Workpiece installation original position determination and workpiece installation method, device and server

Abstract

The present application provides a method, device and server for determining the original position of workpiece installation and workpiece installation, including: calibrating the position of the installation device with the position of the acquisition device to calibrate the positional relationship between the installation device and the acquisition device, the acquisition device is used to obtain the position information of the target workpiece, and the installation device is used to grab and install the target workpiece; establishing a coordinate system for the installation device according to the positional relationship; assembling the target workpiece at the working position, and recording the coordinate value of the installation device in the installation device coordinate system; determining the original position of the workpiece installation according to the coordinate value. The embodiment of the present application calibrates the position of the installation device with the position of the acquisition device, and then establishes a coordinate system according to the positional relationship between the two devices, so as to determine the original position of the workpiece installation through the coordinate system, so that the determined original position maintains a certain relationship with the position of the acquisition device, thereby improving the accuracy of the original position.

Description

Technical Field

[0001] The present application relates to the field of workpiece installation, and in particular, to a workpiece installation original position determination and workpiece installation method, device and server. Background Art

[0002] In the current workpiece installation position determination method, a collection device is often used, and the collection device's own positioning accuracy is set within an accuracy error range, while the installation device's assembly accuracy in grabbing parts exceeds the accuracy error range. In addition, during the workpiece installation process, there are also positioning errors of the installation device, processing errors of the parts, and positioning errors of the surrounding rotatable equipment that accumulate with each other, resulting in a large error between the installation position and the target position of the workpiece installation. It is difficult to achieve accurate installation of the workpiece using the currently commonly used collection devices with ordinary performance. Summary of the invention

[0003] In view of this, the purpose of the embodiments of the present application is to provide a method, device and server for determining the original installation position of a workpiece and installing the workpiece, so as to improve the accuracy of workpiece installation.

[0004] In a first aspect, an embodiment of the present application provides a method for determining the original installation position of a workpiece, comprising: calibrating the position of an installation device and the position of a collection device to calibrate the positional relationship between the installation device and the collection device, the collection device being used to obtain position information of a target workpiece, and the installation device being used to grasp and install the target workpiece; establishing an installation device coordinate system according to the positional relationship; recording the coordinate value of the installation device in the installation device coordinate system when the target workpiece is assembled at the working position; and determining the original installation position of the workpiece according to the coordinate value.

[0005] In the above implementation process, the coordinates of the installation device and the acquisition device are calibrated so that the coordinates between the installation device and the acquisition device are kept relatively associated. Further, a coordinate system of the installation device is established under the associated relationship, so that there is a certain associated relationship between the coordinate system and the acquisition device. Since the installation device coordinate system is established under the associated relationship between the installation device and the acquisition device, there is a certain associated relationship between the coordinate system and the acquisition device, and there is a certain constraint between the determined original installation position of the workpiece and the acquisition device, so that the original installation position is always within the range that can be clearly collected by the acquisition device, so as to improve the accuracy of the original installation position of the workpiece.

[0006] In combination with the first aspect, an embodiment of the present application provides a first possible implementation of the first aspect, wherein: the original position includes an original plane position, and determining the original installation position of the workpiece according to the coordinate value includes: placing the target workpiece on an original plane, the original plane being the plane where the working position is located, and the original plane is used to determine partial coordinate values ​​in the original position; determining the original plane position according to the partial coordinate values.

[0007] In the above implementation process, by decomposing the original coordinates into two parts of coordinates, for the installation plane, the plane coordinate position is only related to the coordinate values ​​of three dimensions. After determining the original position of the plane, when correcting the target workpiece, the original position of the plane can be corrected first, which reduces the difficulty of correction.

[0008] In a second aspect, an embodiment of the present application provides a workpiece installation method, wherein: correction data is determined based on the acquired position information of the target workpiece and the original position, wherein the original position is determined based on the first aspect; the position of the target workpiece is corrected using the correction data; it is determined whether the position of the target workpiece after correction is within a set position interval; if the position after correction is within the set position interval, the position of an installation device is corrected, the installation device being used to grab and install the target workpiece; and the installation device is controlled to install the target workpiece at the position after the installation device corrects the deviation.

[0009] In the above implementation process, the correction data is determined according to the position information and the original position of the target workpiece, and the position of the target workpiece is corrected based on the obtained correction data. After it is determined that the position after correction is in the set position range, the position of the installation device is further corrected. Since the position correction is performed on both the target workpiece and the installation device, the target workpiece and the installation device are both in the original position, so that the position of the target workpiece during installation and modeling is as close as possible, thereby improving the accuracy of the installation of the target workpiece.

[0010] In combination with the second aspect, an embodiment of the present application provides a first possible implementation of the second aspect, wherein the method further includes: if the position after correction is not within the set position interval, updating the position information of the target workpiece according to the position after correction; determining updated correction data according to the updated position information of the target workpiece and the original position; and performing position correction on the position of the target workpiece using the updated correction data until the position after correction is within the set position interval.

[0011] In the above implementation process, when the position of the target workpiece after correction is not within the original position setting range, it is necessary to further obtain the position information of the target workpiece and determine the correction data, and perform multiple corrections on the target workpiece to determine that the position of the target workpiece is within the range of the original position setting, so as to ensure the accuracy of the target workpiece position and improve the accuracy of the target workpiece installation.

[0012] In combination with the first possible implementation of the second aspect, an embodiment of the present application provides a second possible implementation of the second aspect, wherein the original position includes an original plane position, and determining the correction data based on the acquired position information of the target workpiece and the original position includes: acquiring first position information of the target workpiece, the first position information being a coordinate whose coordinate value is changeable on the original plane of the target workpiece; and determining the correction data based on the first position information and the original plane position.

[0013] In the above implementation process, the target workpiece is corrected on a plane, so that the target workpiece only needs to be corrected in three dimensions, which reduces the coordinate dimensions that need to be considered for the position correction of the target workpiece, simplifies the correction method, and improves the correction efficiency.

[0014] In combination with the second possible implementation of the second aspect, an embodiment of the present application provides a third possible implementation of the second aspect, wherein the original position includes an original installation position, and the correcting the position of the installation device includes: determining a position difference generated by the installation device when correcting the position of the target workpiece based on the position of the installation device before the correction and the position of the target workpiece after the correction; and correcting the position of the installation device based on the position difference and the original installation position.

[0015] In the above implementation process, after correcting the target workpiece, it is necessary to further correct the installation device so that the position of the installation device is also maintained within the original position setting range, so as to maximize the position of the target workpiece and the installation device during installation to be the same as the position during modeling, thereby reducing the workpiece installation position error and improving the accuracy of workpiece installation.

[0016] In a third aspect, an embodiment of the present application further provides a device for determining the original installation position of a workpiece, comprising: a calibration module: used to calibrate the position of the installation device and the position of the acquisition device to calibrate the positional relationship between the installation device and the acquisition device, the acquisition device being used to obtain the position information of the target workpiece, and the installation device being used to grab and install the target workpiece; a coordinate establishment module: used to establish a coordinate system of the installation device according to the positional relationship; a recording module: used to assemble the target workpiece at the working position and record the coordinate value of the installation device in the coordinate system of the installation device; a second determination module: used to determine the original installation position of the workpiece according to the coordinate value.

[0017] In a fourth aspect, an embodiment of the present application further provides a workpiece installation device, comprising: a first determination module: used to determine correction data based on the acquired position information of the target workpiece and the original position determined by modeling; a first correction module: used to perform position correction on the position of the target workpiece using the correction data; a judgment module: used to judge whether the position of the target workpiece after correction is within a set position interval; a second correction module: used to correct the position of an installation device if the position after correction is within the set position interval, the installation device being used to grab and install the target workpiece; an installation module: used to control the installation device to install the target workpiece at the position after the installation device has corrected the deviation.

[0018] In the fifth aspect, an embodiment of the present application also provides a server, comprising: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the server is running, the machine-readable instructions are executed by the processor to perform the steps of the method in the above-mentioned first aspect, or any possible implementation of the first aspect.

[0019] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method in the above-mentioned first aspect, the second aspect, any possible implementation of the first aspect, or any possible implementation of the second aspect are executed.

[0020] In order to make the above-mentioned objects, features and advantages of the present application more obvious and understandable, embodiments are given below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the interaction between the server and the local terminal provided in the embodiment of the present application;

[0023] Figure 2 A block diagram of a server provided in an embodiment of the present application;

[0024] Figure 3 A flowchart of a method for determining an original installation position of a workpiece provided in an embodiment of the present application;

[0025] Figure 4 A flowchart of a workpiece installation method provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the functional modules of the device for determining the original position of workpiece installation provided by an embodiment of the present application;

[0027] Figure 6 A schematic diagram of the functional modules of the workpiece mounting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0029] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0030] With the development of industrial technology, automated assembly is becoming more and more popular among major manufacturers in automated production. On the one hand, automated assembly can reduce manual configuration and save labor costs; on the other hand, automated assembly is based on automated devices such as manipulators and robots, which increases the assembly time and improves assembly efficiency. Although this automated assembly is widely used in various industries and workshops, the position offset problem of this automated assembly cannot be underestimated. If there is position offset when assembling the target workpiece in automated assembly, it is easy to affect the quality of the target workpiece.

[0031] In view of this, the inventors of this application have conducted long-term research on the position offset problem in automated assembly and found that if the positions of the acquisition device and the installation device are calibrated and the installation position modeling is performed, the standard installation position can be accurately determined. When installing the workpiece, multiple photos, multiple corrections and re-calibrations are performed, so that the position of the components captured by the installation device and the modeling are continuously reduced, thereby reducing the position offset of the workpiece during installation, and thus enabling low-precision cameras to achieve high-precision correction tasks.

[0032] To facilitate understanding of this embodiment, the operating environment of a workpiece installation original position determination and workpiece installation method disclosed in the embodiment of the present application is first introduced in detail.

[0033] like Figure 1 , which is a schematic diagram of the interaction between the server and the local terminal provided in the embodiment of the present application. The server 100 is connected to one or more local terminals through a network for data communication or interaction. The server 100 may be a network server, a database server, etc. The local terminal here may be a collection device 200, an installation device 300, etc.

[0034] The acquisition device 200 can be an image acquisition device or a position acquisition device. For example, the acquisition device 200 can be one or more devices such as a camera, a video camera, and a laser acquisition device. The acquisition device 200 is used to acquire the position information of a target workpiece, a mounting device, and other equipment.

[0035] The above-mentioned installation device 300 can be an industrial automation device for installing a target workpiece. For example, the installation device 300 can be a mechanical arm, a mechanical hand, a robot, etc. The installation device 300 is used to install the target workpiece at a target position.

[0036] To facilitate understanding of this embodiment, the server that executes the workpiece installation original position determination method and the workpiece installation method disclosed in the embodiment of the present application is introduced in detail below.

[0037] like Figure 2 , which is a block diagram of a server. The server 100 may include a memory 111, a storage controller 112, a processor 113, and a peripheral interface 114. A person skilled in the art will understand that Figure 2 The structure shown is only for illustration and does not limit the structure of the server 100. For example, the server 100 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0038] The memory 111, storage controller 112, processor 113 and peripheral interface 114 are directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The processor 113 is used to execute the executable module stored in the memory.

[0039] The memory 111 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 111 is used to store programs, and the processor 113 executes the program after receiving the execution instruction. The method executed by the server 100 defined by the process disclosed in any embodiment of the present application can be applied to the processor 113, or implemented by the processor 113.

[0040] The processor 113 may be an integrated circuit chip with signal processing capability. The processor 113 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0041] The peripheral interface 114 couples various input / output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113 and the memory controller 112 can be implemented in a single chip. In other embodiments, they can be implemented by separate chips.

[0042] The server 100 in this embodiment can be used to execute each step in each method provided in the embodiment of the present application. The following describes in detail the implementation process of the workpiece installation original position determination method and the workpiece installation method through several embodiments.

[0043] See also Figure 3 , is a flow chart of a method for determining the original position of a workpiece installation provided by an embodiment of the present application. Figure 3 The specific process shown is described in detail.

[0044] Step 201, calibrate the position of the installation device and the position of the collection device to calibrate the positional relationship between the installation device and the collection device.

[0045] The installation device here can be an industrial automation device for installing the target workpiece. For example, the installation device can be a mechanical arm, a mechanical hand, a robot, etc. The installation device is used to grab and install the target workpiece.

[0046] The acquisition device here can be an image acquisition device or a position acquisition device. For example, the acquisition device can be one or more devices such as a camera, a video camera, a laser acquisition device, etc. The acquisition device is used to obtain the position information of the target workpiece.

[0047] It can be understood that the position of the installation device and the position of the acquisition device can be calibrated by four-point calibration, five-point calibration, nine-point calibration and other calibration methods. The following takes nine-point calibration as an example to further introduce the calibration method: Nine-point calibration is the universal basis of machine vision. Its principle is to use the conversion device to move the 9 positions of the matrix within the acquisition range of the acquisition device, and transmit the coordinate values ​​of these 9 positions to the acquisition device, so that 9 corresponding pixel coordinates can be obtained. In this way, the coordinate system transformation relationship between the acquisition device and the installation device is directly established, and its essence is to solve the affine transformation matrix of the two sets of coordinate systems.

[0048] Here are the nine principles:

[0049] Assume the affine transformation relationship between the acquisition device and the installation device:

[0050]

[0051] in, is the coordinate system of the installation device, is the coordinate system of the acquisition device, R is the transformation matrix, and M is the parallel matrix. Substituting the calibrated coordinate system into the above radiation transformation relationship formula, we get:

[0052]

[0053]

[0054] Among them, (X′ 0 ∩Y′ 0 ), (X′ 1 ∩Y′ 1 ), (X′ 2 ∩Y′ 2 ) is the coordinate of the acquisition device, (X 0 ∩Y 0 ), (X 1 ∩Y 1 ), (X 2 ∩Y 2 ) are the coordinates of the acquisition device, (a, b, c) and (a′, b′, c′) are unknown parameters.

[0055] Furthermore, after (a, b, c) and (a′, b′, c′) are determined, R and M can be further determined according to the matrix calculation rule.

[0056] Step 202, establishing a mounting device coordinate system according to the positional relationship.

[0057] The installation device coordinate system is a spatial rectangular coordinate system redefined according to the installation device working space. If the installation device coordinate system has not been set, it will be replaced by the world coordinate system. The installation device coordinate system is obtained by resetting the world coordinate system origin position (X s , Y s , Z s ) and the rotation angles (W, P, R) around the X, Y, and Z axes.

[0058] Optionally, the coordinate system of the mounting device may be determined by a three-point method, a table method or a direct input method.

[0059] For example, the three-point method teaching is to teach 3 points in a space, that is, define the origin of the coordinate system, 1 point in the X-axis direction, and 1 point in the Y-axis direction. The robot system will automatically generate a new installation device coordinate system. The table is an auxiliary tool that uses a dial indicator (accurate to 0.01mm) or a micrometer (accurate to 0.001mm) to determine the installation device coordinate system through the robot rectangular input method, and find a robot installation device coordinate system that is parallel in the X, Y, and Z directions.

[0060] Step 203 , recording the coordinate values ​​of the mounting device in the mounting device coordinate system when the target workpiece is assembled at the working position.

[0061] The target workpiece here is the workpiece to be installed, for example, an iron core, a magnetic steel, etc.

[0062] It can be understood that step 203 may include: assembling the target workpiece multiple times at the working position through the installation device, and recording the coordinate values ​​of the target workpiece installed each time, performing model training on the coordinate values ​​of the target workpiece installed multiple times, and then obtaining the coordinate values ​​of the installation device in the installation device coordinate system.

[0063] Step 204, determining the original installation position of the workpiece according to the coordinate values.

[0064] The coordinate value here may include a spatial rectangular coordinate system and a rotation angle of the rectangular coordinate system. For example, the coordinate value may be (x, y, z, w, p, r).

[0065] In the above implementation process, the coordinates of the installation device and the acquisition device are calibrated so that the coordinates between the installation device and the acquisition device are kept relatively associated. Further, a coordinate system of the installation device is established under the associated relationship, so that there is a certain associated relationship between the coordinate system and the acquisition device. Since the installation device coordinate system is established under the associated relationship between the installation device and the acquisition device, there is a certain associated relationship between the coordinate system and the acquisition device, and there is a certain constraint between the determined original installation position of the workpiece and the acquisition device, so that the original installation position is always within the range that can be clearly collected by the acquisition device, so as to improve the accuracy of the original installation position of the workpiece.

[0066] In a possible implementation, step 204 includes: placing the target workpiece on an original plane, and determining the original plane position according to partial coordinate values.

[0067] The original plane here is the plane where the working position is located, and the original plane is used to determine some coordinate values ​​in the original position.

[0068] It can be understood that the above-mentioned original position includes coordinate values ​​of six dimensions: x, y, z, w, p, and r. Among them, x, y, and z are rectangular space coordinate values, and w, p, and r are the rotation angles of the rectangular coordinate system. In the actual target workpiece installation process, in order to reduce the accuracy and difficulty of determining the original position of the target workpiece, a part of the coordinate values ​​can be determined first. That is, a planar target position can also be determined on the plane where the original position of the workpiece is installed. For this planar target position, its z, w, and p are certain, so it is only necessary to determine x, y, and r first, and the x, y, and r are the original plane positions.

[0069] Exemplarily, if the original position is determined to be (2, 5, 3, 20°, 30°, 50°), then the original plane position can be determined to be (2, 5, 50°).

[0070] In the above implementation process, by decomposing the original coordinates into two parts of coordinates, for the installation plane, the plane coordinate position is only related to the coordinate values ​​of three dimensions. After determining the original position of the plane, when correcting the target workpiece, the original position of the plane can be corrected first, which reduces the difficulty of correction.

[0071] See also Figure 4 , is a flow chart of a workpiece installation method provided in an embodiment of the present application. Figure 4 The specific process shown is described in detail.

[0072] Step 301 : determining the deviation correction data according to the acquired position information and the original position of the target workpiece.

[0073] The original position is determined according to the above workpiece installation original position determination method, which includes the original plane position, the original installation position, etc.

[0074] The position information here is acquired by a collection device. During the installation process of the target workpiece, the collection device collects the position coordinates of the target workpiece in real time or at regular time intervals or when the target workpiece is at a set position to acquire the position information of the target workpiece.

[0075] After the server obtains the position information of the target workpiece through the acquisition device, it compares and calculates the position information with the original position to obtain the correction data.

[0076] Exemplarily, after obtaining the position information, the current coordinates of the target workpiece are determined according to the position information, and the current coordinates of the target workpiece are compared with the coordinates of the original position. The offset distances between the current coordinates of the target workpiece and the coordinates of the original position in the X-axis, Y-axis, and Z-axis directions and the offset angles at the W rotation angle, P rotation angle, and R rotation angle are determined, and the offset data can be determined by the offset distance and the offset angle.

[0077] Step 302: Correct the position of the target workpiece using the correction data.

[0078] After determining the offset data, the installation device corrects the target workpiece on the X-axis, Y-axis, Z-axis and W rotation angle, P rotation angle, and R rotation angle according to the coordinate correction method and the offset distance to obtain the corrected target workpiece.

[0079] It can be understood that the above-mentioned target workpiece position correction may include one or more corrections.

[0080] Step 303, determining whether the position of the target workpiece after deviation correction is within a set position range.

[0081] It can be understood that after the target workpiece is corrected, the acquisition device will collect the current position information of the target workpiece again and send the current position to the server. The server compares the current position information with the original position to determine whether the error between the corrected position and the original position is within the set range. If so, it is determined that the corrected position of the target workpiece is within the set position interval. If not, it is determined that the corrected position of the target workpiece is not within the set position interval.

[0082] Step 304: If the corrected position is within the set position range, the position of the installation device is corrected.

[0083] The mounting device here is used to grab and mount the target workpiece.

[0084] Since there is a deviation between the target workpiece and the original position, the installation device needs to correct the position of the target workpiece. As the correction operation is performed on the target workpiece, the coordinates of the installation device will also shift. After the position of the target workpiece is corrected to within the allowable range of the original position, in order to ensure the accuracy of the installation, the position of the installation device needs to be further corrected.

[0085] Step 305, controlling the installation device to install the target workpiece at the position after the installation device has been corrected.

[0086] After the installation device is corrected in position, the installation device is installed on the target workpiece at the corrected position.

[0087] In the above implementation process, the correction data is determined according to the position information and the original position of the target workpiece, and the position of the target workpiece is corrected based on the obtained correction data. After it is determined that the position after correction is in the set position range, the position of the installation device is further corrected. Since the position correction is performed on both the target workpiece and the installation device, the target workpiece and the installation device are both in the original position, so that the position of the target workpiece during installation and modeling is as close as possible, thereby improving the accuracy of the installation of the target workpiece.

[0088] In a possible implementation, the workpiece installation method also includes: if the position after correction is not within the set position range, updating the position information of the target workpiece according to the position after correction; determining updated correction data according to the updated position information of the target workpiece and the original position; and performing position correction on the position of the target workpiece using the updated correction data until the position after correction is within the set position range.

[0089] It can be understood that if the position after correction is not within the set position range, it is determined that the position of the target workpiece has not been corrected, and further correction is required based on the updated position and original position of the target workpiece, and the updated correction data is determined. Position correction is performed using the updated correction data, and the updated position after correction is determined based on the updated correction data, and it is determined whether the updated position after correction is within the set position range. If the updated position after correction is still not within the set position range, continue to repeat the above steps until the position after correction is within the set position range.

[0090] In the above implementation process, when the position of the target workpiece after correction is not within the original position setting range, it is necessary to further obtain the position information of the target workpiece and determine the correction data, and perform multiple corrections on the target workpiece to determine that the position of the target workpiece is within the range of the original position setting, so as to ensure the accuracy of the target workpiece position and improve the accuracy of the target workpiece installation.

[0091] In a possible implementation, step 301 includes: acquiring first position information of the target workpiece, and determining correction data according to the first position information and the original plane position.

[0092] The first position information here is the coordinates of the target workpiece on the original plane whose coordinate values ​​can be changed. For example, the first position information can be x1, y1, r1 of the target workpiece, or z1, w1, p1.

[0093] It can be understood that if the original plane is a plane parallel to the horizontal plane where the original position is located, when the target workpiece is corrected, the target workpiece can be placed on the original plane first, and the target workpiece is corrected on the original plane. The coordinate value of the target workpiece on the original plane is only related to the X-axis, Y-axis and R rotation angle. Therefore, when the target workpiece is corrected on the original plane, only x1, y1, and r1 of the target workpiece need to be corrected.

[0094] In some embodiments, the original plane can also be a plane parallel to the vertical plane where the original position is located, and the coordinate value of the target workpiece on the original plane is only related to the Z axis, the W rotation angle and the P rotation angle. Therefore, when the original plane correction is performed on the target workpiece on the original plane, only z1, w1, and p1 of the target workpiece need to be corrected.

[0095] In the above implementation process, the target workpiece is corrected on a plane, so that the target workpiece only needs to be corrected in three dimensions, which reduces the coordinate dimensions that need to be considered for the position correction of the target workpiece, simplifies the correction method, and improves the correction efficiency.

[0096] In one possible implementation, step 304 includes: determining a position difference generated by the installation device when correcting the position of the target workpiece based on the position of the installation device before the correction and the position of the installation device after the correction; and correcting the position of the installation device based on the position difference and the original installation position.

[0097] It can be understood that the initial position of the mounting device before the deviation correction of the target workpiece is at the original position, and when the deviation correction of the position of the target workpiece is performed, the position of the mounting device will be offset. The position difference of the mounting device generated during the deviation correction process can be determined based on the position of the mounting device before the deviation correction of the target workpiece and the position of the mounting device after the deviation correction of the target workpiece, and then the position of the mounting device after the deviation correction of the target workpiece is compensated according to the position difference to obtain the installation position of the mounting device for mounting the target workpiece.

[0098] Exemplarily, if the position of the target workpiece after two corrections is B, and the position of the target workpiece before correction is C, it can be determined that the position difference between position B and position C is E. Then, based on position B, the position difference E is compensated to obtain the installation position A, and the installation position A is the position of the installation device after correction.

[0099] In some embodiments, after the position of the mounting device is corrected, the position of the mounting device is reset, and the mounting device mounts the target workpiece at this position.

[0100] In some embodiments, after the mounting device mounts the target workpiece, the mounting device is reset.

[0101] In a possible implementation, step 304 further includes: acquiring second position information of the installation device, and determining correction data according to the second position information and the original installation position.

[0102] The second position information here is the coordinates of the installation device that can be changed in addition to the coordinate values ​​on the original plane. For example, the second position information can be z1, w1, p1 of the installation device, or x1, y1, r1.

[0103] It can be understood that if the original plane is a plane parallel to the horizontal plane where the original position is located, after the target workpiece is corrected in position, the coordinate values ​​of the installation device related to the X-axis, Y-axis and R rotation angle remain within the set range with the coordinate values ​​of the original coordinates, then the Z-axis, W rotation angle and P rotation angle of the installation device need to be further corrected.

[0104] If the original plane is a plane parallel to the vertical plane where the original position is located, after the target workpiece is corrected in position, the coordinate values ​​of the installation device related to the Z axis, W rotation angle and P rotation angle remain within the set range with the coordinate values ​​of the original coordinates, then the installation device needs to be further corrected for the X axis, Y axis and R rotation angle.

[0105] In the above implementation process, after correcting the target workpiece, it is necessary to further correct the installation device so that the position of the installation device is also maintained within the original position setting range, so as to maximize the position of the target workpiece and the installation device during installation to be the same as the position during modeling, thereby reducing the workpiece installation position error and improving the accuracy of workpiece installation.

[0106] Based on the same application concept, the embodiment of the present application also provides a workpiece installation original position determination device corresponding to the workpiece installation original position determination method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the aforementioned workpiece installation original position determination method embodiment, the implementation of the device in this embodiment can refer to the description in the embodiment of the above-mentioned method, and the repeated parts will not be repeated.

[0107] See also Figure 5 , is a functional module diagram of the device for determining the original position of workpiece installation provided in an embodiment of the present application. Each module in the device for determining the original position of workpiece installation in this embodiment is used to execute each step in the above method embodiment. The device for determining the original position of workpiece installation includes a calibration module 401, a coordinate establishment module 402, a recording module 403, and a second determination module 404; wherein,

[0108] The calibration module 401 is used to calibrate the position of the installation device and the position of the acquisition device to calibrate the positional relationship between the installation device and the acquisition device. The acquisition device is used to obtain the position information of the target workpiece, and the installation device is used to grab and install the target workpiece.

[0109] The coordinate establishing module 402 is used to establish the installation device coordinate system according to the positional relationship.

[0110] The recording module 403 is used to assemble the target workpiece at the working position and record the coordinate value of the installation device in the installation device coordinate system.

[0111] The second determining module 404 determines the original installation position of the workpiece according to the coordinate value.

[0112] In a possible implementation, the second determination module 404 is further used to: place the target workpiece on an original plane, where the original plane is the plane where the working position is located, and the original plane is used to determine partial coordinate values ​​in the original position; and determine the original plane position according to the partial coordinate values.

[0113] See also Figure 6 , is a functional module diagram of a workpiece installation device provided in an embodiment of the present application. Each module in the workpiece installation device in this embodiment is used to execute each step in the above method embodiment. The workpiece installation device includes a first determination module 501, a first correction module 502, a judgment module 503, a second correction module 504, and an installation module 505; wherein,

[0114] The first determination module 501 is used to determine the correction data according to the acquired position information of the target workpiece and the original position determined by modeling.

[0115] The first correction module 502 performs position correction on the position of the target workpiece according to the correction data.

[0116] The judgment module 503 is used to judge whether the position of the target workpiece after deviation correction is within a set position range.

[0117] The second deviation correction module 504 is used to correct the position of the installation device if the position after the deviation correction is within the set position range, and the installation device is used to grab and install the target workpiece.

[0118] The installation module 505 is used to control the installation device to install the target workpiece at the position after the installation device is corrected.

[0119] In addition, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of determining the original installation position of the workpiece and the workpiece installation method described in the above method embodiment are executed.

[0120] The computer program product for determining the original installation position of a workpiece and the workpiece installation method provided in the embodiments of the present application includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the steps of determining the original installation position of a workpiece and the workpiece installation method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0121] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0122] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0123] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk. It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus. In the absence of more restrictions, the elements defined by the sentence "includes..." do not exclude the presence of other identical elements in the process, method, article or apparatus that includes the elements.

[0124] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0125] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A workpiece installation method, characterized in that: include: Determine the deviation correction data according to the acquired position information of the target workpiece and the original position; Performing position correction on the position of the target workpiece using the correction data; Determining whether the position of the target workpiece after deviation correction is within a set position range; If the position after the deviation correction is within the set position interval, the position of the installation device is corrected, and the installation device is used to grab and install the target workpiece; Controlling the mounting device to mount the target workpiece at the position after the mounting device has been rectified; The original position is determined according to the following method: calibrating the position of the installation device and the position of the acquisition device to calibrate the positional relationship between the installation device and the acquisition device, the acquisition device is used to obtain the position information of the target workpiece, and the installation device is used to grab and install the target workpiece; establishing a installation device coordinate system according to the positional relationship; recording the coordinate value of the installation device in the installation device coordinate system when the target workpiece is assembled at the working position; and determining the workpiece installation original position according to the coordinate value; Or, the original position includes an original plane position, and the original position is determined according to the following method: calibrate the position of the installation device and the position of the acquisition device to calibrate the positional relationship between the installation device and the acquisition device, the acquisition device is used to obtain the position information of the target workpiece, and the installation device is used to grab and install the target workpiece; establish a installation device coordinate system according to the positional relationship; record the coordinate value of the installation device in the installation device coordinate system when the target workpiece is assembled at the working position; place the target workpiece on an original plane, the original plane is the plane where the working position is located, and the original plane is used to determine partial coordinate values ​​in the original position; determine the original plane position according to the partial coordinate values.

2. The method according to claim 1, characterized in that The method further comprises: If the position after the deviation correction is not within the set position interval, updating the position information of the target workpiece according to the position after the deviation correction; Determine updated deviation correction data according to the updated position information of the target workpiece and the original position; The position of the target workpiece is corrected using the updated correction data until the corrected position is within a set position range.

3. The method according to claim 1, characterized in that: The original position includes an original plane position, and the correction data is determined according to the acquired position information of the target workpiece and the original position, including: Acquire first position information of the target workpiece, where the first position information is a coordinate whose coordinate value is changeable on the original plane of the target workpiece; Determine the correction data according to the first position information and the original plane position.

4. The method according to claim 1, characterized in that The original position includes an original installation position, and the correction of the position of the installation device includes: Determining a position difference generated when the mounting device corrects the position of the target workpiece according to the position of the mounting device before the correction and the position of the mounting device after the correction; The position of the installation device is corrected according to the position difference and the original installation position.

5. A workpiece mounting device, characterized in that: include: A first determination module: used to determine the correction data according to the acquired position information of the target workpiece and the original position determined by modeling; A first deviation correction module: used for performing position deviation correction on the position of the target workpiece according to the deviation correction data; A judgment module: used to judge whether the position of the target workpiece after correction is within a set position range; A second deviation correction module: used to correct the position of the installation device if the position after the deviation correction is within the set position interval, and the installation device is used to grab and install the target workpiece; Installation module: used for controlling the installation device to install the target workpiece at the position after the installation device is corrected; The original position is determined according to the following method: calibrating the position of the installation device and the position of the acquisition device to calibrate the positional relationship between the installation device and the acquisition device, the acquisition device is used to obtain the position information of the target workpiece, and the installation device is used to grab and install the target workpiece; establishing a installation device coordinate system according to the positional relationship; recording the coordinate value of the installation device in the installation device coordinate system when the target workpiece is assembled at the working position; and determining the workpiece installation original position according to the coordinate value; Or, the original position includes an original plane position, and the original position is determined according to the following method: calibrate the position of the installation device and the position of the acquisition device to calibrate the positional relationship between the installation device and the acquisition device, the acquisition device is used to obtain the position information of the target workpiece, and the installation device is used to grab and install the target workpiece; establish a installation device coordinate system according to the positional relationship; record the coordinate value of the installation device in the installation device coordinate system when the target workpiece is assembled at the working position; place the target workpiece on an original plane, the original plane is the plane where the working position is located, and the original plane is used to determine partial coordinate values ​​in the original position; determine the original plane position according to the partial coordinate values.

6. A server, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the server is running, the machine-readable instructions are executed by the processor to perform the steps of any one of the methods described in claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are executed.

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