TWI755935B - Discharge control system and discharge control method thereof - Google Patents

Abstract

A discharge control system and a discharge control method thereof are provided. The discharge control system has a working module, a driving module, a computer vision module, a height-measuring module and a control module. A discharging mechanism of the working module provides the materials, the driving module moves the discharging mechanism, a front camera and a side camera of the computer vision module continuously capture the images which its view covers the discharging mechanism, the driving module and a working position, and the height-measuring module measures a measured height from the driving module to the working position. the control module controls the measured height to be consistent with a default height, continuously computes a measured posture and a measured position of the discharging mechanism based on the images, and controls the motion of the discharging mechanism, such that the materials outputted by the discharging mechanism are provided to the working position. The present disclosed example can implement the automation of discharge, and precisely provide the materials to the working position.

Description

Discharge control system and discharge control method thereof

The present invention relates to a control system and a control method, in particular to a material discharge control system and a material discharge control method.

In the existing material discharge control technology, the discharge mechanism is usually a fixed mechanism, which can only provide material to a fixed position.

In this regard, in the current processing flow, the operator manually aligns the processing part of the workpiece with the aforementioned fixed position, so that the material can be added to the processing part.

However, the aforementioned method not only consumes a lot of manpower and time, but also the accuracy of material supply depends entirely on the technical proficiency of the operator, and cannot provide stable and high-precision material supply.

Therefore, the existing material discharge control technology has the above problems, and a more effective solution needs to be proposed.

The main purpose of the present invention is to provide a control system and a control method thereof, which can automatically align the discharging mechanism with the working position of the object.

The invention provides a material discharge control system for supplying materials to a working position. The material discharge control system includes an operation module, an adjustment module, a computer vision module, a height measurement module and a control module. The operation module includes a discharging mechanism, and the discharging mechanism is used for supplying the material; the adjusting module is connected with the discharging mechanism and used for moving the discharging mechanism in multiple degrees of freedom, and the adjusting module includes at least a motor device and a plurality of moving mechanisms corresponding to different degrees of freedom respectively, the at least one motor device is used for providing power to make the plurality of moving mechanisms move the discharging mechanism in the corresponding degrees of freedom respectively; the computer vision module includes A forward-facing camera and a side-facing camera, the forward-facing camera is disposed above the discharging mechanism and the adjusting module, and is used to continuously capture a positive image covering the discharging mechanism, the adjusting module and the working position , the side camera is arranged on the side of the discharge mechanism and the adjustment module, and is used to continuously shoot a lateral image covering the discharge mechanism, the adjustment module and the operating position; the height measurement module is used for to measure an estimated height between the adjustment module and the working position; the control module is electrically connected to the discharge mechanism, the adjustment module, the computer vision module and the height measurement module, the The control module is configured to control the adjustment module to move the operation module so that the estimated height conforms to a preset height, and continuously calculates the estimated posture and estimated attitude of the discharging mechanism according to the forward image and the side image. measuring the position, and controlling the adjustment module according to the estimated posture and the estimated position of the discharging mechanism to move the discharging mechanism to change the estimated posture and the estimated position so that the output of the discharging mechanism Materials are supplied to the job location.

The present invention also provides a material discharge control method for a material discharge control system, the material discharge control system includes an operation module, an adjustment module, a computer vision module, a height measurement module and a control module group, the discharging control method includes the following steps: a) controlling the height measuring module in the control module to measure an estimated height between the adjustment module and a working position; b) based on the estimated height Adjust the operation module to a preset height; c) continuously control a forward camera of the computer vision module to shoot a discharge mechanism covering the operation module from above the discharge mechanism and the adjustment module, the Adjust the module and a forward image of the working position, and control the side camera of the computer vision module from the unloader The side shot of the structure and the adjustment module covers the side image of the discharge mechanism, the adjustment module and the working position; d) continuously calculate the estimate of the discharge mechanism according to the forward image and the side image measuring attitude and estimated position; and, e) controlling at least one motor device of the adjusting module according to the estimated attitude and the estimated position of the discharging mechanism to provide power to a plurality of moving mechanisms to be respectively located in each of the moving mechanisms The estimated attitude and the estimated position of the discharging mechanism are changed by moving the discharging mechanism in the corresponding degrees of freedom, so that the material output by the discharging mechanism is supplied to the working position.

The present invention can realize the automation of material discharge and precisely supply the material to the working position.

1: Discharge control system

10: Control module

11: Job Module

110: Discharge mechanism

12: Adjust the module

120: Motor device

121: Mobile Mechanism

13: Computer Vision Module

130: Forward camera

131: Side Camera

14: Height measurement module

2: Discharge control system

20: Control host

200: Control Module

201: Storage Module

202: Human Machine Interface

203: Communication module

21: Automation equipment

210: Job Module

211: Adjustment Mods

212: Computer Vision Modules

213: Height measurement module

214: Material Processing Module

215: Laser Light

300: discharge mechanism

301: Feeding mechanism

310-312: Motor unit

313: Horizontal movement mechanism

314: Elevation moving mechanism

315: Vertical movement mechanism

320: First side camera

321: Second side camera

322: Forward camera

323: Non-Visible Light Camera

40: Adjustment Mods

400: Motor unit

401: Clutch switching module

402-403: Moving Mechanisms

50: Control Module

501: Altitude acquisition module

502: Image acquisition module

503: Visual Estimation Module

504: Preprocessing module

505: Analyze Image Module

506: Discharge control module

507: Mobile Control Module

508: Processing control module

509: Error detection module

60: Printed Circuit Board

61: Pad

62: Component pins

63: Horizontal swivel connector

64: Transmission parts

65: Materials

70: Spit mouth

71: Objects

72: Laser light

P1: Working position

S10-S16: The first discharge control step

S200-S210: The second discharge control step

S30-S31: Calculation steps

S40-S41: Move steps

FIG. 1 is a structural diagram of a material discharge control system according to a first embodiment of the present invention.

FIG. 2 is a structural diagram of a material discharge control system according to a second embodiment of the present invention.

FIG. 3 is a structural diagram of an adjustment module according to a third embodiment of the present invention.

FIG. 4 is a structural diagram of a control module according to a fourth embodiment of the present invention.

FIG. 5 is a flow chart of the method for controlling the material discharge according to the first embodiment of the present invention.

FIG. 6 is a flow chart of the discharging control method according to the second embodiment of the present invention.

FIG. 7 is a partial appearance schematic diagram of a material discharge control system according to an example of the present invention.

FIG. 8 is a schematic diagram of the appearance of a forward image according to an example of the present invention.

FIG. 9 is a schematic diagram of the appearance of a first lateral image according to an example of the present invention.

FIG. 10 is a schematic diagram of the appearance of a second lateral image according to an example of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described in detail in conjunction with the drawings.

The present invention mainly provides a material discharge control system and a material discharge control method thereof, which can automatically measure the attitude gap and/or position difference between the working position of the processed object and the discharge mechanism, and accurately adjust the attitude of the discharge mechanism and/or location to accurately supply the material to the job location without manual intervention.

Please refer to Figure 1 and Figure 5 at the same time. FIG. 1 is a structural diagram of a material discharge control system according to a first embodiment of the present invention, and FIG. 5 is a flowchart of a material discharge control method according to the first embodiment of the present invention. The material discharge control method of each embodiment of the present invention can be implemented by the material discharge control system of any embodiment.

As shown in FIG. 1 , in this embodiment, the discharging control system 1 includes an operation module 11 , an adjustment module 12 , a computer vision module 13 , a height measurement module 14 and a control module electrically connected to the aforementioned modules. Group 10.

The working module 11 may include a discharging mechanism 110 . The discharging mechanism 110 is used for supplying materials (such as adhesives, welding materials, printing materials, etc.) required for the processing operation to the discharging position where the discharging port faces.

The adjusting module 12 is connected to the discharging mechanism 110 on the mechanism, and is used for moving the discharging mechanism 110 in multiple degrees of freedom, so as to make the discharging port of the discharging mechanism 110 face a designated position. Specifically, the adjustment module 12 may include one or more motor devices 120 ( FIG. 1 is an example of the plurality of motor devices 120 ) and a plurality of moving mechanisms 121 corresponding to different degrees of freedom (each moving mechanism 121 may be a Any combination of type connecting piece and transmission piece). The motor device 120 is used to provide power to make the connected moving mechanism 121 move the discharging mechanism in a corresponding degree of freedom.

In one embodiment, the motor device 120 is a stepping motor, and is provided with a motor encoder. The motor encoder can sense the current address signal (such as the rotation angle) of the motor device 120 and provide it to the control module 10 , thereby For the control module 10 to know the current positions of the moving mechanism 121 and the discharging mechanism 110 . Alternatively, the motor device 120 can rotate according to the motor control signal (which may include a designated address) of the control module 10 until the address signal matches the motor control signal, so as to realize precise power output control, and can precisely move the moving mechanism 121 to adjust the position of the feeding mechanism 110.

The computer vision module 13 mainly provides the image data required for the computer vision analysis to the control module 10 for the control module 10 to perform the computer vision analysis (eg, analyze the posture and position of the discharging mechanism 110 in the real space). Specifically, the computer vision module 13 may include one or more front cameras 130 and one or more side cameras 131 . The front camera 130 and the side camera 131 can be cameras of the same type (eg, visible light cameras) or similar (eg, using lenses of different focal lengths or photosensitive elements of different sizes).

Furthermore, the forward camera 130 is disposed above the discharging mechanism 110 and the adjustment module 12, and is used for continuously capturing forward images. The lateral camera 131 is disposed on the side of the discharging mechanism 110 and the adjustment module 12, and is used for continuously capturing lateral images.

In one embodiment, the field of view of the forward image covers the operation position of the discharging mechanism 110 , the adjusting module 12 and the object. The field of view of the aforementioned lateral image covers the discharging mechanism 110 , the adjusting module 12 and the working position.

Please refer to FIG. 8 and FIG. 9 together. FIG. 8 is a schematic view of the appearance of a forward image according to an example of the present invention, and FIG. 9 is a schematic view of the appearance of a first side view image of an example of the present invention.

As shown in FIG. 8 , the angle of view is vertically shot from top to bottom, and the field of view covers the discharge port 70 of the discharge mechanism 110 and the working position P1 of the object 71 (such as the component soldering point in the center of the circuit board). ).

As shown in FIG. 9 , the angle of view is that the left side of the discharge mechanism 110 is taken obliquely toward the working position P1 , and the field of view covers the discharge port 70 of the discharge mechanism 110 and the working position P1 of the object 71 , and The irradiation position of the laser light 72 can be covered.

Please refer to FIG. 1 again, the height measurement module 14 is used to measure the estimated height between the adjustment module 12 and the working position. In one embodiment, the height measurement module 14 may be a laser range finder, an ultrasonic range finder, an electromagnetic range finder or other ranging devices.

The control module 10 is used to control each module of the discharging control system 1 . Specifically, please refer to FIG. 1 and FIG. 5 at the same time, the control module 10 is configured to control the height measurement module 14 to measure the aforementioned estimated height (step S10 ), and control the adjustment module 12 based on the estimated height The discharging mechanism 110 of the operation module 11 is moved, so that the height difference between the adjustment module 12 and the operation position conforms to the preset height (step S11 ).

In addition, the control module 10 is configured to control the forward camera 130 and the side camera 131 to capture a forward image and a side image (step S12 ), and calculate the discharging mechanism 110 according to the captured forward image and side image. The estimated pose and estimated position of (step S13). The aforementioned estimated posture and estimated position can be represented by a space coordinate system (eg, a Cartesian coordinate system) or a robot coordinate system (eg, the coordinates are recorded with the addresses of the motor devices 120 ).

It is worth mentioning that it is a prior art in the field of computer vision technology to confirm the posture or coordinate position of an object according to a plurality of images with different viewing angles, and the details and possible implementations thereof will not be repeated here. The present invention mainly transfers the computer vision technology in different fields to automatic discharging control.

Next, the control module 10 is further configured to determine whether the discharge port of the discharge mechanism 110 is aligned with the working position of the object according to the calculated estimated posture and estimated position of the discharge mechanism 110 (step S14 ).

If it is determined that the spout is not aligned with the working position of the object (for example, the estimated posture and the estimated position do not conform to the preset posture or the preset position), the control module 10 controls at least one motor device 120 of the adjustment module 12 to provide The power is applied to the connected moving mechanism 121 to move the discharging mechanism 110 in a specified degree of freedom, so as to change the estimated posture and estimated position of the discharging mechanism 110 (step S15 ). Next, the control module 10 executes step S12 again to determine whether the spout is aligned with the working position of the object again based on computer vision.

If it is determined in step S14 that the material discharge port is aligned with the working position of the object, the control module 10 controls the operation module 11 to start the discharging operation, so that the discharging mechanism 110 outputs the material to the working position (step S16 ).

Thereby, the present invention can realize the automatic alignment of the material discharge port of the material discharge mechanism with the working position, and can save the manual operation. In addition, the present invention can accurately supply materials to the working position through the arrangement of the motor encoder and the height measuring module 14 .

Please refer to FIG. 1 , FIG. 2 and FIG. 4 at the same time. FIG. 2 is a structural diagram of a discharging control system according to a second embodiment of the present invention, and FIG. 4 is a structural diagram of a control module according to a fourth embodiment of the present invention.

In the embodiment of FIG. 4, a control module 50 is proposed, which includes the following modules 501-509 for realizing different functions. Furthermore, both the control module 10 shown in FIG. 1 and the control module 200 shown in FIG. 2 can be replaced with the aforementioned control module 50 to realize modular control (the structure of FIG. 2 is used in conjunction with FIG. Be explained).

1. The height obtaining module 501 : configured to control the height measuring module 213 to measure, and obtain the measurement distance (ie, the estimated height).

2. Image acquisition module 502: configured to control each of the cameras 320-323 of the computer vision module 212 to shoot, and to obtain the captured image data.

3. The visual estimation module 503 : configured to perform computer vision analysis according to the captured image data, so as to obtain the estimated posture and estimated position of the discharging mechanism 300 .

In one embodiment, the visual estimation module 503 may include a preprocessing module 504 and an image analysis module 505 .

The preprocessing module 504 is configured to perform preprocessing to remove image noise and/or enhance image features. In one embodiment, the pre-image processing may include grayscale processing, background noise removal processing, feature recognition processing, sharpening processing, binarization processing, contour recognition processing and/or other noise removal, image extraction, Image enhancement processing.

The analyzing image module 505 is configured to perform analyzing image processing on the image data after the pre-image processing, so as to calculate the estimated posture and estimated position of the feeding mechanism 300 . In one embodiment, The processing of analyzing images may include processing of identifying operating points, processing of analyzing postures, processing of analyzing positions, processing of analyzing material supply, and/or other processing of object identification and analysis.

4. Discharging control module 506: configured to control the discharging mechanism 300 to start/stop discharging. In one embodiment, the discharging control module 506 is configured to control the discharging mechanism 300 to start discharging when the discharging port is aligned with the working position, and when the stop conditions (such as the elapse of a preset time and the discharge volume reaching a predetermined value) Control the discharging mechanism 300 to stop the discharging when the volume is set or the computer vision judges that the discharging is completed, etc.) when it is satisfied.

5. Movement control module 507 : configured to control the operation of each motor device 310 - 312 of the adjustment module 211 to change the position and posture of the moving mechanisms 313 - 315 and realize the movement of the discharging mechanism 300 .

In one embodiment, if the adjustment module includes a clutch switching module (such as the clutch switching module 401 shown in FIG. 3 ), the movement control module 507 can be further configured to control the switching of the clutch switching module 401 .

6. Process Control Module 508: Configured to control the material processing module 214 toward the work location and process the material provided to the work location to change the state or property of the material (eg, harden, fluidize, deteriorate, etc.).

7. Error detection module 509: configured to detect errors during processing, and to issue a notification when errors are detected.

It is worth mentioning that the aforementioned modules 501-509 are connected to each other (which may be electrical connection or information connection), and may be hardware modules (such as electronic circuit modules, integrated circuit modules, SoCs, etc. ), software modules or a mix of software and hardware modules, which is not limited here.

It is worth mentioning that when the aforementioned modules 501 to 509 are software modules (such as firmware, operating systems or applications), the storage device (the storage module 201 shown in FIG. 2 ) may include non-transitory A computer-readable recording medium, the non-transitory computer-readable recording medium stores a computer program, and the computer program records a computer-executable program code. After the control module 50 executes the program code, the aforementioned module can be realized 501-509 control function.

Please refer to FIG. 2 and FIG. 6 at the same time. FIG. 6 is a flow chart of a method for controlling material discharge according to a second embodiment of the present invention. In the embodiment of FIG. 2 , the material discharge control system 2 includes a control host 20 and an automation device 21 (such as an automation machine, an industrial robot or a robotic arm, etc.). The control host 20 and the automation equipment 21 can be connected through a physical cable or a computer network, so that data transmission can be performed.

In one embodiment, the control host 20 and the automation equipment 21 are installed in the same factory, and can perform the proximal control on the automation equipment 21 .

In one embodiment, the control host 20 and the automation device 21 are located at different locations, and the automation device 21 can be remotely controlled through a computer network.

In this embodiment, the operation module 210 includes a feeding mechanism 301 in addition to the discharging mechanism 300 . The feeding mechanism 301 is used to accept the control of the control host 20 to input materials and provide the materials to the discharging mechanism 300 .

The adjustment module 211 includes a plurality of motor devices 310-312. Each motor device 310-312 is respectively connected to a different moving mechanism 313-315, and is used to provide power to the connected set of moving mechanisms 313-315 to control the connected movement The mechanisms 313-315 move the discharging mechanism 300 in the corresponding degrees of freedom.

In one embodiment, the number of the motor devices 310-312 is not less than the number of the moving mechanisms 313-315.

In one embodiment, the number of motor devices 310-312 is equal to the number of moving mechanisms 313-315. For example, the motor device 310 is connected to the horizontal moving mechanism 313 for rotating in the horizontal direction, the motor device 311 is connected to the elevation moving mechanism 314 for adjusting the elevation angle of the discharging mechanism 300, and the motor device 312 is connected to the vertical moving mechanism for raising and lowering in the vertical direction. 315, but not so limited.

Please refer to FIG. 3 , which is a structural diagram of an adjustment module according to a third embodiment of the present invention. The adjusting module 40 of this embodiment further includes a clutch switching module 401 electrically connected to the aforementioned control module. One end of the clutch switching module 401 is connected to the motor device 406 , and one end is switched between the plurality of moving mechanisms 402 and 403 . The number of motor devices 400 is smaller than the number of moving mechanisms 402 , 403 .

In this embodiment, when the moving mechanism 402 is to be controlled, the clutch switching module 401 must be controlled to switch to the connecting moving mechanism 402 first. In this way, the power of the motor device 400 can be provided to the moving mechanism 402 .

When the moving mechanism 403 is to be controlled, the clutch switching module 401 is controlled to switch to the connecting moving mechanism 403 . In this way, the power of the motor device 400 can be provided to the moving mechanism 403 .

The present invention can effectively reduce the number of motor devices through the disposition of the clutch switching module 401 , thereby reducing the system cost and power consumption.

It is worth mentioning that clutching (switching and connecting) between a plurality of transmission mechanisms is a prior art in the field of power machinery, and details are not described herein again. The present invention mainly transfers mechanical clutch technologies in different fields to automatic discharge control.

Please refer to FIG. 2 and FIG. 6 again, in addition to the front camera 322, the computer vision module 212 can also be configured with multiple side cameras, such as a first side camera 320 and a second side camera 321, to obtain multiple different viewing angles side images (such as the first side image and the second side image).

In one embodiment, the computer vision module 212 can be configured with different types of non-visible light cameras 323 according to requirements, such as depth cameras, thermal cameras, X-ray cameras, ultrasonic cameras, and so on. The non-visible light camera 323 can capture non-visible light images, such as depth images that can be used to measure depth, thermal images that can be used to measure temperature, X-ray angiography that can show the interior of objects, ultrasonic images that can be used to measure distance or shape, etc. Wait.

In addition to the aforementioned height measurement module 213 , the automation device 21 also includes a material processing module 214 that is electrically connected to the control module 200 . The material processing module 214 is used for processing the material discharged by the discharging mechanism 300 .

In one embodiment, after the material is supplied to the working position, the control module 200 controls the material processing module 214 to process the material at the working position, so as to change the state or property of the material.

For example, if the material output by the discharging mechanism 300 includes a cooling and solidifying material (ie, a thermoplastic material, such as tin bar, ABS resin or hot melt adhesive, etc.), the material processing module 214 may include a heating module. The heating module can heat and cool the solidified material to a fluid state to fill the working position (such as the welding point or adhesion point of the component, or the designated printing area of the 3D printer).

In another example, if the aforementioned material includes a polymeric curing material (such as this glue in AB glue), the material processing module 214 may include a curing agent injection module. The injection curing agent module is used for injecting a curing agent (such as the curing agent in the AB glue) to the position of the aforementioned material, so that the curing agent and the polymerized curing material undergo a curing reaction.

In another example, if the aforementioned materials include volatile curing materials (such as silicone, quick-drying glue, etc.), the material processing module 214 may include an airflow generating module. The air flow module is used for generating air flow to increase the volatilization speed and reduce the time required for curing the volatilized curing material.

In another example, if the aforementioned material includes a photocurable material (eg, photocurable resin), the material processing module 214 may include a light source module (eg, an ultraviolet light source), and the light source module may irradiate the working position for curing. Light-curing material on the job site.

In this embodiment, the control host 20 may include a storage module 201, a human-machine interface 202, a communication module 203, and a control module 200 electrically connected to the above-mentioned modules.

The storage module 201 is used for storing data, such as the aforementioned preset height, preset posture, preset position, preset time, preset volume, and the like.

The human-machine interface 202 may include any combination of input devices (such as keyboards, key sets, microphones, mice, etc.) and output devices (such as monitors, speakers, printers, etc.) for interacting with users, For example, for users to input control commands, or to provide notifications to users.

The communication module 203 includes a transmission interface for connecting the automation equipment to establish communication between the control module 200 and the automation equipment.

The control module 200 is used to control each module of the material discharge control system 2 . Specifically, please refer to FIG. 2 , FIG. 4 and FIG. 6 at the same time, the control module 200 controls the height measurement module 213 to measure the estimated height through the height obtaining module 501 (step S200 ), and controls the adjustment based on the estimated height The module 211 controls the corresponding motor devices 310-312 to rotate by a specified angle through the movement control module 507, so as to move the discharging mechanism 300, and make the reference point (such as adjusting the position of the module 211 or the position of the discharging port) and the operation The height difference between the positions conforms to the preset height (step S201).

In addition, the control module 200 also controls the cameras 320 - 323 of the computer vision module 212 to shoot through the image acquisition module 502 (step S202 ), and calculates the output mechanism 300 through the visual estimation module 503 according to the captured images. The estimated posture and estimated position of , (step S203 ).

In one embodiment, the control module 200 first performs preprocessing on all or part of the images (eg, only visible light images are selected) through the preprocessing module 504 to obtain corresponding characteristic images (ie, noise removal and/or enhancement). feature image), such as performing pre-image processing on the front image and the side image to obtain the feature front image and the feature side image (step S30)

The control module 200 then uses the analysis image module 505 to perform analysis image processing based on all or part of the characteristic images (for example, only visible light images are selected) and the installation positions of the cameras 320 - 323 to obtain the estimated posture and estimation of the discharging mechanism 300 . For example, based on the setting position of the front camera, the setting position of the side camera, and the preset height, analysis image processing is performed on the characteristic front image and the characteristic side image to obtain the estimated posture and estimated position of the discharging mechanism 300 (step S31).

Next, the control module 200 determines whether the discharge port of the discharge mechanism 300 is aligned with the working position of the object according to the calculated estimated posture and estimated position of the discharge mechanism 300 through the discharge control module 506 (step S204 ).

If it is determined that the discharge port is not aligned with the working position of the object, the control module 200 controls the designated motor devices 310 - 312 to operate through the movement control module 507 to change the attitude and/or position of the discharge mechanism 300 (step S205 ).

In one embodiment, the control module 200 can control the operation of the motor device 310 through the movement control module 507 to rotate the discharging mechanism 300 horizontally (step S40 ).

In one embodiment, the control module 200 can control the operation of the motor device 311 through the movement control module 507 to adjust the elevation angle of the discharge port of the discharge mechanism 300 (step S41 ).

In one embodiment, the control module 200 can control the motor device 312 to operate through the movement control module 507 to vertically lift the discharging mechanism 300 .

Next, the control module 200 executes step S204 again to determine whether the spout is aligned with the working position of the object again based on computer vision.

If it is determined in step S204 that the discharge port is aligned with the working position of the object, the control module 200 can control the discharge mechanism 300 to perform the discharge operation through the discharge control module 506 (step S206 ).

In one embodiment, the control module 200 can control the material processing module 214 through the processing control module 508 to process the material provided to the working position during or after the discharging operation is performed, so as to change the quality of the material. state or property (eg curing or hardening, step S207).

Thereby, the present invention can realize automatic discharging and processing.

In one embodiment, the control module 200 can perform error detection processing based on the image captured by the computer vision module 212 through the error detection module 509 at the same time as the material discharging operation, so as to detect whether an error occurs in the material discharging operation (Step S208 ), for example, the forward image and the side image are analyzed to determine whether the material is discharged normally, whether the material discharge port deviates from the working position, and the like.

The control module 200 can determine whether any error is detected through the error detection module 509 (step S209 ), and when any error is detected, stop the discharging operation, and output an error notification through the man-machine interface 202 ( Step S210).

In this way, the present invention can avoid errors during processing (such as abnormal discharge or wrong discharge position) that may damage objects or produce processing defects.

Please refer to FIG. 10 , which is a schematic diagram of the appearance of the second lateral image according to an example of the present invention. As shown in FIG. 10 , the side image (second side image), its viewing angle is that the right side of the discharging mechanism 110 is taken obliquely toward the working position P1 (as captured by the second side camera 321 ), and its field of view is covering The discharge port 70 of the discharge mechanism 300 and the working position P1 of the object 71 can cover the irradiation position of the laser light 72 .

Moreover, after the control module 200 analyzes the second lateral image through computer vision, it can be found that the spout has been deviated from the working position of the object (eg, the center of the printed circuit board), which prevents the material from being correctly supplied to the working position. In this case, the control module 200 can control the discharging mechanism 300 to stop the discharging operation, and send a deviation notification through the man-machine interface 202 to notify the user to perform manual correction, processing or recording.

Furthermore, after detecting the error, the control module 200 can automatically readjust the position of the discharging mechanism 300 to align the discharging port with the working position, so as to save manual processing.

In one embodiment, the aforementioned discharging operation is to sequentially supply materials to a plurality of working positions, thereby realizing the supply of materials to a plurality of points or an entire area.

Specifically, taking FIG. 2 as an example, the control module 200 can be configured to plan a discharge movement path passing through a plurality of operation positions, and the discharge movement path includes a plurality of motor address codes corresponding to the plurality of operation positions, respectively. For example, the multiple addresses of the motor device 310 connected to the horizontal moving device 313 (hereinafter referred to as the horizontal code), the multiple addresses of the motor device 311 connected to the elevation moving device 314 (hereinafter referred to as the elevation code), and/or the vertical moving device 315 A plurality of addresses of the motor device 312 (hereinafter referred to as vertical codes).

The control module 200 is further configured to sequentially control the rotation of the corresponding motor devices 310-312 to move the connected moving mechanisms 313-315 according to the plurality of sets of motor address codes of the moving path to move the connected moving mechanisms 313-315 when performing the discharging operation, so as to specify Move the discharging mechanism 300 on the degree of freedom.

For example, the control module 200 can control the motor device 310 to push the horizontal movement mechanism 313 according to a plurality of horizontal codes of the discharge movement path to sequentially move the discharge port of the discharge mechanism 300 horizontally to a plurality of working positions and supply materials to each job location.

In another example, the control module 200 can control the motor device 311 to push the elevation moving mechanism 314 according to the plurality of elevation angle codes of the discharging moving path to adjust the elevation angle of the discharging opening in sequence when each working position is reached.

In another example, the control module 200 may control the motor device 312 to push the vertical movement mechanism 315 according to a plurality of vertical codes of the discharge moving path to adjust the height of the discharge port when each working position is reached in sequence.

Thereby, the present invention can realize multi-point feeding or range feeding.

Please refer to, FIG. 7 is a partial appearance schematic diagram of a material discharge control system of an example of the present invention, which is used to illustrate a specific embodiment of the present invention, but is not intended to limit the protection scope of the present invention.

In this example, the discharging control system is used to perform laser welding on the pads 61 of the printed circuit board 60 and the component pins 62 .

The horizontal moving mechanism 313 includes a horizontal rotation connecting member 63 and a transmission member 64 . The motor device 310 can drive the horizontal rotation connecting member 63 through the transmission member 64 (eg, a transmission belt) to realize the horizontal rotation of the discharging device 300 .

The motor device 311 can adjust the elevation angle of the discharging device 300 through the elevation angle moving mechanism 314 .

The feeding mechanism 301 (not shown in FIG. 7 ) can input materials (such as tin bars) to the discharging mechanism 300 , and when the discharging port of the discharging mechanism 300 faces the working position (such as the gap between the pad 61 and the component pins 62 ) the gap between), the material can be provided to the production location.

The front camera 322 is installed on the horizontal rotation connecting member 63 to take a bird's-eye view (forward image) of the spout and the working position, and the first side camera 320 is installed on the elevation moving mechanism 314 to take pictures of the spout and the side of the working position. visual image (sideways image).

The height measuring module 213 (eg, a laser range finder) is disposed on the horizontal rotating connecting member 63 , and can measure the estimated height between the pad 61 or the component pin 62 .

A material processing module 214 (eg, a laser heating module) is disposed in the horizontal rotating connection member 63 for emitting a high-power laser light 215 to melt the material 65 for welding.

In one embodiment, the height measurement module 213 and the material processing module 214 can be integrated into the same module. For example, the height measurement is performed when the low-power laser light 215 is emitted, and the welding is performed when the high-power laser light 215 is emitted. Or, directly set up two sets of laser emitters for different purposes.

The above description is only a preferred specific example of the present invention, and therefore does not limit the scope of the patent of the present invention. Therefore, all equivalent changes made by using the content of the present invention are all included in the scope of the present invention. Bright.

1: Discharge control system

10: Control module

11: Job Module

110: Discharge mechanism

12: Adjust the module

120: Motor device

121: Mobile Mechanism

13: Computer Vision Module

130: Forward camera

131: Side Camera

14: Height measurement module

Claims (10)

A material discharge control system for supplying materials to a working position, comprising: a working module, including a discharge mechanism, the discharge mechanism is used for supplying the material; it is characterized in that: an adjustment module is connected to the discharge A feeding mechanism is used to move the feeding mechanism in multiple degrees of freedom to adjust the orientation or position of a discharge port of the feeding mechanism. The adjustment module includes at least one motor device and a plurality of corresponding different degrees of freedom respectively. a moving mechanism, the at least one motor device is used to provide power to make the plurality of moving mechanisms move the discharging mechanism in corresponding degrees of freedom respectively; a computer vision module includes a forward camera and a side camera, the A forward-facing camera is arranged above the discharging mechanism and the adjustment module, and is used to continuously capture a forward-facing image covering the discharging mechanism, the adjusting module and the working position, and the side-facing camera is arranged on the discharging mechanism and the side of the adjustment module, and used to continuously shoot a lateral image covering the discharge mechanism, the adjustment module and the operation position; a height measurement module to measure the adjustment module and the operation an estimated height between positions; and a control module electrically connected to the discharge mechanism, the adjustment module, the computer vision module and the height measurement module, the control module is configured to control the The adjustment module moves the operation module to make the estimated height conform to a preset height, continuously calculates the estimated posture and estimated position of the discharging mechanism according to the forward image and the lateral image, and calculates the estimated posture and estimated position of the discharging mechanism according to the discharging mechanism. The estimated attitude and the estimated position control the adjustment module to move the discharge mechanism to change the estimated attitude and the estimated position to adjust the orientation or position of the spout so that the spout output of the material is supplied to the work location. The discharging control system according to claim 1, wherein the plurality of moving mechanisms comprise a horizontal moving mechanism for horizontally moving the discharging mechanism and an elevation moving mechanism for adjusting the elevation angle of the discharging port; the control The module is further configured to plan a moving path for discharging through a plurality of the operating positions, and the moving path for discharging includes a plurality of horizontal codes and a plurality of elevation codes respectively corresponding to the plurality of operating positions; the control module is further configured by It is configured to control the at least one motor device to push the horizontal moving mechanism according to the plurality of horizontal codes of the discharging moving path to sequentially move the discharging port of the discharging mechanism horizontally to a plurality of the discharging ports when a discharging operation is performed. working position and supplying the material to each working position; the control module is further configured to control the at least one motor device to push the elevation angle to move according to the plurality of elevation angle codes of the feeding movement path when the material discharging operation is performed The mechanism is used to adjust the elevation angle of the spouting opening in sequence when reaching each operating position. The material discharge control system according to claim 1, further comprising a material processing module electrically connected to the control module, the material processing module is used for processing the material; wherein the control module is configured as After the material is supplied to the working position, the material processing module is controlled to process the material at the working position. The material discharge control system according to claim 3, wherein the material output by the material discharge mechanism comprises at least one of a cooling solidified material, a polymerized solidified material, a volatilized solidified material and a light solidified material; wherein the material processing module It includes at least one of a heating module, a curing agent injection module, an airflow generation module and a light source module. The discharging control system according to claim 1, wherein the control module is further configured to perform a pre-image processing on the front image and the side image to obtain a characteristic front image and a characteristic side image , and then based on the setting position of the forward camera, the setting position of the side camera and the preset Set the height to perform an analysis image processing on the feature forward image and the feature side image to obtain the estimated posture and the estimated position of the discharging mechanism; wherein the pre-image processing includes grayscale processing, background removal At least one of noise processing, feature recognition processing, sharpening processing, binarization processing, and contour recognition processing; wherein the analyzing image processing includes identifying operating point processing, analyzing posture processing, analyzing position processing, and analyzing material supply processing. at least one of them. The material discharge control system of claim 1, further comprising a human-machine interface electrically connected to the control module; wherein the control module is further configured to connect the forward image with the forward image during a material discharge operation. The lateral image performs an error detection process, and when any error is detected, it stops the discharging operation and outputs a notification through the human-machine interface. The discharging control system according to claim 6, wherein the control module is further configured to detect that the estimated attitude of the discharging mechanism is not toward the working position or between the estimated position and the working position When the discharging distance is not less than a safe discharging distance, stop the discharging operation, and control the adjustment module to move the discharging mechanism until the estimated posture is toward the working position and the discharging distance is less than the safe discharging distance . The material discharge control system as claimed in claim 1, wherein the adjustment module includes a plurality of the motor devices, and each of the motor devices is used to provide power to a group of the moving mechanisms to control the moving mechanisms in corresponding degrees of freedom Move the discharging mechanism upward; wherein the number of the plurality of motor devices is not less than the number of the plurality of moving mechanisms. The material discharge control system of claim 1, further comprising a clutch switching module, the clutch switching module is electrically connected to the control module and connected to the at least one motor device and the plurality of moving mechanisms; Wherein the control module is further configured to control the clutch switching module to switch each of the motor devices to one of the plurality of moving mechanisms, so that the motor device provides power to the switched moving mechanism; wherein The number of the at least one motor device is less than the number of the plurality of moving mechanisms. A material discharge control method for a material discharge control system, characterized in that the material discharge control system comprises an operation module, an adjustment module, a computer vision module, a height measurement module and a control module group, the discharging control method includes the following steps: a) controlling the height measuring module in the control module to measure an estimated height between the adjustment module and a working position; b) based on the estimated height Adjust the operation module to a preset height; c) continuously control a forward camera of the computer vision module to shoot a discharge mechanism covering the operation module from above the discharge mechanism and the adjustment module, the A forward image of the adjustment module and the working position, and control the side camera of the computer vision module to shoot from the side of the discharge mechanism and the adjustment module, covering the discharge mechanism, the adjustment module and the A lateral image of the working position; d) continuously calculating the estimated posture and estimated position of the discharging mechanism according to the forward image and the lateral image; and e) according to the estimated posture and the discharging mechanism of the discharging mechanism The estimated position controls at least one motor device of the adjustment module to provide power to a plurality of moving mechanisms to move the discharging mechanism in the degrees of freedom corresponding to the moving mechanisms respectively to change the estimated posture of the discharging mechanism and The estimated position is used to adjust the orientation or position of a discharge port of the discharge mechanism so that the material output from the discharge port is supplied to the working position.

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