Disclosure of Invention
The present invention has been made in view of the above-mentioned problems with the conventional adaptive control system, control apparatus and method based on target detection.
It is therefore an object of the present invention to provide an adaptive control system, control apparatus and method based on object detection.
The invention provides an adaptive control system based on target detection, which is applied to adaptive control equipment based on target detection, wherein the adaptive control equipment comprises a conveying assembly, a detection assembly and a folding assembly, the conveying assembly is used for receiving an object molded by an injection molding machine and conveying the object to a detection object hole in the detection assembly, the detection assembly is used for detecting the object and conveying the detected object to the folding assembly, and the folding assembly is used for folding the object to form a finished product;
The self-adaptive control system comprises an execution subsystem and a detection subsystem, wherein the execution subsystem is used for controlling the self-adaptive control equipment, and the detection subsystem is used for detecting objects;
The execution subsystem comprises a conveying module and a folding module;
The conveying module is used for controlling the conveying assembly to receive the object and convey the object to the detecting assembly, and the folding module is used for controlling the folding assembly to fold the object to form a finished product;
the detection subsystem comprises a target detection module, wherein the target detection module is used for detecting whether an object positioned in a detection object hole is abnormal or not and judging the abnormal type, and the judgment of the abnormal type comprises the steps of determining an edge frame of the object by utilizing an edge function and comparing the edge frame with a standard frame so as to judge the abnormal type of the object according to the continuity of the edge frame.
As a preferable scheme of the adaptive control system based on target detection, the method comprises the following specific steps of detecting whether an abnormality occurs in an object positioned in a detection object hole:
acquiring an image of an object in a detected object hole in real time to obtain an object image;
configuring a standard object image, and calculating the difference degree between the object image and the standard object image;
Configuring a difference threshold, comparing the difference degree of the object image and the standard object image with the difference threshold, judging whether the object image is abnormal or not, obtaining an abnormal image and carrying out image analysis on the abnormal image;
identifying the abnormal type of the object, marking the object with the abnormality to form a sequence table, generating a folding signal and transmitting the folding signal to a folding assembly.
As a preferable scheme of the adaptive control system based on target detection, the calculation formula of the difference degree between the object image and the standard object image is as follows:
Wherein dis represents the degree of difference between the object image and the standard object image, p represents the width of the target image, q represents the height of the target image, I1 (a, b) represents the pixel value of the object image at the (a, b) position, I2 (a, b) represents the pixel value of the standard object image at the (a, b) position, a represents the abscissa, and b represents the ordinate;
The logic for determining whether the object image is abnormal comprises:
if the difference degree of the object image and the standard object image is smaller than or equal to the difference threshold value, the object image is indicated to have no abnormality;
and if the difference degree between the object image and the standard object image is larger than the difference threshold value, indicating that the object image is abnormal.
As a preferable scheme of the self-adaptive control system based on target detection, the invention comprises the following specific steps of identifying the abnormal type of the object, wherein the object comprises a stress part and a handheld part, and the specific steps comprise:
configuring an edge function, extracting an edge frame used for representing the edge of the object in the abnormal image based on the edge function, comparing the edge frame with a configured standard frame, and judging the abnormal type of the object;
if the edge frame is a continuous frame, further judging whether a fault appears in the edge frame, if the fault appears, identifying the fault position, and if the fault position is in the stress part, judging that the abnormal type of the object is object fracture;
if the edge frame is a discontinuous frame, judging that the abnormal type of the object is surface abnormality.
As a preferred embodiment of the adaptive control system based on object detection, the present invention includes a determining module configured to determine whether the object is transported through the transport assembly to be aligned with a detected object pocket in the detection assembly, the alignment determining module comprising:
acquiring a process of conveying the received object to a detection object hole in a detection assembly along a conveying assembly to obtain a conveying image;
projecting the conveying image onto a plane, identifying an object and detecting the edge of an object hole;
symmetrically taking points along the edges of the object and the detected object hole to respectively obtain plane coordinates of the object edge point and the detected object hole edge point;
Calculating the average offset of the object edge points and the detected object hole edge points, and judging the offset direction of the object and the detected object hole according to the positive and negative values of the average offset of the object edge points and the detected object hole edge points;
And configuring an offset threshold, comparing the average offset of the object edge points and the detected object hole edge points with the offset threshold to judge whether the object and the detected object hole are offset, and adjusting the installation position of the conveying assembly according to the offset direction and the average offset.
As a preferable mode of the adaptive control system based on target detection, the logic for judging whether the object is deviated from the detected object hole or not comprises the following steps:
if the average offset of the object edge points and the detected object hole edge points is smaller than or equal to the offset threshold value, the object and the detected object hole are considered to have no offset;
If the average offset of the object edge points and the detected object pocket edge points is greater than the offset threshold, then an offset is considered to exist between the object and the detected object pocket.
An adaptive control device based on target detection comprises a machine body, a conveying assembly, a detection assembly and a folding assembly, wherein the conveying assembly, the detection assembly and the folding assembly are arranged on the machine body;
The conveying assembly is used for receiving objects from the output end of the injection molding machine and conveying the objects, the detecting assembly is used for receiving the objects conveyed by the conveying assembly, a detecting object hole is formed in the detecting assembly, the objects are placed in the detecting object hole and detected, the detected objects are conveyed to the folding assembly when the detection is completed, and the folding assembly is used for folding the objects and forming a finished product.
The self-adaptive control equipment based on target detection is characterized in that the conveying assembly comprises a supporting column and a supporting truss, a first power source is arranged on the supporting column, the supporting truss is connected with the first power source, a rotating motor is further arranged at the joint of the supporting truss and the first power source and used for controlling the supporting truss to rotate, and a supporting sucker used for adsorbing objects is arranged on the supporting truss.
The invention relates to a self-adaptive control device based on target detection, which comprises a detection assembly, a detection module and a control module, wherein the detection assembly comprises a second power source, an adsorption truss and a detection carrier, a support truss is arranged on a machine body, a third power source is arranged on the support truss, the third power source is connected with the second power source through a sliding seat, the second power source is arranged on the sliding seat, the adsorption truss is in sliding connection with the second power source, the second power source is used for controlling the adsorption truss to move towards or away from the detection carrier, the detection carrier is arranged on the machine body, a detection object hole is formed in the detection carrier, an adsorption sucker for adsorbing an object is arranged on the adsorption truss, and the detection module is also arranged on the adsorption truss and is used for carrying out visual detection on the object in the detection object hole;
The folding assembly comprises a fourth power source, a clamping truss and a folding carrier, wherein the fourth power source is connected with the third power source through a sliding seat, the fourth power source is arranged on the sliding seat, the clamping truss is connected with the fourth power source in a sliding mode, the folding carrier is arranged on the machine body, a folding object hole is formed in the folding carrier, a clamp for clamping an object is arranged on the clamping truss, a pushing module is further arranged on the folding carrier and used for folding the object in the folding object hole and forming a finished product piece, and a cylinder for pushing the object in the folding object hole to fold is arranged on the pushing module.
The self-adaptive control method based on target detection comprises the steps of acquiring an electric signal generated during discharging of an injection molding machine, and receiving an object of the injection molding machine by a conveying assembly based on the electric signal generated during discharging of the injection molding machine and conveying the object to a detection assembly;
After detection is completed, a folding signal is generated, the detection assembly absorbs the object based on the folding signal and moves to the folding assembly, and the folding assembly folds the object to form a finished product.
The invention has the advantages that the self-adaptive control equipment is controlled by the execution subsystem, the object is detected by the detection subsystem, the execution subsystem comprises a conveying module, a folding module and a conveying module, the conveying module is used for controlling the conveying assembly to receive the object and conveying the object to the detection assembly, the time and error rate of manual operation are reduced, the folding assembly is controlled by the folding module to fold the object to form a finished product, the processing quality is improved, the conveying module is used for controlling the conveying assembly to convey the folded finished product, the production period is shortened, the detection subsystem comprises a target detection module, the target detection module is used for detecting whether the object positioned in a cavity of the detected object is abnormal or not and judging the abnormal type, the judging of the abnormal type comprises the step of determining the edge frame of the object by utilizing an edge function and comparing the edge frame with a standard frame, so that the abnormal type of the object is judged according to the continuity of the edge frame, the quality of the object is ensured to meet the standard, the detection precision is improved, and the rejection rate is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a system block diagram of an adaptive control system based on object detection in accordance with the present invention;
FIG. 2 is a logic flow diagram of alignment determination for an adaptive control system based on target detection in accordance with the present invention;
FIG. 3 is a flow chart of a method of adaptive control based on object detection according to the present invention;
FIG. 4 is an overall block diagram of an adaptive control device based on object detection in accordance with the present invention;
FIG. 5 is a block diagram of a conveyor assembly of an adaptive control apparatus based on object detection in accordance with the present invention;
FIG. 6 is a block diagram of a detection assembly of an adaptive control device based on target detection according to the present invention;
FIG. 7 is a diagram showing a detection module structure of an adaptive control apparatus based on target detection according to the present invention;
FIG. 8 is a block diagram of a folding assembly of the adaptive control apparatus based on object detection of the present invention;
FIG. 9 is an enlarged view of the structure of FIG. 8A in accordance with the present invention;
fig. 10 is a diagram showing a transmission assembly structure of an adaptive control apparatus based on object detection according to the present invention.
Reference numerals:
1. a conveying assembly; 2, a detection assembly, 3, a folding assembly, 4, a conveying assembly, 5, a machine body, 11, a lifting column, 111, a first power source, 12, a bearing truss, 121, a bearing sucker, 13, a rotating motor, 21, a second power source, 22, an adsorption truss, 221, an adsorption sucker, 222, a detection module, 2221, a top camera, 2222, a side camera, 23, a detection carrier, 231, a detection object hole, 31, a fourth power source, 32, a clamping truss, 321, a clamp, 33, a folding carrier, 331, a folding object hole, 332, a pushing module, 3321, a cylinder, 41, a fifth power source, 42, a conveying carrier, 421, a conveying member, 43, a conveying motor, 51, a supporting truss, 511, a third power source, 512 and a sliding seat.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will be able to make a similar generalization without departing from the spirit of the invention, so that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
In this embodiment, a system structure diagram of an adaptive control system based on target detection is provided, as shown in fig. 1, and the adaptive control system based on target detection is applied to an adaptive control device based on target detection.
The self-adaptive control equipment comprises a conveying assembly, a detecting assembly, a folding assembly and a conveying assembly, wherein the conveying assembly is used for receiving an object molded by the injection molding machine and conveying the object to a detecting object hole in the detecting assembly, the detecting assembly is used for detecting the object and conveying the detected object to the folding assembly, the folding assembly is used for folding the object and conveying the object to the conveying assembly, and the conveying assembly is used for conveying the folded object and packaging.
The adaptive control system comprises an execution subsystem and a detection subsystem, wherein the execution subsystem is used for controlling the adaptive control device, and the detection subsystem is used for detecting objects.
The execution subsystem comprises a conveying module, a folding module and a conveying module.
The conveying module is used for controlling the conveying assembly to receive objects and convey the objects to the detecting assembly, the folding module is used for controlling the folding assembly to fold the objects to form finished products, and the conveying module is used for controlling the conveying assembly to convey the folded finished products.
The conveying module receives and conveys the object of the injection molding machine to the detection assembly according to the electric signal generated when the injection molding machine is obtained and discharged, wherein the alignment judgment logic is as shown in fig. 2, and specifically comprises:
The method comprises the steps of obtaining a conveying image through a camera in the process of conveying a received object to a detection object hole in a detection assembly along the conveying assembly, projecting the conveying image to a plane, identifying edges of the object and the detection object hole through an edge detection algorithm, symmetrically taking points along the edges of the object and the detection object hole, respectively obtaining plane coordinates of the edge point of the object and the edge point of the detection object hole, calculating average offset of the edge point of the object and the edge point of the detection object hole, judging the offset direction of the object and the detection object hole according to positive and negative values of the average offset of the edge point of the object and the edge point of the detection object hole, configuring an offset threshold, comparing the average offset of the edge point of the object and the edge point of the detection object hole with the offset threshold to judge whether the object and the detection object hole are offset, adjusting the installation position of the conveying assembly according to the offset direction and the average offset, ensuring that the object can be aligned with the detection object hole in the detection assembly in the conveying process, and verifying whether the object and the detection object hole are offset through the camera again after adjusting the installation position of the conveying assembly, and repeating the process until satisfactory alignment accuracy is achieved if offset still exists.
The calculation formula of the average offset of the object edge point and the detected object hole edge point is as follows:
In the formula,The average offset of the object edge point and the detected object hole edge point is represented, n represents the total number of taken points, si represents the plane coordinate of the ith object edge point, and wi represents the plane coordinate of the ith detected object hole edge point.
It should be noted that, i si-wi is the distance between the i object edge point and the i detection object hole edge point, and is generally calculated by using the euclidean distance formula.
Logic for determining whether an object is offset from a detected object pocket includes:
if the average offset of the object edge points and the detected object hole edge points is smaller than or equal to the offset threshold value, the object and the detected object hole are considered to have no offset;
If the average offset of the object edge points and the detected object pocket edge points is greater than the offset threshold, then an offset is considered to exist between the object and the detected object pocket.
And the folding module receives the folding signal and then controls the folding assembly to fold the object to form a finished product, generates a transmission signal and transmits the folded finished product to the transmission assembly.
After receiving the transmission signal, the transmission module identifies a sequence table, records batches and numbers of all abnormal objects in the sequence table, forms a numbered label for the abnormal objects in the corresponding batches and corresponding numbers, is convenient for eliminating the abnormal objects in the subsequent packaging, and can supplement normal objects from other production lines.
The detection subsystem comprises a target detection module, wherein the target detection module is used for detecting whether an object positioned in a detection object hole is abnormal or not and judging the type of the abnormality.
When no offset exists between the object and the detection object hole, the object received by the output end of the injection molding machine is conveyed into the detection object hole in the detection assembly through the conveying assembly according to the position of the determined conveying assembly, an image of the object in the detection object hole is acquired in real time to obtain an object image, a standard object image is configured, the difference degree of the object image and the standard object image is calculated, a difference threshold is configured, the difference degree of the object image and the standard object image is compared with the difference threshold, whether the object image is abnormal or not is judged, an abnormal image is obtained, image analysis is carried out on the abnormal image, the abnormal type of the object is identified, the object with the abnormality is marked, a sequence table is formed, a folding signal is generated, and the folding signal is conveyed to the folding assembly.
The calculation formula of the difference degree between the object image and the standard object image is as follows:
Where dis denotes the degree of difference between the object image and the standard object image, p denotes the width of the target image, q denotes the height of the target image, I1 (a, b) denotes the pixel value of the object image at the (a, b) position, I2 (a, b) denotes the pixel value of the standard object image at the (a, b) position, a denotes the abscissa, and b denotes the ordinate.
It should be explained that, in practical application, the width and the height of the object image are inconsistent with each other, before the difference degree between the object image and the standard object image is calculated, the object image and the standard object image are scaled to the size of the target image (usually, a bilinear interpolation method is used), the width and the height of the object image after scaling are consistent with each other and have the same size, the width p of the target image refers to the number of horizontal pixels of the target image, the height q of the target image refers to the number of vertical pixels of the target image, the width and the height of the target image are both in units of pixels and are integers (usually more than 1 pixel), and if the width and the height of the object image and the standard object image are non-integers after scaling, the non-integer width and the non-integer height need to be rounded before the summation operation is performed.
The logic for determining whether the object image is abnormal comprises:
if the difference degree of the object image and the standard object image is smaller than or equal to the difference threshold value, the object image is indicated to have no abnormality;
and if the difference degree between the object image and the standard object image is larger than the difference threshold value, indicating that the object image is abnormal.
The object comprises a force bearing part and a hand holding part, and the specific steps for identifying the abnormal type of the object comprise the following steps:
Configuring an edge function, extracting an edge frame used for representing the edge of the object in the abnormal image based on the edge function, comparing the edge frame with a configured standard frame, and judging the abnormal type of the object;
if the edge frame is a continuous frame, further judging whether a fault appears in the edge frame, if the fault appears, identifying the fault position, and if the fault position is in the stress part, judging that the abnormal type of the object is object fracture;
if the edge frame is a discontinuous frame, judging that the abnormal type of the object is surface abnormality.
When the abnormal type of the object is judged to be surface abnormal, the specific abnormal type of the object is further judged, a difference image is obtained after the abnormal image and the standard object image are subjected to difference, the position of the difference image is extracted, and if the position of the difference image is in the standard frame, the specific abnormal type of the object is judged to be object depression;
If the position of the difference image is outside the standard frame, the specific abnormal type of the object is judged to be burrs or bulges.
Edge frames used for representing edges of objects in the abnormal image are extracted based on edge functions, and the expression of the edge functions is as follows:
where G (x, y, σ) represents smoothing of the abnormal image, x and y represent positions in the image coordinate system, σ represents a standard deviation for affecting the smoothness of the gaussian filter, when σ is large, the image is more blurred, when σ is small, the image is clearer, the smoothness is weaker, pi represents a circumferential rate, and e represents a mathematical constant for calculating the value of the edge function.
Example 2
In this embodiment, there is provided an overall structure diagram of an adaptive control apparatus based on target detection, as shown in fig. 4, which includes a conveying assembly 1, a detecting assembly 2, a folding assembly 3, and a conveying assembly 4.
The object in the embodiments refers to a foldable fork.
The self-adaptive control device based on target detection is used for detecting and folding a foldable fork after injection molding of an injection molding machine, as shown in fig. 4, the self-adaptive control device comprises a machine body 5, a conveying assembly 1 arranged on the machine body 5, a detecting assembly 2, a folding assembly 3 and a conveying assembly 4, wherein the conveying assembly 1 is used for receiving the foldable fork from an output end of the injection molding machine and conveying the foldable fork, the detecting assembly 2 is used for receiving the foldable fork conveyed by the conveying assembly 1, a detecting object hole 231 is arranged on the detecting assembly 2, the foldable fork is placed in the detecting object hole 231 and detected, the detected foldable fork is conveyed to the folding assembly 3 when detection is completed, the folding assembly 3 is used for folding the foldable fork and forming a finished product, the conveying assembly 4 is used for conveying the finished product folded by the folding assembly 3 to the next processing procedure, and the next processing procedure refers to classification and packaging of the finished product.
As shown in fig. 5, the conveying assembly 1 includes a supporting column 11 and a supporting truss 12, a first power source 111 is disposed on the supporting column 11, the supporting truss 12 is connected with the first power source 111, so that the first power source 111 drives the supporting truss 12 to reciprocate along the length direction of the supporting column 11, a supporting sucker 121 for adsorbing a foldable fork is disposed on the supporting truss 12, a rotating motor 13 is further disposed at a connection portion of the supporting truss 12 and the first power source 111, the rotating motor 13 is used for controlling the supporting truss 12 to rotate, so that when the foldable fork is received, the supporting truss 12 is controlled to rotate to a horizontal initial position, the foldable fork is sucked by the supporting sucker 121, when the foldable fork is conveyed, the rotating motor 13 rotates to drive the supporting truss 12 to rotate 180 °, and meanwhile, the first power source 111 drives the supporting truss 12 to move along the length direction of the supporting column 11 to the position of the detecting assembly 2, so that the foldable fork is aligned with the detecting object hole 231 of the detecting assembly 2, and when the supporting sucker 121 releases suction, the foldable fork is placed into the detecting object hole 231.
As shown in fig. 6, the detection assembly 2 includes a second power source 21, an adsorption truss 22 and a detection carrier 23, a support truss 51 is disposed on the machine body 5, a third power source 511 is disposed on the support truss 51, the third power source 511 is connected with the second power source 21 through a sliding seat 512, the second power source 21 is disposed on the sliding seat 512, the adsorption truss 22 is slidably connected with the second power source 21, the detection carrier 23 is disposed on the machine body 5, a detection object cavity 231 is disposed in the detection carrier 23, an adsorption suction cup 221 for adsorbing a foldable fork is disposed on the adsorption truss 22, when the support truss 12 moves along the engine post 11 and places the foldable fork, the third power source 511 is used for driving the adsorption truss 22 and the detection carrier 23 to be dislocated, so that the foldable fork can be placed into the detection object cavity 231, and when the foldable fork is placed, the support truss 12 resets along the engine post 11.
As shown in fig. 7, the detecting module 222 is further disposed on the adsorbing truss 22, the detecting module 222 is configured to perform visual detection on the foldable forks in the detecting object hole 231, when the foldable forks are placed in the detecting object hole 231, the third power source 511 drives the adsorbing truss 22 to move to a position opposite to the detecting carrier 23, and during the moving process of the adsorbing truss 22, the detecting module 222 sequentially detects the foldable forks in the detecting object hole 231, so that when the adsorbing truss 22 is opposite to the detecting carrier 23, visual detection on all the foldable forks in the detecting object hole 231 is completed, and the detecting module 222 is provided with the top camera 2221 and the side camera 2222 for performing visual detection on the foldable forks in the detecting object hole 231, and determining the position and abnormal state of the foldable forks.
The second power source 21 is used for controlling the adsorption truss 22 to move towards or away from the detection carrier 23, so that when the adsorption sucker 221 is contacted with the foldable fork, the foldable fork can be adsorbed by the action of the adsorption sucker 221, the foldable fork can be sucked out of the detection object cavity 231 under the driving of the second power source 21, and the foldable fork can be driven to move along the direction of the support truss 51 under the driving of the third power source 511.
As shown in fig. 8, the folding assembly 3 includes a fourth power source 31, a clamping truss 32 and a folding carrier 33, the fourth power source 31 is connected with the third power source 511 through a sliding seat 512, the fourth power source 31 is disposed on the sliding seat 512, the clamping truss 32 is slidably connected with the fourth power source 31, the folding carrier 33 is disposed on the machine body 5, a folding object cavity 331 is disposed on the folding carrier 33, a clamp 321 for clamping a foldable fork is disposed on the clamping truss 32, when the adsorption truss 22 moves along the supporting truss 51 under the driving of the third power source 511 and places the foldable fork, the third power source 511 is used for driving the clamping truss 32 to be dislocated with the folding carrier 33, so that the foldable fork can be placed in the folding object cavity 331, and after the foldable fork is placed, the adsorption truss 22 resets along the supporting truss 51.
The pushing module 332 is further disposed on the folding carrier 33, the pushing module 332 is configured to fold the foldable fork in the folding object cavity 331 and form a finished product, the pushing module 332 is disposed with an air cylinder 3321 for pushing the foldable fork in the folding object cavity 331 to fold, when the foldable fork is placed in the folding object cavity 331, the third power source 511 drives the clamping truss 32 to move to a position opposite to the folding carrier 33, and during the movement of the clamping truss 32, the air cylinder 3321 pushes the foldable fork located in the folding object cavity 331 to fold and form the finished product (as shown in fig. 9), so that when the clamping truss 32 is opposite to the folding carrier 33, the folding of all the foldable forks in the folding object cavity 331 is completed and the finished product is formed.
The fourth power source 31 is used for controlling the clamping truss 32 to move towards or away from the folding carrier 33, so that when the clamping truss 32 moves towards the folding carrier 33 and the clamp 321 contacts with the finished product, the foldable fork can be clamped by the action of the clamp 321, the folded finished product is clamped out of the folding object cavity 331 under the driving of the fourth power source 31, and the folded finished product is driven to move along the direction of the supporting truss 51 under the driving of the third power source 511 and is placed on the conveying assembly 4.
As shown in fig. 10, the conveying assembly 4 includes a fifth power source 41 and a conveying carrier 42, the conveying carrier 42 is provided with a conveying member 421, the conveying member 421 is connected with the fifth power source 41, so that the fifth power source 41 drives the conveying member 421 to reciprocate along the length direction of the conveying carrier 42, a conveying motor 43 is further provided at the connection position of the conveying member 421 and the fifth power source 41, and the conveying motor 43 is used for controlling the conveying member 421 to convey, so that after receiving the folded finished product, the conveying member 421 is driven by the conveying motor 43 to convey the folded finished product to the next processing procedure along the length direction of the conveying carrier 42, including sorting and packaging of the finished product according to the result after visual inspection in the inspection assembly 2.
Example 3
In this embodiment, a method flowchart of an adaptive control method based on target detection is provided, as shown in fig. 3, and the adaptive control method based on target detection includes:
S1, acquiring an electric signal generated during discharging of an injection molding machine, and receiving an object of the injection molding machine by a conveying assembly based on the electric signal generated during discharging of the injection molding machine and conveying the object to a detecting assembly;
S2, after detection is completed, generating a folding signal, wherein the detection assembly absorbs the object to move to the folding assembly based on the folding signal, and the folding assembly folds the object to form a finished product and generates a transmission signal;
s3, clamping the folded finished product piece by the folding assembly according to the transmission signal, and conveying the folded finished product piece to the transmission assembly;
S4, the conveying assembly conveys the folded finished product pieces and packages the folded finished product pieces.
The specific content of the adaptive control method based on the target detection refers to an adaptive control system based on the target detection, and will not be described in detail herein.
Example 4
In this embodiment, a computer device is provided that includes a memory for storing instructions and a processor for executing the instructions, so that the computer device performs steps for implementing an adaptive control method based on object detection as described above.
Example 5
In this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed implements the steps of an adaptive control method based on object detection as described above.
The computer readable storage medium includes various media storing program codes such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.