the coordinates of the marks under the coordinate system of the transfer device of each target to be transferred on the bearing device are obtained through calculation according to the coordinates of the marks under the coordinate system of the transfer device directly obtained by the target transfer system, so that the subsequent sequencing calculation is facilitated.

Optionally, in the step S402, sorting the multiple targets to be transferred based on the coordinates corresponding to the multiple targets to be transferred, and obtaining the position information table, includes the following steps, as shown in fig. 7:

step S701, selecting one target to be transferred as a reference target from a plurality of targets to be transferred.

Specifically, according to the coordinates of the multiple targets to be transferred, which are respectively marked relatively under the coordinate system of the transfer device, the target to be transferred with the smallest y coordinate may be selected as the reference target, and the target to be transferred with the largest y coordinate may also be selected as the reference target.

Step S702, based on the coordinates of the reference target and the respective corresponding coordinates of other targets to be transferred, adding the coordinates of the targets to be transferred belonging to the same group as the reference target to the position information table, and establishing a reference model corresponding to the reference target.

And if the target to be transferred with the minimum y coordinate is selected as the reference target, determining the maximum y coordinate from the y coordinates of all the targets to be transferred as an iteration stop threshold, wherein the iteration stop condition is that the y coordinate of the reference target is larger than the iteration stop threshold.

And if the target to be transferred with the largest y coordinate is selected as the reference target, determining the smallest y coordinate from the y coordinates of all the targets to be transferred as an iteration stop threshold, wherein the iteration stop condition is that the y coordinate of the reference target is smaller than the iteration stop threshold.

The following steps are iteratively executed until an iteration stop condition is satisfied, as shown in fig. 8:

step S801, determining a target screening area based on a first transverse distance and a first longitudinal distance with the coordinates of the reference target as a reference position, wherein the first transverse distance is determined based on the transverse reference distance, and the first longitudinal distance is determined based on the longitudinal reference distance.

Setting the transverse reference distance as dx and the longitudinal reference distance as dy, and setting a first transverse distance determined by the transverse reference distance and the longitudinal reference distance as dx and the first longitudinal distance as dy.

If the target to be transferred with the minimum y coordinate is selected as the reference target, the coordinate of the reference target is (Xr, Yr), the first transverse distance is dx, and the first longitudinal distance is dy. Therefore, the x-coordinate range of the target screening region is determined as [ Xr-0.5dx, Xr +0.5dx ], and the y-coordinate range is [ Yr +0.5dy, Yr +1.5dy ]. As shown in fig. 9.

If the target to be transferred with the largest y coordinate is selected as the reference target, the coordinate of the reference target is (Xr, Yr), the first transverse distance is dx, and the first longitudinal distance is dy. Therefore, the x-coordinate range of the target screening region is determined as [ Xr-0.5dx, Xr +0.5dx ], and the y-coordinate range is [ Yr-1.5dy, Yr-0.5dy ]. As shown in fig. 10.

Step S802, determining whether at least one target to be transferred exists in the target screening area based on the respective corresponding coordinates of other targets to be transferred, and if so, executing step S803; otherwise, step S804 is executed.

Step S803, determining a target closest to the reference target from the at least one target to be transferred, and adding the coordinates of the target to the position information table, and adding the coordinates of the target to the reference model as reference coordinates in the reference model, and taking the target as the reference target.

Step S804, creating a virtual target, adding the coordinates of the virtual target to the reference model as reference coordinates in the reference model, and using the virtual target as the reference target.

Specifically, the coordinates of the virtual target are determined based on the coordinates of the reference target and the longitudinal reference distance.

If the target to be transferred with the minimum y coordinate is selected as the reference target, the coordinate of the reference target is (Xr, Yr), the longitudinal reference distance is dy, and the coordinate of the virtual target is (Xr, Yr + dy).

If the target to be transferred with the largest y coordinate is selected as the reference target, the coordinate of the reference target is (X, Yr), the longitudinal reference distance is dy, and the coordinate of the virtual target is (Xr, Yr-dy).

For example, as shown in fig. 11, a plurality of targets to be transferred are included, wherein the coordinates of the target to be transferred 1, the target to be transferred 2, the target to be transferred 3, the target to be transferred 4, and the target to be transferred 5 in the plurality of targets to be transferred are (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5) in sequence.

The target 1 to be transferred with the minimum Y coordinate is selected from the plurality of targets to be transferred as a reference target, the coordinates (X1, Y1) of the target 1 to be transferred are added to the position information table, and simultaneously, the coordinates (X1, Y1) of the target 1 to be transferred are added to the reference model as reference coordinates in the reference model.

Taking the coordinates (X1, Y1) of the target 1 to be transferred as a reference position, the X coordinate range of the target screening region is determined as [ X1-0.5dx, X1+0.5dx ], the Y coordinate range is [ Y1+0.5dy, Y1+1.5dy ], as shown in fig. 11.

The target screening area has one target 2 to be transferred, the target 2 to be transferred is set as a target, the coordinates (X2, Y2) of the target 2 to be transferred are added to the position information table, and the coordinates (X2, Y2) of the target 2 to be transferred are added to the reference model as reference coordinates in the reference model. Meanwhile, the target 2 to be transferred is taken as a reference target, and the next iteration is performed.

After the target 2 to be transferred is taken as a reference target, the coordinate (X2, Y2) of the target 2 to be transferred is taken as a reference position, the X coordinate range of the target screening region is determined to be [ X2-0.5dx, X2+0.5dx ], the Y coordinate range is [ Y2+0.5dy, Y2+1.5dy ], and the target screening region is determined as shown in fig. 12. And (4) creating a virtual target without the target to be transferred in the target screening area, wherein the coordinate of the virtual target is (X2, Y2+ dy). The coordinates (X2, Y2+ dy) of the virtual object are added to the reference model as reference coordinates in the reference model. Meanwhile, the virtual target is used as a reference target, and the next iteration is carried out.

And sequentially iterating, stopping iteration when the Y coordinate of the reference target is larger than an iteration stop threshold value, wherein the obtained position information table comprises the coordinates corresponding to the target to be transferred 1, the target to be transferred 2, the target to be transferred 3, the target to be transferred 4 and the target to be transferred 5, which are respectively (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5 and Y5). The reference coordinates in the reference model are (X1, Y1), (X2, Y2), (X2, Y2+ dy), (X3, Y3), (X4, Y4), (X5, Y5), respectively.

In the embodiment of the application, an iterative mode is adopted, coordinates of the targets to be transferred, which belong to the same group with the reference targets, are added to the position information table through the reference targets, and a reference model corresponding to the reference targets is established. When the reference model is determined, when the target to be transferred does not exist in the target screening area, the virtual target is created, and the coordinates of the virtual target are added into the reference model, so that the target to be transferred, which originally belongs to the next group of targets to be transferred, can not be added into the position information table, and the target to be transferred is prevented from being lost.

Determining the number of targets to be transferred which belong to the same group as the reference target, selecting the maximum longitudinal distance from the longitudinal distances of every two adjacent targets to be transferred, judging whether the number of the targets to be transferred is greater than or equal to a number set value and whether the maximum longitudinal distance is smaller than a distance set value, if so, indicating that the reference model is an available model, and determining the next adjacent group of targets to be transferred based on the reference model; if not, the reference model is determined again, and the targets to be transferred of the same group of the reference targets are determined again. And if all the targets to be transferred are traversed and the available reference model can not be found, alarming.

And step S703, sequentially determining a next group of adjacent targets to be transferred based on the reference model, adding the coordinates of the determined targets to be transferred to the position information table, and determining the next adjacent reference model.

And when the next group of targets to be transferred adjacent to the right side of the reference model is obtained, determining the maximum x coordinate from the x coordinates of all the targets to be transferred as an iteration stop threshold, wherein the iteration stop condition is that the x coordinate of the reference coordinate in the next reference model is larger than the iteration stop threshold.

And when the next adjacent group of targets to be transferred on the left side of the reference model is obtained, determining the minimum x coordinate from the x coordinates of all the targets to be transferred as an iteration stop threshold, wherein the iteration stop condition is that the x coordinate of the reference coordinate in the next reference model is smaller than the iteration stop threshold.

for each reference coordinate in the reference model, the following steps are performed, respectively, as shown in fig. 13:

step S1301, determining a target screening area based on a second transverse distance and a second longitudinal distance with one reference coordinate as a reference position, wherein the second transverse distance is determined based on the transverse reference distance, and the second longitudinal distance is determined based on the longitudinal reference distance.

Setting the transverse reference distance as dx and the longitudinal reference distance as dy, and setting a second transverse distance determined by the transverse reference distance and the longitudinal reference distance as dx and a second longitudinal distance as 5 dy.

When the next group of targets to be transferred on the right side of the reference model is obtained, the reference coordinate is (Xs, Ys), the x coordinate range of the target screening area is [ Xs +0.5dx, Xs +1.5dx ], the y coordinate range is [ Ys-2.5dy, Ys +2.5dy ], and the like is shown in fig. 14.

When the next group of targets to be transferred on the left side of the reference model is obtained, the reference coordinate is (Xs, Ys), the x coordinate range of the target screening area is [ Xs-1.5dx, Xs-0.5dx ], the y coordinate range is [ Ys-2.5dy, Ys +2.5dy ], and the like is shown in fig. 15.

Step S1302, determining whether at least one target to be transferred exists in the target screening area based on the respective corresponding coordinates of other targets to be transferred, and if so, executing step S1303; otherwise, step S1304 is performed.

Step S1303, add the coordinates of the target with the shortest longitudinal distance from one reference coordinate to the position information table and add the coordinates of the target to the next reference model as the reference coordinates in the next reference model.

Step S1304, creating a virtual target, and adding the coordinates of the virtual target to the next reference model as the reference coordinates in the next reference model.

Specifically, the coordinates of the virtual target are determined based on the reference coordinates in the reference model and other reference coordinates in the next reference model.

And if the next reference model is positioned at the right side of the reference model, setting the created virtual target as the ith reference coordinate in the next reference model. The reference coordinates in the reference model are (Xs, Ys), the i-1 st reference coordinate in the next reference model are (X ', Y '), the transverse reference distance is dx, the longitudinal reference distance is dy, and the determined coordinates of the virtual object are (Xs + dx, Y ' + dy).

And if the next reference model is positioned on the left side of the reference model, setting the created virtual target as the ith reference coordinate in the next reference model. The reference coordinates in the reference model are (Xs, Ys), the i-1 st reference coordinate in the next reference model are (X ', Y '), the transverse reference distance is dx, the longitudinal reference distance is dy, and the determined coordinates of the virtual object are (Xs-dx, Y ' + dy).

After each determination of the next reference model, the next reference model is taken as the reference model.

For example, as shown in fig. 16, the reference model includes 6 reference coordinates, which are reference coordinates (X1, Y1), reference coordinates (X2, Y2), reference coordinates (X3, Y3), reference coordinates (X4, Y4), reference coordinates (X5, Y5), and reference coordinates (X6, Y6).

When the next group of targets to be transferred on the right side of the reference model is obtained, the reference coordinates (X1, Y1) are taken as the center, the X coordinate range of the target screening region is determined to be [ X1+0.5dx, X1+1.5dx ], the Y coordinate range is [ Y1-2.5dy, Y1+2.5dy ], and the determined target screening region is shown in fig. 17. The target 7 to be transferred exists in the target screening area, the coordinates of the target 7 to be transferred are added to the position information table, and the coordinates (X7, Y7) of the target 7 to be transferred are added to the next reference model as reference coordinates in the next reference model. Meanwhile, the target 7 to be transferred does not participate in the subsequent screening.

With reference coordinates (X2, Y2) as the center, the X-coordinate range of the target screening region is determined as [ X2+0.5dx, X2+1.5dx ], the Y-coordinate range is [ Y2-2.5dy, Y2+2.5dy ], and the determined target screening region is shown in fig. 18. And creating a virtual target without the target to be transferred in the target screening area, wherein the coordinate of the virtual target is (X2+ dx, Y7+ dy). The coordinates of the virtual object are added to the next reference model as reference coordinates in the next reference model.

And by analogy, finally, according to 6 reference coordinates (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5), (X6, Y6) in the reference model, determining that the next group of targets to be transferred are respectively the target 7 to be transferred, the target 8 to be transferred, the target 9 to be transferred, the target 10 to be transferred, and the target 11 to be transferred, and respectively adding corresponding coordinates (X7, Y7), (X8, Y8), (X9, Y9), (X10, Y10), (X11, Y11) to the position information table. Meanwhile, the respective reference coordinates in the next reference model are determined to be (X7, Y7), (X2+ dx, Y7+ dy), (X8, Y8), (X9, Y9), (X10, Y10), (X11, Y11), respectively.

And finally, taking the next reference model as a reference model, obtaining the next group of targets to be transferred on the right side of the reference model, and performing the next iteration.

When the next group of targets to be transferred on the left side of the reference model is obtained, the X coordinate range of the target screening region is determined to be [ X1-1.5dx, X1-0.5dx ], the Y coordinate range is [ Y1-2.5dy, Y1+2.5dy ] by taking the reference coordinates (X1, Y1) as the center, and the determined target screening region is shown in fig. 19. The target 12 to be transferred exists in the target screening area, the coordinates (X12, Y12) of the target 12 to be transferred are added to the position information table, and the coordinates (X12, Y12) of the target 12 to be transferred are added to the next reference model as reference coordinates in the next reference model. Meanwhile, the target 12 to be transferred does not participate in the subsequent screening.

With reference coordinates (X2, Y2) as the center, the X coordinate range of the target screening region is determined as [ X2-1.5dx, X2-0.5dx ], the Y coordinate range is [ Y2-2.5dy, Y2+2.5dy ], and the determined target screening region is shown in fig. 20. The target 13 to be transferred exists in the target screening area, the coordinates (X13, Y13) of the target 13 to be transferred are added to the position information table, and the coordinates (X13, Y13) of the target 13 to be transferred are added to the next reference model as reference coordinates in the next reference model. Meanwhile, the target 13 to be transferred does not participate in the subsequent screening.

And analogizing in turn, finally determining that the next group of targets to be transferred are the targets to be transferred 12, the targets to be transferred 13, the targets to be transferred 14, the targets to be transferred 15, the targets to be transferred 16 and the targets to be transferred 17 respectively according to 6 reference coordinates (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5) and (X6, Y6) in the reference model, and adding corresponding coordinates (X12, Y12), (X13, Y13), (X14, Y14), (X15, Y15), (X16, Y16) and (X17, Y17) to the position information table respectively. Meanwhile, the respective reference coordinates in the next reference model are determined to be (X12, Y12), (X13, Y13), (X14, Y14), (X15, Y15), (X16, Y16), (X17, Y17), respectively.

And finally, taking the next reference model as a reference model, obtaining the next group of targets to be transferred on the left side of the reference model, and performing the next iteration.

In the embodiment of the application, the next group of adjacent targets to be transferred is determined by referring to the target screening area corresponding to each reference coordinate in the model. As the target to be transferred with the longitudinal distance closest to the reference coordinate is selected from the target screening area corresponding to the reference coordinate, the problem of untidy sequencing caused by Y-direction position deviation between the target to be transferred and the next group of targets to be transferred can be effectively solved, the correct sequencing of the targets to be transferred is ensured, and the targets to be transferred cannot be lost during transferring.

And finally, transferring the targets to be transferred in the obtained multiple target groups to be transferred. As shown in fig. 21, the set position information table includes 3 columns of position information, which are first column position information, second column position information, and third column position information, respectively. The first column of position information includes coordinates (X12, Y12), (X13, Y13), (X14, Y14), (X15, Y15), (X16, Y16), (X17, and Y17) corresponding to the target to be transferred 12, the target to be transferred 13, the target to be transferred 14, the target to be transferred 15, the target to be transferred 16, and the target to be transferred 17. The second column of position information includes coordinates (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5) corresponding to the target to be transferred 1, the target to be transferred 2, the target to be transferred 3, the target to be transferred 4, and the target to be transferred 5, respectively. The third column of position information includes coordinates (X7, Y7), (X8, Y8), (X9, Y9), (X10, Y10), (X11, Y11) corresponding to the target to be transferred 7, the target to be transferred 8, the target to be transferred 9, the target to be transferred 10, and the target to be transferred 11, respectively.

According to the sequence from small to large of an X axis in a coordinate system of the transfer equipment, all targets to be transferred in the first row of position information are transferred for one time, all targets to be transferred in the second row of position information are transferred for one time, and all targets to be transferred in the third row of position information are transferred for one time.

In the embodiment of the application, the transfer sequence of each target to be transferred is determined according to the sequence from small to large of the X axis under the coordinate system of the transfer device, and each target to be transferred is transferred according to the sequence, so that the problem that when the target to be transferred on the bearing device generates nonlinear stretching or lacks part of the target to be transferred, the transfer device generates violent residual vibration after the movement of a transfer instruction is finished, so that a chip deviates from a designated transfer position is solved, and the transfer precision is ensured.

For the above transverse reference distance dx and longitudinal reference distance dy, the following methods are adopted to determine:

selecting N characteristic targets from a plurality of targets to be transferred; wherein N is an integer greater than 0;

and sequencing other targets to be transferred based on the distance between the target to be transferred and one characteristic target, and selecting the top M-bit targets to be transferred, wherein M is an integer larger than 0. And determining a sub-transverse distance array and a sub-longitudinal distance array of the feature target based on the coordinates of the feature target and the coordinates of the M targets to be transferred, wherein the sub-transverse distance array or the sub-longitudinal distance array is not empty. And if the sub transverse distance array or the sub longitudinal distance array is empty, re-determining the characteristic target.

Aiming at M targets to be transferred, respectively executing the following steps:

and determining the transverse distance and the longitudinal distance between one characteristic target and one target to be transferred based on the coordinates of the characteristic target and the coordinates of the target to be transferred. If the transverse distance is greater than or equal to the longitudinal distance, adding the transverse distance to the sub transverse distance array; if the lateral distance is less than the longitudinal distance, the longitudinal distance is added to the sub-longitudinal distance array.

And finally, determining the transverse reference distance and the longitudinal reference distance based on the sub transverse distance array and the sub longitudinal distance array corresponding to the N characteristic targets respectively.

Specifically, combining sub-transverse distance arrays corresponding to the N characteristic targets to obtain a target transverse distance array, and removing transverse distances larger than a transverse distance threshold value in the target transverse distance array; taking the average value of all transverse distances reserved in the target transverse distance array as a transverse reference distance;

merging the sub-longitudinal distance arrays corresponding to the N characteristic targets to obtain a target longitudinal distance array, and removing the longitudinal distance which is greater than a longitudinal distance threshold value in the target longitudinal distance array; and taking the average value of all the reserved longitudinal distances in the target longitudinal distance array as a longitudinal reference distance.

Specifically, the lateral distance threshold is dynamically adjusted according to the lateral distance in the target lateral distance array. For example, the minimum lateral distance in the target lateral distance array is obtained, and then 1.5 times the minimum lateral distance is used as the lateral distance threshold.

The longitudinal distance threshold is dynamically adjusted according to the longitudinal distance in the target longitudinal distance array. For example, the minimum longitudinal distance in the array of target longitudinal distances is obtained, and then 1.5 times the minimum longitudinal distance is used as the longitudinal distance threshold.

For example, as shown in fig. 22, when the feature target is the target to be transferred 2, the 4 targets to be transferred closest to the target to be transferred 2 are: a target to be transferred 1, a target to be transferred 3, a target to be transferred 4, and a target to be transferred 5.

The transverse distance between the target 2 to be transferred and the target 1 to be transferred is determined to be dx1, and the longitudinal distance is determined to be dy 1. Since dx1 is less than dy1, dy1 is added to the child longitudinal distance array.

The transverse distance dx3 and the longitudinal distance dy3 of the target 2 to be transferred and the target 3 to be transferred are determined. Since dx3 is less than dy3, dy3 is added to the child longitudinal distance array.

The transverse distance dx4 and the longitudinal distance dy4 of the target 2 to be transferred and the target 4 to be transferred are determined. Since dx4 is greater than dy4, dx4 is added to the child lateral distance array.

It is determined that the lateral distance between the target 2 to be transferred and the target 5 to be transferred is dx5 and the longitudinal distance is dy 5. Since dx5 is greater than dy5, dx5 is added to the child lateral distance array.

When the characteristic target is the target 2 to be transferred, dx4 and dx5 are included in the sub transverse distance array, and dy1 and dy3 are included in the sub longitudinal distance array.

When the characteristic target is the target 7 to be transferred, the 4 targets to be transferred closest to the target 7 to be transferred are the target 6 to be transferred, the target 8 to be transferred, the target 9 to be transferred and the target 10 to be transferred, respectively.

It is determined that the lateral distance between the target 7 to be transferred and the target 6 to be transferred is dx6 and the longitudinal distance is dy 6. Setting dx6 less than dy6, dy6 is added to the child longitudinal distance array.

The transverse distance dx8 and the longitudinal distance dy8 of the target 7 to be transferred and the target 8 to be transferred are determined. Setting dx8 less than dy8, dy8 is added to the child longitudinal distance array.

The transverse distance dx9 and the longitudinal distance dy9 of the target 7 to be transferred and the target 9 to be transferred are determined. Setting dx9 greater than dy9, dx9 is added to the child lateral distance array.

It is determined that the lateral distance between the target 7 to be transferred and the target 10 to be transferred is dx10 and the longitudinal distance is dy 10. Setting dx10 greater than dy10, dx10 is added to the child lateral distance array.

When the characteristic target is the target 7 to be transferred, dx9 and dx10 are included in the sub transverse distance array, and dy6 and dy8 are included in the sub longitudinal distance array.

The 2 sub-lateral distance arrays are merged to obtain a target lateral distance array, with the results dx4, dx5, dx9, and dx 10. The 2 sub-longitudinal distance arrays are merged to obtain the target longitudinal distance array, with the results being dy1, dy3, dy6, and dy 8.

The dx4 in the target lateral distance array was set to the minimum lateral distance, and 1.5 × dx4 was used as the lateral distance threshold. Setting dx10 greater than the lateral distance threshold deletes dx10 from the target lateral distance array. dx5 and dx9 are both less than the lateral distance threshold, and remain. At this time, dx4, dx5, and dx9 are included in the target lateral distance array. Dx4, dx5 and dx9 are averaged as the lateral reference distance dx.

Set dy1 in the target longitudinal distance array as the minimum longitudinal distance, and take 1.5 × dy1 as the longitudinal distance threshold. Setting dy3, dy6, and dy8 to all be less than the longitudinal distance threshold, hold. At this time, dy1, dy3, dy6, and dy8 are included in the target longitudinal distance array. Dy1, dy3, dy6 and dy8 are averaged as the longitudinal reference distance dy.

In the embodiment of the application, N feature targets are randomly determined, M targets to be transferred with the nearest distance are selected for each feature target, and the final transverse reference distance and the final longitudinal reference distance are determined to be closer to the distance between the targets to be transferred on the transfer device through the transverse distance and the longitudinal distance between the M targets to be transferred and the corresponding feature targets, so that a basis is provided for the subsequent correct sequencing.

Based on the same technical concept, the embodiment of the present application provides a target transfer device, as shown in fig. 23, the target transfer device 2300 includes:

an obtaining module 2301, configured to obtain coordinates of a relative mark of each of multiple targets to be transferred in a transfer device coordinate system;

a sorting module 2302, configured to sort the multiple targets to be transferred based on respective corresponding coordinates of the multiple targets to be transferred, so as to obtain a position information table;

a transfer module 2303, configured to transfer the multiple targets to be transferred in sequence according to the location information table.

Optionally, the sorting module 2302 is specifically configured to:

taking the next reference model as the reference model.

Optionally, the system further includes a distance determining module 2304, where the distance determining module 2304 is specifically configured to:

Optionally, the distance determining module 2304 is specifically configured to:

Optionally, the obtaining module 2301 is further configured to:

Based on the same technical concept, the embodiment of the present application provides a computer device, which may be a terminal or a server, as shown in fig. 24, including at least one processor 2401 and a memory 2402 connected to the at least one processor, where a specific connection medium between the processor 2401 and the memory 2402 is not limited in the embodiment of the present application, and the processor 2401 and the memory 2402 are connected through a bus in fig. 24 as an example. The bus may be divided into an address bus, a data bus, a control bus, etc.

In the embodiment of the present application, the memory 2402 stores instructions executable by the at least one processor 2401, and the at least one processor 2401 may execute the steps included in the target transfer method by executing the instructions stored in the memory 2402.

The processor 2401 is a control center of the computer device, and may be connected to various parts of the computer device by using various interfaces and lines, and perform a target transfer by executing or executing instructions stored in the memory 2402 and calling data stored in the memory 2402. Optionally, the processor 2401 may include one or more processing units, and the processor 2401 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, an application program, and the like, and the modem processor mainly processes wireless communication. It will be appreciated that the modem processor described above may not be integrated into processor 2401. In some embodiments, processor 2401 and memory 2402 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.

The processor 2401 may be a general-purpose processor, such as a Central Processing Unit (CPU), a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, that may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.

The memory 2402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 2402 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charged Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory 2402 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 2402 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

Based on the same inventive concept, embodiments of the present application provide a computer-readable storage medium storing a computer program executable by a computer device, which, when the program is run on the computer device, causes the computer device to perform the steps of the above-mentioned target transfer method.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A method of target transfer, comprising:

2. The method according to claim 1, wherein the sorting the targets to be transferred based on the coordinates corresponding to the targets to be transferred to obtain the position information table comprises:

3. The method according to claim 2, wherein the adding the coordinates of the objects to be transferred belonging to the same group as the reference object to the position information table based on the coordinates of the reference object and the coordinates corresponding to the other objects to be transferred, and establishing the reference model corresponding to the reference object comprises:

4. The method of claim 2, wherein the sequentially determining an adjacent next group of targets to be transferred based on the reference model, and adding coordinates of the determined targets to be transferred to the position information table, and determining an adjacent next reference model comprises:

taking the next reference model as the reference model.

5. The method according to claim 3 or 4, wherein the transverse reference distance and the longitudinal reference distance are determined in the following manner:

6. The method of claim 5, wherein determining the sub-lateral distance array and the sub-longitudinal distance array of the one feature object based on the coordinates of the one feature object and the coordinates of the M objects to be transferred comprises:

7. The method of claim 5, wherein determining the lateral reference distance and the longitudinal reference distance based on a sub-lateral distance array and a sub-longitudinal distance array corresponding to each of the N feature targets comprises:

8. The method of claim 1, wherein the obtaining coordinates of each of the plurality of targets to be transferred relative to the marker in the transfer device coordinate system further comprises:

controlling a bearing device in the transfer equipment to move for multiple times relative to the visual system according to a preset route until a movement stop condition is met, and obtaining the coordinates of the targets to be transferred relative to the marks under a coordinate system of the transfer equipment;

after each movement, determining a mark on the bearing device, a mark coordinate under the coordinate system of the transfer equipment and a coordinate of each target to be transferred in the visual field range of the visual system relative to the visual field center;

9. A target transfer device, comprising:

the acquisition device is used for acquiring the coordinates of the targets to be transferred which are respectively and relatively marked under the coordinate system of the transfer equipment;

the sorting device is used for sorting the targets to be transferred based on the respective corresponding coordinates of the targets to be transferred to obtain a position information table;

and the transfer device is used for sequentially transferring the targets to be transferred according to the position information table.

10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of claims 1 to 8 are performed when the program is executed by the processor.

11. A computer-readable storage medium, having stored thereon a computer program executable by a computer device, for causing the computer device to perform the steps of the method of any one of claims 1 to 8, when the program is run on the computer device.