Automatic change type method, device, controller and storage medium

Abstract

The embodiment of the application provides an automatic model changing method and device, a controller and a storage medium, the method comprises the following steps: a first feature position data of a first product is acquired by a control acquisition image module; the position information of the first product is adjusted by a robot and a rotating module respectively according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product; the robot is controlled to generate a workpiece coordinate system and a first tool coordinate system according to the first feature data; the first tool coordinate system is adjusted by the rotating module to obtain a second tool coordinate system; first size information and second size information are acquired; the robot is controlled to move the first product to a target product detection position according to the workpiece coordinate system, the second tool coordinate system, the first size information and the second size information, so that the product detection equipment can automatically complete the model changing operation without manual operation, and the work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to but is not limited to the field of communication, in particular to an automatic model changing method and device, a controller and a storage medium. BACKGROUND

[0002] Although the existing product detection machine can realize full-automatic product detection processing, manual intervention is needed for manual model changing when the product is changed; engineers need to operate camera detection software, camera positioning software, robot software and axis servo position parameter adjustment software to confirm multiple detection positions of the product, and manual operation is complicated and the equipment model changing efficiency is low. SUMMARY

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The main purpose of the embodiment of the present application is to provide an automatic model changing method, device, controller and storage medium, which can automatically complete the model changing operation without manual operation when a new product is changed in the product detection process, thereby improving the work efficiency.

[0005] In a first aspect, the embodiment of the present application provides an automatic model changing method applied to a controller, wherein the controller is in communication connection with a robot and a rotating module respectively, the robot is in communication connection with an image acquisition module, the rotating module is arranged at a clamping end of the robot, and the method comprises the following steps:

[0006] controlling the image acquisition module to acquire first characteristic position data of a first product;

[0007] controlling the robot and the rotating module to adjust position information of the first product according to the first characteristic position data, so that the first characteristic position data coincide with second characteristic position data of a second product, the second product being a product that has completed detection processing;

[0008] controlling the robot to generate a workpiece coordinate system and a first tool coordinate system according to the first characteristic data coinciding with the second characteristic position data;

[0009] controlling the rotating module to adjust the first tool coordinate system to obtain a second tool coordinate system;

[0010] acquiring first size information of the first product and second size information of the second product;

[0011] controlling the robot to move the first product to a target product detection position according to the workpiece coordinate system, the second tool coordinate system, the first size information and the second size information.

[0012] In one embodiment, controlling the robot to move the first product to a target product inspection position according to the workpiece coordinate system, the second tool coordinate system, the first size information, and the second size information includes:

[0013] Controlling the robot to move the first product to the inspection position of the second product according to the workpiece coordinate system and the second tool coordinate system;

[0014] The robot is controlled to move the first product from the inspection position of the second product to the target product inspection position in the tool coordinate system according to the first size information and the second size information.

[0015] In one embodiment, controlling the robot to move the first product from the inspection position of the second product to the target product inspection position in the tool coordinate system according to the first size information and the second size information includes:

[0016] Performing calculation based on the first size information and the second size information to obtain a size difference;

[0017] The robot is controlled to move the first product from the inspection position of the second product to the target product inspection position in the tool coordinate system according to the size difference.

[0018] In one embodiment, the rotation module controlling the robot adjusts the first tool coordinate system to obtain the second tool coordinate system, including:

[0019] Obtaining an angle difference, where the angle difference is a difference between a target angle and a current angle of the rotation module;

[0020] The rotation module is controlled to adjust the first tool coordinate system according to the angle difference to obtain a second tool coordinate system.

[0021] In one embodiment, the controlling the robot and the rotation module to adjust the position information of the first product based on the first characteristic position data so that the first characteristic position data coincides with second characteristic position data of a second product, where the second product has completed inspection processing, includes:

[0022] controlling the robot to move the first product to a clamping position and unload the first product;

[0023] Determining the clamping position correction information and correction angle information according to the first characteristic position data;

[0024] According to the clamping position correction information and the correction angle information, the robot and the rotating module are controlled to adjust the position information of the first product, so that the first feature position data coincides with second feature position data of a second product.

[0025] In an embodiment, the controlling the robot and the rotating module to adjust the position information of the first product according to the clamping position correction information and the correction angle information, so that the first feature position data coincides with second feature position data of a second product, comprises:

[0026] According to the clamping position correction information, the robot is controlled to adjust the clamping position of the first product.

[0027] According to the correction angle information, the rotating module is controlled to adjust the angle of the first product, so that the first feature position data coincides with second feature position data of a second product.

[0028] In an embodiment, before the controlling the image acquisition module to acquire the first feature position data of the first product, the method further comprises:

[0029] The robot is controlled to clamp the first product and move to a positioning and photographing position of the image acquisition module.

[0030] In a second aspect, an embodiment of the present application provides an automatic model changing device, comprising:

[0031] A first acquisition module is configured to control the image acquisition module to acquire first feature position data of the first product.

[0032] An adjustment module is configured to control the robot and the rotating module to adjust the position information of the first product according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product, wherein the second product is a product that has completed detection processing.

[0033] A generation module is configured to control the robot to generate a workpiece coordinate system and a first tool coordinate system according to the first feature data coinciding with the second feature position data.

[0034] A coordinate system adjustment module is configured to control the rotating module to adjust the first tool coordinate system to obtain a second tool coordinate system.

[0035] A second acquisition module is configured to acquire first size information of the first product and second size information of the second product.

[0036] A moving module is configured to control the robot to move the first product to a target product detection position according to the workpiece coordinate system, the second tool coordinate system, the first size information and the second size information.

[0037] In a third aspect, an embodiment of the present application provides a controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the automatic model changing method in the first aspect.

[0038] In a fourth aspect, a computer readable storage medium stores computer executable instructions for implementing the automatic model changing method in the first aspect.

[0039] An embodiment of the present application comprises an automatic model changing method applied to a controller, the controller being in communication connection with a robot and a rotating module respectively, the robot being in communication connection with an image acquisition module, and the rotating module being arranged at a clamping end of the robot. The method comprises: controlling the image acquisition module to acquire first feature position data of a first product; controlling the robot and the rotating module to adjust position information of the first product according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product, the second product being a product that has completed detection processing; controlling the robot to generate a workpiece coordinate system and a first tool coordinate system according to the first feature data coinciding with the second feature position data; controlling the rotating module to adjust the first tool coordinate system to obtain a second tool coordinate system; acquiring first size information of the first product and second size information of the second product; and controlling the robot to move the first product to a target product detection position according to the workpiece coordinate system, the second tool coordinate system, the first size information and the second size information. In the technical solution of the embodiment, the product is changed from the second product to the first product for product detection, the position information of the first product is adjusted by the robot and the rotating module based on the second feature position and the second size information of the second product, so that the first product is moved to the target product detection position, which can enable the product detection equipment to automatically complete the model changing operation without manual operation, thereby improving work efficiency.

[0040] Additional features and advantages of the application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the description and claims. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a schematic diagram of a system architecture platform for implementing the automatic model changing method provided by an embodiment of the present application;

[0042] Figure 2is a flow chart of the automatic model changing method provided by one embodiment of the present application;

[0043] Figure 3 is a flow chart of moving the first product to the target product detection position in the automatic model changing method provided by one embodiment of the present application;

[0044] Figure 4 is a flow chart of obtaining the second tool coordinate system in the automatic model changing method provided by one embodiment of the present application;

[0045] Figure 5 is a schematic diagram of the controller provided by one embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the present application.

[0047] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the order in the flow chart. The terms "first", "second", etc. in the specification, claims or above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0048] Although the existing product detection machine can realize full-automatic product detection processing work, manual intervention is required for manual model changing when the product is changed. Engineers need to operate camera detection software, camera positioning software, robot software and axis servo position parameter adjustment software to confirm multiple detection positions of the product, which is complicated and has the problem of low efficiency of device model changing.

[0049] To solve the above problems, the embodiment of the present application provides an automatic model changing method, device, controller and storage medium, the automatic model changing method comprises the following steps: a first feature position data of a first product is acquired by a control acquisition image module; the position information of the first product is adjusted by the robot and the rotating module respectively according to the first feature position data, so that the first feature position data coincides with the second feature position data of a second product, the second product is a product that has completed detection processing; the workpiece coordinate system and the first tool coordinate system are generated by the robot according to the first feature data coinciding with the second feature position data; the first tool coordinate system is adjusted by the rotating module to obtain the second tool coordinate system; the first size information of the first product and the second size information of the second product are acquired; the first product is moved to a target product detection position by the robot according to the workpiece coordinate system, the second tool coordinate system, the first size information and the second size information. In the technical scheme of the embodiment, the product is changed from the second product to the first product for product detection, the position information of the first product is adjusted by the robot and the rotating module based on the second feature position and the second size information of the second product to move the first product to the target product detection position, so that the product detection equipment can automatically complete the model changing operation without manual operation, and the work efficiency is improved.

[0050] The embodiment of the present application will be further described below with reference to the accompanying drawings.

[0051] As shown in Figure 1 , Figure 1 is a schematic view of a product detection equipment 100 for executing the automatic model changing method provided by an embodiment of the present application.

[0052] In Figure 1 the example, the detection equipment 100 comprises a controller 110, a robot 120, a rotating module 130 and an acquisition image module 140, the controller 110 is communicatively connected with the robot 120 and the rotating module 130 respectively, the robot 120 is communicatively connected with the acquisition image module 140, and the rotating module 130 is arranged at the clamping end of the robot 120.

[0053] It should be noted that the detection equipment 100 can be a product detection equipment, can be a battery cell detection equipment, or can be other product detection equipment, and the embodiment does not make specific limitation thereto.

[0054] It should be noted that the robot 120 can be a six-axis robot 120 or a seven-axis robot 120, and the embodiment does not make specific limitation thereto.

[0055] It should be noted that the acquisition image module 140 can be a camera or a video camera, and the embodiment does not make specific limitation thereto.

[0056] It should be noted that the image acquisition module 140 can be arranged on the robot 120, or can be a separate device, and the embodiment does not make a specific limitation on the form of the image acquisition module 140.

[0057] It should be noted that the rotating module 130 can be a rotating motor, and the embodiment does not make a unique limitation.

[0058] It can be understood that when the robot 120 is a six-axis robot 120, the rotating module 130 can be arranged at the clamping end of the six-axis robot 120, and when the robot 120 is a seven-axis robot 120, the rotating module 130 is part of the seven-axis robot 120.

[0059] It can be understood by those skilled in the art that the product detection device 100 can be applied to 2G, 3G, 4G, 5G communication network systems and subsequent evolution of mobile communication network systems, and the embodiment does not make a specific limitation.

[0060] It can be understood by those skilled in the art that, Figure 1 The system architecture platform shown in the figure does not constitute a limitation on the embodiment of the application, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0061] Based on the above product detection device, the following embodiments of the automatic model changing method of the application are proposed.

[0062] As Figure 2 shown, Figure 2 is a flowchart of an automatic model changing method provided by an embodiment of the application, which is applied to a controller in the above product detection device, and the automatic model changing method includes but is not limited to steps S100, S200, S300, S400, S500 and S600.

[0063] Step S100, controlling the image acquisition module to acquire first feature position data of a first product.

[0064] Specifically, in order to automatically move the new first product to be detected to the target product detection position, the first feature position data of the first product needs to be acquired by the image acquisition module first, so as to determine the initial position of the first product clamped by the robot to the shooting position of the image acquisition module.

[0065] Step S200, respectively controlling the robot and the rotating module to adjust the position information of the first product according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product, and the second product is a product that has completed detection processing.

[0066] Specifically, since the existing robot is controlled according to the detection setting of the second product which has completed the detection process, the controller can compare the first feature position data obtained with the second feature position data, and control the robot and the rotating module to adjust the position information of the first product according to the comparison result, so that the first feature position data coincides with the second feature position data of the second product, that is, the origin of the first product coincides with the origin of the second product.

[0067] In an embodiment, the controller can control the robot to move the first product to the clamping position and unload the first product, then determine the clamping position correction information and the correction angle information according to the first feature position data, and control the robot and the rotating module to adjust the position information of the first product according to the clamping position correction information and the correction angle information, respectively, so that the first feature position data coincides with the second feature position data of the second product.

[0068] In an embodiment, the controller can control the robot to adjust the clamping position of the first product according to the clamping position correction information, and control the rotating module to adjust the angle of the first product according to the correction angle information, so that the first feature position data coincides with the second feature position data of the second product.

[0069] It can be understood that the steps in the above embodiment are a process of continuously approaching, which is as follows:

[0070] 1. The robot clamps the product to move to the camera positioning and photographing position, triggers the camera positioning software to take a picture and obtains the product feature position data through TCP / IP;

[0071] 2. The robot moves to the product clamping position to unload the product;

[0072] 3. The robot sends the seventh-axis rotating module correction angle to the PLC (controller) through TCP / IP according to the product position data;

[0073] 4. The robot corrects the clamping position according to the product position data;

[0074] 5. The PLC corrects the seventh-axis clamping position by issuing pulses;

[0075] 6. The robot judges whether the new and old product position data coincide or not, and whether it is within the acceptable range, if yes, the next step is performed, otherwise, step 1 is skipped until the first feature position data coincides with the second feature position data of the second product.

[0076] Step S300, controlling the robot to generate a workpiece coordinate system and a first tool coordinate system according to the first feature data coinciding with the second feature position data.

[0077] Specifically, after the first feature data and the second feature position data are overlapped, the robot is controlled to generate a workpiece coordinate system and a first tool coordinate system, which are used as a data basis for subsequent calculations on how to control the robot and the rotation module.

[0078] It should be noted that the coordinate system directions of the workpiece coordinate system and the first tool coordinate system are consistent with the product size direction.

[0079] Step S400: controlling the rotation module to adjust the first tool coordinate system to obtain a second tool coordinate system.

[0080] Specifically, the controller can control the rotation module to adjust the first tool coordinate system to obtain the second tool coordinate system, that is, the robot transforms the tool coordinate system rotation matrix according to the position angle difference of the seventh-axis rotation module, so that the direction of the robot tool coordinate system is always consistent with the product size direction.

[0081] Step S500: Acquire first size information of a first product and second size information of a second product.

[0082] Specifically, after the adjustment is completed, the preset first size information of the first product and the second size information of the second product are obtained to prepare data for the subsequent difference calculation work.

[0083] Step S600 , controlling the robot to move the first product to a target product inspection position according to the workpiece coordinate system, the second tool coordinate system, the first size information, and the second size information.

[0084] Specifically, the controller can control the robot to move the first product to the target product inspection position based on the workpiece coordinate system, the second tool coordinate system, the first dimension information and the second dimension information, so that the product inspection equipment can automatically complete the model change operation without manual operation, thereby improving work efficiency.

[0085] In an embodiment, after the second product has completed detection, the next first product to be detected is replaced, the worker sets the size characteristics of the new and old products on the touch screen, confirms to start the type change calculation, the controller controls the robot to enter the type change process, the controller can control the image acquisition module to acquire first feature position data of the first product; the robot and the rotating module are controlled respectively according to the first feature position data to adjust the position information of the first product, so that the first feature position data coincides with second feature position data of the second product, the second product is a product that has completed detection processing; the robot generates a workpiece coordinate system and a first tool coordinate system according to the first feature data coinciding with the second feature position data; the rotating module is controlled to adjust the first tool coordinate system to obtain a second tool coordinate system; first size information of the first product and second size information of the second product are acquired; the robot is controlled to move the first product to a target product detection position according to the workpiece coordinate system, the second tool coordinate system, the first size information and the second size information. In the technical solution of the embodiment, the product is replaced from the second product to the first product for product detection, the robot and the rotating module are controlled based on the second feature position and the second size information of the second product to adjust the position information of the first product so that the first product moves to the target product detection position, which can enable the product detection equipment to automatically complete the type change operation without manual operation, thereby improving work efficiency.

[0086] As shown in Figure 3 Step S600 includes but is not limited to steps S310 and S320.

[0087] Step S310: moving the first product to the detection position of the second product according to the workpiece coordinate system and the second tool coordinate system;

[0088] Step S320: moving the first product from the detection position of the second product to the target product detection position in the tool coordinate system according to the first size information and the second size information.

[0089] Specifically, the controller can control the robot to move the first product to the detection position of the second product according to the workpiece coordinate system and the second tool coordinate system, and then control the robot to move the first product from the detection position of the second product to the target product detection position in the tool coordinate system according to the first size information and the second size information, for example: calculating and processing according to the first size information and the second size information to obtain a size difference, and then controlling the robot to move the first product from the detection position of the second product to the target product detection position in the tool coordinate system according to the size difference. Through the above operation, the product detection equipment can automatically complete the type change operation and move the first product to the target product detection position, so that the first product can be detected by the image acquisition module, and the entire process does not require manual operation, which can effectively improve work efficiency.

[0090] As shown in Figure 4 Step S400 includes but is not limited to step S410 and step S420.

[0091] Step S410, an angle difference value is obtained, the angle difference value is the difference between a target angle and a current angle of the rotating module;

[0092] Step S420, the rotating module is controlled to adjust the first tool coordinate system according to the angle difference value to obtain a second tool coordinate system.

[0093] Specifically, before the first product is translated to the target product detection position, the angle position of the first product needs to be adjusted to the second tool coordinate system that meets the translation condition, the controller needs to obtain an angle difference value, the angle difference value is the difference between a target angle and a current angle of the rotating module, and then the rotating module is controlled to adjust the first tool coordinate system according to the angle difference value to obtain a second tool coordinate system, so as to complete the angle adjustment operation and improve the detection accuracy.

[0094] In addition, one embodiment of the present application provides an automatic model changing device, comprising:

[0095] A first acquisition module is configured to control the image acquisition module to acquire first feature position data of the first product.

[0096] An adjustment module is configured to control the robot and the rotating module to adjust position information of the first product according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product, the second product being a product that has completed detection processing.

[0097] A generation module is configured to control the robot to generate a workpiece coordinate system and a first tool coordinate system according to the first feature data coinciding with the second feature position data.

[0098] A coordinate system adjustment module is configured to control the rotating module to adjust the first tool coordinate system to obtain a second tool coordinate system.

[0099] A second acquisition module is configured to acquire first size information of the first product and second size information of the second product.

[0100] A moving module is configured to control the robot to move the first product to a target product detection position according to the workpiece coordinate system, the second tool coordinate system, the first size information and the second size information.

[0101] It should be noted that the above-mentioned automatic mold changing device and the automatic mold changing method belong to the same inventive concept. The technical means adopted by the automatic mold changing device of this embodiment, the technical problems solved and the technical effects achieved are consistent with the automatic mold changing method in the above-mentioned embodiment. Therefore, they will not be repeated here.

[0102] In addition, refer to Figure 5 One embodiment of the present invention provides a controller 500 , which includes a memory 520 , a processor 510 , and a computer program stored in the memory 520 and executable on the processor 510 .

[0103] The processor 510 and the memory 520 may be connected via a bus or other means.

[0104] It should be noted that the controller 500 in this embodiment is set as follows Figure 1 The controller in the product inspection device, or the warehouse management system, or the business management system in the embodiment shown includes a memory 520 and a processor 510, which can constitute Figure 1 Part of the system architecture platform in the illustrated embodiment, both belong to the same inventive concept, so both have the same implementation principles and beneficial effects, and will not be described in detail here.

[0105] The non-transient software program and instructions required to implement the communication method of the controller 500 side of the above embodiment are stored in the memory 520. When executed by the processor 510, the communication method of the above embodiment is executed, for example, the above-described Figure 2 Steps S100 to S600 of the method, or performing Figure 3 Steps S310 to S320 of the method, or performing Figure 4 Method steps S410 to S420 in .

[0106] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are used to execute the communication method on the terminal side, for example, executing the above-described Figure 2 Steps S100 to S600 of the method, or performing Figure 3 Steps S310 to S320 of the method, or performing Figure 4 Method steps S410 to S420 in .

[0107] As will be appreciated by one of ordinary skill in the art, all or some of the steps, systems, etc. in the above-disclosed methods can be embodied in software, firmware, hardware, and / or suitable combinations thereof. Some or all of the physical components can be implemented with software executed by a processor, such as a central processing unit, a digital signal processor, or microprocessor, or can be implemented with hardware, or can be implemented with an integrated circuit, such as an application- specific integrated circuit. Such software can be distributed on computer readable media, which can comprise computer storage media (or non-transitory media), and communication media (or transitory media). As is well known to those of ordinary skill in the art, computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as carrier waves or other transport mechanisms, and includes any information delivery media.

[0108] The above description is that of the preferred embodiments of the application. Various modifications and changes can be made thereto without departing from the spirit and scope of the application as set forth in the claims.

Claims

1. An automatic model changing method applied to a controller, the controller being in communication connection with a robot and a rotating module respectively, the robot being in communication connection with an image acquisition module, the rotating module being arranged at a clamping end of the robot, the method comprising: controlling the image acquisition module to acquire first feature position data of a first product; controlling the robot and the rotating module respectively to adjust position information of the first product according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product, the second product being a product that has completed detection processing; controlling the robot to generate a workpiece coordinate system and a first tool coordinate system according to the first feature position data coinciding with the second feature position data; controlling the rotating module to adjust the first tool coordinate system to obtain a second tool coordinate system; acquiring first size information of the first product and second size information of the second product; controlling the robot to move the first product to a detection position of the second product in the tool coordinate system according to the workpiece coordinate system and the second tool coordinate system; performing calculation processing according to the first size information and the second size information to obtain a size difference value; controlling the robot to move the first product from the detection position of the second product to a target product detection position in the tool coordinate system according to the size difference value.

2. The automatic changeover method according to claim 1, characterized by, The controlling the rotating module of the robot to adjust the first tool coordinate system to obtain a second tool coordinate system comprises: acquiring an angle difference value, the angle difference value being a difference between a target angle and a current angle of the rotating module; controlling the rotating module to adjust the first tool coordinate system to obtain a second tool coordinate system according to the angle difference value.

3. The automatic changeover method according to claim 1, characterized by, The controlling the robot and the rotating module respectively to adjust position information of the first product according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product, the second product being a product that has completed detection processing, comprises: controlling the robot to move the first product to a clamping position and unload the first product; determining clamping position correction information and correction angle information according to the first feature position data; controlling the robot and the rotating module respectively to adjust position information of the first product according to the clamping position correction information and the correction angle information, so that the first feature position data coincides with second feature position data of a second product.

4. The automatic changeover method according to claim 3, characterized by, The controlling the robot and the rotating module respectively to adjust position information of the first product according to the clamping position correction information and the correction angle information, so that the first feature position data coincides with second feature position data of a second product, comprises: controlling the robot to adjust a clamping position of the first product according to the clamping position correction information; controlling the rotating module to adjust an angle of the first product according to the correction angle information, so that the first feature position data coincides with second feature position data of a second product.

5. The automatic changeover method according to claim 1, characterized by, Before the control of the acquisition image module to acquire the first feature position data of the first product, the method further comprises: controlling the robot to clamp the first product to move to a positioning and photographing position of the acquisition image module.

6. An automatic changeover device characterized by comprising: comprise: a first acquisition module, configured to control an acquisition image module to acquire first feature position data of a first product; an adjustment module, configured to control a robot and a rotating module respectively to adjust position information of the first product according to the first feature position data, so that the first feature position data coincides with second feature position data of a second product, the second product being a product that has completed detection processing; a generation module, configured to control the robot to generate a workpiece coordinate system and a first tool coordinate system according to the first feature position data coinciding with the second feature position data; a coordinate system adjustment module, configured to control the rotating module to adjust the first tool coordinate system to obtain a second tool coordinate system; a second acquisition module, configured to acquire first size information of the first product and second size information of the second product; a moving module, configured to control the robot to move the first product to a detection position of the second product according to the workpiece coordinate system and the second tool coordinate system, to perform calculation processing according to the first size information and the second size information to obtain a size difference value, and to control the robot to move the first product from the detection position of the second product to a target product detection position in the tool coordinate system according to the size difference value.

7. A controller comprising: A memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the automatic model changing method of any one of claims 1 to 5. 8.A computer readable storage medium storing computer executable instructions for performing the automatic model changing method of any one of claims 1 to 5.

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