Control method of processing equipment, processing equipment and readable storage medium

Abstract

The present invention proposes a control method for processing equipment, processing equipment and a readable storage medium. The control method for processing equipment is used for processing equipment, the processing equipment includes a robotic arm, and the robotic arm is used to process a workpiece, including: receiving a coordinate calibration instruction, obtaining a first initial coordinate system of the robotic arm, and determining a second initial coordinate system of the workpiece; determining the accuracy of the first initial coordinate system and the second initial coordinate system; adjusting the first initial coordinate system and the second initial coordinate system according to the accuracy to obtain a first target coordinate system and a second target coordinate system; controlling the robotic arm to process the workpiece in the first target coordinate system and the second target coordinate system; wherein the accuracy includes the rotation parameter accuracy and the displacement parameter accuracy. The present application improves the accuracy of the tool coordinate system and the workpiece coordinate system in the processing equipment, thereby achieving an improvement in the absolute trajectory accuracy of the robotic arm during the actual processing of the workpiece.

Description

Technical Field

[0001] The present invention belongs to the technical field of electronic industrial control, and in particular, relates to a control method for processing equipment, a processing equipment and a readable storage medium. Background Art

[0002] Before using automatic processing equipment to process a workpiece, the corresponding coordinate system needs to be calibrated. In related technologies, industrial cameras are used to calibrate the coordinate system, but the accuracy of the calibrated coordinate system is poor, resulting in poor absolute trajectory accuracy of the automatic processing equipment in actual applications. Summary of the invention

[0003] The present invention aims to solve one of the technical problems existing in the prior art or related technology.

[0004] To this end, a first aspect of the present invention provides a control method for processing equipment.

[0005] A second aspect of the present invention provides a processing device.

[0006] A third aspect of the present invention provides a readable storage medium.

[0007] In view of this, according to a first aspect of the present invention, a control method for a processing equipment is proposed, which is used for the processing equipment, wherein the processing equipment includes a robotic arm, and the robotic arm is used to process a workpiece, including: receiving a coordinate calibration instruction, acquiring a first initial coordinate system of the robotic arm, and determining a second initial coordinate system of the workpiece; determining the accuracy of the first initial coordinate system and the second initial coordinate system; adjusting the first initial coordinate system and the second initial coordinate system according to the accuracy to obtain a first target coordinate system and a second target coordinate system; controlling the robotic arm to process the workpiece in the first target coordinate system and the second target coordinate system; wherein the accuracy includes the rotation parameter accuracy and the displacement parameter accuracy.

[0008] The control method of the processing equipment provided by the present invention is used for the processing equipment, and the processing equipment includes a robotic arm, and the robotic arm is used to process a workpiece. Before the robotic arm processes the workpiece, the tool coordinate system of the robotic arm and the workpiece coordinate system of the workpiece need to be calibrated. The specific calibration method is as follows:

[0009] After receiving the coordinate calibration instruction, the processing equipment calibrates the initial coordinate systems of the tool coordinates and the workpiece coordinates, stores the calibrated coordinate systems in the local storage area, and retrieves the calibrated first initial coordinate system of the robot arm and the second initial coordinate system of the workpiece. The first initial coordinate system is a coordinate system calibrated by the four-point method, and the second initial coordinate system is a coordinate system calibrated by the three-point method, so the accuracy of the coordinate system is not high. An evaluation index is set, and the accuracy of the first initial coordinate system and the second initial coordinate system is evaluated according to the evaluation index. The first initial coordinate system and the second initial coordinate system are adjusted according to the accuracy to obtain the corresponding first target coordinate system and second target coordinate system. Since the first initial coordinate system and the second initial coordinate system are both established based on the spatial coordinate system, that is, the first initial coordinate system and the second initial coordinate system include rotation parameters and displacement parameters, by respectively determining the accuracy of the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system, and adjusting the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system according to the accuracy of the rotation parameters and the accuracy of the displacement parameters, respectively adjusting the accuracy of the rotation parameters and the displacement parameters, the optimization efficiency of the rotation parameters and the displacement parameters can be improved. The initial coordinate system obtained by calibration is detected and judged by accuracy, and the workpiece coordinate system and the tool coordinate system are optimized and adjusted according to the accuracy, so that a target coordinate system with high absolute accuracy can be obtained. The workpiece is processed by the first target coordinate system and the second target coordinate system, thereby improving the absolute trajectory accuracy of the robot arm in the actual process of processing the workpiece.

[0010] Among them, when it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system meets the standard, there is no need to adjust the first initial coordinate system and the second initial coordinate system, and the first initial coordinate system and the second initial coordinate system can be directly used as the first target coordinate system and the second target coordinate system. When it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system does not meet the standard, it is necessary to adjust the first initial coordinate system and the second initial coordinate system according to the current accuracy. The specific adjustment form is to adjust the coordinate parameters in the first initial coordinate system, and / or adjust the coordinate parameters in the second initial coordinate system, so as to improve the accuracy of the first coordinate system and the second coordinate system, that is, to improve the accuracy of the tool coordinate system and the workpiece coordinate system in the processing equipment, thereby achieving the improvement of the absolute trajectory accuracy of the robot arm in the actual process of processing the workpiece.

[0011] Optionally, the final coordinate parameters are found within a certain range through a global optimization algorithm, and then based on the final parameters found, a local optimization algorithm is used to finally obtain the optimal parameters, and the corresponding target coordinate system can be directly determined according to the optimal parameters. Thus, the first target coordinate system is obtained by optimizing according to the coordinate parameters in the first initial coordinate system, and the second target coordinate system is obtained by optimizing according to the coordinate parameters in the second initial coordinate system.

[0012] The evaluation indicators include: maximum distance error, peak value of each trajectory error, and standard deviation of the average value of each trajectory error. The above evaluation indicators are weighted to obtain the fitness of the first initial coordinate and the second initial coordinate, thereby determining the accuracy of the first initial coordinate and the second initial coordinate.

[0013] It is understandable that the processing equipment also includes a processing station for fixing the workpiece, so as to facilitate the robot arm to calibrate the coordinates and perform mechanical processing on the workpiece on the processing station.

[0014] In addition, the control method of the processing equipment in the above technical solution provided by the present invention may also have the following additional technical features:

[0015] In one possible design, the step of adjusting the first initial coordinate system and the second initial coordinate system according to the accuracy specifically includes: determining the target rotation parameter based on that the accuracy of the rotation parameters of the first initial coordinate system and the second initial coordinate system is outside the first set accuracy range; determining the target displacement parameter based on that the accuracy of the displacement parameters of the first initial coordinate system and the second initial coordinate system is outside the second set accuracy range; and determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter.

[0016] In this design, in the process of adjusting the first initial coordinate system and the second initial coordinate system, the rotation parameter accuracy of the first initial coordinate system and the second initial coordinate system is first determined. If the rotation parameter accuracy is outside the first set accuracy, the rotation parameters in the first initial coordinate system and the second initial coordinate system are first adjusted so that the rotation parameters in the first initial coordinate system and the second initial coordinate system reach the rotation parameter accuracy. Then the displacement parameter accuracy in the adjusted first initial coordinate and the adjusted second initial coordinate is determined. If the displacement parameter accuracy is outside the second accuracy, the displacement parameters in the first initial coordinate system and the second initial coordinate system are adjusted so that the displacement parameters in the first initial coordinate system and the second initial coordinate system reach the displacement parameter accuracy. By adjusting the first initial coordinate system and the second initial coordinate system in the above manner, the target rotation parameter and the target displacement parameter in the first initial coordinate system and the second initial coordinate system can be obtained, and the corresponding first target coordinate system and the second target coordinate system are determined by the target rotation parameter and the target displacement parameter. Since the rotation parameter and the displacement parameter in the first target coordinate system and the second target coordinate system are obtained after the accuracy adjustment, the first target coordinate system and the second target coordinate system have higher accuracy. Controlling the robot arm to process the workpiece in the first target coordinate system and the second target coordinate system can improve the accuracy of the movement trajectory of the robot arm, thereby improving the processing effect on the workpiece.

[0017] In a possible design, before the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter, the step further includes: determining a coordinate system adjustment range according to the first initial coordinate system and the second initial coordinate system.

[0018] In this design, before adjusting the first initial coordinate system and the second initial coordinate system, it is necessary to determine the adjustment range of the first initial coordinate system and the second initial coordinate system, and the adjustment range includes the adjustment range of the rotation parameter and the adjustment range of the displacement parameter, so as to avoid adjusting the rotation parameter and the displacement parameter in too large a range, which causes the adjusted first target coordinate system and the second target coordinate system to exceed a reasonable range and become inapplicable.

[0019] It can be understood that in the process of globally optimizing the rotation parameters and displacement parameters of the first initial coordinate system and the second initial coordinate system, it is necessary to ensure that the rotation parameters and displacement parameters obtained by optimization are within the rotation parameter adjustment range and the displacement parameter range, thereby ensuring that the adjustment range of the first initial coordinate system and the second initial coordinate system is within the coordinate system adjustment range.

[0020] In one possible design, the step of determining the target rotation parameters specifically includes: obtaining initial rotation parameters of the first initial coordinate system and the second initial coordinate system, converting the initial rotation parameters into corresponding quaternions, and determining the target rotation parameters within the coordinate system adjustment range through a genetic algorithm based on the quaternions.

[0021] In this design, in the process of optimizing the rotation parameters in the first initial coordinate system and the second initial coordinate system to obtain the target rotation parameters, it is necessary to obtain the initial rotation parameters, and the obtained initial rotation parameters are rotation angles. In order to ensure the continuity of the rotation angles in the process of adjusting the initial rotation parameters, the initial rotation parameters are converted into quaternions for subsequent optimization processing. The quaternions are optimized by genetic algorithms to obtain the target rotation parameters. The coordinate system adjustment range includes the rotation parameter adjustment range. It is necessary to ensure that the target rotation parameters obtained by optimization are within the rotation parameter adjustment range, which can effectively improve the accuracy of the target rotation parameters of the first initial coordinate system and the second initial coordinate system.

[0022] It can be understood that the target rotation parameters obtained after optimizing according to the quaternion are also in the form of quaternion. Converting the target rotation parameters in the form of quaternion into target rotation parameters in the form of rotation angle and replacing the initial rotation parameters with the target rotation parameters in the form of rotation angle can improve the rotation parameter accuracy of the first initial coordinate system and the second initial coordinate system.

[0023] In a possible design, the step of determining the target displacement parameters specifically includes: obtaining initial displacement parameters of the first initial coordinate system and the second initial coordinate system, and determining the target displacement parameters within the coordinate system adjustment range through a genetic algorithm according to the initial displacement parameters.

[0024] In this design, the step of determining the target displacement parameters is performed after the step of determining the target rotation parameters, that is, at this time, the rotation parameters in the first initial coordinate system and the second initial coordinate system are the target rotation parameters obtained by optimization. The initial displacement parameters of the first initial coordinate system and the second initial coordinate system are obtained, and the target rotation parameters are brought into the displacement parameter accuracy of the initial displacement parameters for judgment. When the displacement parameter accuracy is not within the second accuracy range, the initial displacement parameters are optimized through a genetic algorithm to obtain the target displacement parameters. The coordinate system adjustment range includes the displacement parameter adjustment range. It is necessary to ensure that the target displacement parameters obtained by optimization are within the displacement parameter adjustment range, which can effectively improve the accuracy of the target displacement parameters of the first initial coordinate system and the second initial coordinate system.

[0025] In one possible design, the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameters and the target displacement parameters specifically includes: establishing a first corrected coordinate system and a second corrected coordinate system according to the target rotation parameters and the target displacement parameters; based on the fact that the accuracy of the first corrected coordinate system and the second corrected coordinate system is outside a third set accuracy range, searching the first corrected coordinate system and the second corrected coordinate system within the coordinate system adjustment range by using the simplex method to obtain the first target coordinate system and the second target coordinate system.

[0026] In this design, after the target rotation parameter and the target displacement parameter are obtained by the optimization algorithm, the corresponding coordinate system can be obtained according to the target rotation parameter and the target displacement parameter. Specifically, the first correction coordinate system can be determined by the target rotation parameter and the target displacement parameter obtained according to the first initial coordinate system, and the second correction coordinate system can be determined by the target rotation parameter and the target displacement parameter obtained according to the second initial coordinate system. At this time, the first correction coordinate system and the second correction coordinate system obtained have higher accuracy than the first initial coordinate system and the second initial coordinate system. The accuracy of the first correction coordinate system and the second correction coordinate system is detected to determine whether the accuracy of the first correction coordinate system and the second correction coordinate system is within the third set accuracy range. If it is determined that it is within the third set accuracy range, the first correction coordinate system and the second correction coordinate system are used as the first target coordinate system and the second target coordinate system. If it is determined that it is outside the third set accuracy range, the first correction coordinate system and the second correction coordinate system are locally optimized by the simplex method, and the optimization result is continuously tested for accuracy until the accuracy of the optimization result is within the third accuracy range, and the first coordinate system and the second coordinate system obtained by optimization are used as the first target coordinate system and the second target coordinate system. After multiple iterations of optimization of the first initial coordinate system and the second initial coordinate system, the trajectory error of the robot arm when processing the workpiece can be continuously reduced. The processing accuracy of the robot arm can be improved by controlling the robot arm to process the workpiece in the first target coordinate system and the second target coordinate system.

[0027] In one possible design, the steps of determining a first initial coordinate system of the robot arm and a second initial coordinate system of the workpiece specifically include: obtaining the current tool coordinate system of the robot arm as the first initial coordinate system; obtaining the current tool coordinate system of the workpiece and determining a correction parameter value of the current workpiece coordinate system; and adjusting the current workpiece coordinate system according to the correction parameter value to obtain a second initial coordinate system.

[0028] In this design, the processing equipment calibrates the tool coordinate system of the robot and the workpiece coordinate system of the workpiece in response to the coordinate calibration instruction, and stores the calibrated tool coordinate system and workpiece coordinate system in the local storage area. By obtaining the current tool coordinate system as the first initial coordinate system in the local storage area, obtaining the correction parameter values ​​of the current workpiece coordinate system and the current workpiece coordinate system, and adjusting the coordinate parameters in the current workpiece coordinate system through the correction parameters, the absolute accuracy of the current workpiece coordinate system is improved. By calibrating and optimizing the current workpiece coordinate system before optimizing the accuracy of the first initial coordinate system and the second initial coordinate system, the second initial coordinate system can have a higher accuracy before optimization, so that the subsequent optimization steps do not need to significantly adjust the coordinate parameters in the second initial coordinate system.

[0029] The absolute accuracy of the coordinate system of the processing equipment can be improved by calibrating and optimizing the coordinate system of the processing equipment multiple times.

[0030] It can be understood that the second initial coordinate system obtained by correcting the current workpiece coordinate system has good absolute accuracy, and its error is less than 0.5 mm.

[0031] In one possible design, the step of determining the correction parameter value of the current workpiece coordinate system specifically includes: obtaining at least two test coordinate points on the workpiece, and determining the coordinate origin of the workpiece based on the test coordinate points; obtaining a test distance from the coordinate origin to the test coordinate points, and determining the correction parameter value based on the test distance.

[0032] In this design, at least two test coordinate points are calibrated on the workpiece under the calibrated current workpiece coordinate system and the current tool coordinate system. All test coordinate points marked on the workpiece are obtained, and the coordinate origin on the workpiece is selected according to the test coordinate points, and the test distance between the coordinate origin and each test coordinate point is collected. According to the numerical relationship between the multiple test distances obtained, the coordinate parameters required to be corrected in the current workpiece coordinate system and the correction parameter values ​​of the coordinate parameters can be obtained, and the coordinate parameters required to be corrected are corrected by the correction parameter values, so as to obtain the second initial coordinate system. By adjusting each coordinate parameter in the current workpiece coordinate system, the absolute accuracy of the second initial coordinate system can be improved.

[0033] It can be understood that the test coordinate points are marked at the positions where the workpiece needs to be processed. The test coordinate points are marked manually by the user, which avoids excessive errors in the marking of the test coordinate points due to the low accuracy of the coordinate system of the processing equipment, thereby affecting the accuracy of the subsequent correction of the current workpiece coordinate system.

[0034] In one possible design, the number of test coordinate points is 8.

[0035] In this design, the workpiece has four planes that need to be processed, and two test coordinate points are marked on each plane that needs to be processed, thereby ensuring that each plane of the workpiece that needs to be processed is set with a test coordinate point, further improving the absolute accuracy of the second initial coordinate system obtained.

[0036] According to a second aspect of the present invention, a processing device is proposed, comprising: a robotic arm, used to process a workpiece; a sensor, arranged on the robotic arm, used to collect parameters of the movement of the robotic arm relative to the workpiece; a memory, on which programs or instructions are stored; and a processor, which executes the program or instructions to implement the steps of a control method for a processing device in any possible design as described above.

[0037] The processing equipment provided by the present invention includes a robot arm and a sensor. The robot arm is used to process a workpiece, and the sensor arranged on the robot arm can collect parameters of the movement of the robot arm relative to the workpiece. The processing equipment also includes a memory and a processor. When the processor executes the control method of the processing equipment stored in the memory, after receiving the coordinate calibration instruction, the initial coordinate system of the tool coordinates and the workpiece coordinates is calibrated, and the calibrated coordinate system is stored in the local storage area, and the calibrated first initial coordinate system of the robot arm and the second initial coordinate system of the workpiece are retrieved. The first initial coordinate system and the second initial coordinate system are coordinate systems calibrated by the four-point method, so the accuracy of the coordinate system is not high. An evaluation index is set, and the accuracy of the first initial coordinate system and the second initial coordinate system is evaluated according to the evaluation index, and the first initial coordinate system and the second initial coordinate system are adjusted according to the accuracy to obtain the corresponding first target coordinate system and the second target coordinate system. Since the first initial coordinate system and the second initial coordinate system are both established based on the spatial coordinate system, that is, the first initial coordinate system and the second initial coordinate system include rotation parameters and displacement parameters, the accuracy of the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system are determined respectively, and the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system are adjusted according to the accuracy of the rotation parameters and the accuracy of the displacement parameters. The initial coordinate system obtained by calibration is detected and judged by accuracy, and the workpiece coordinate system and the tool coordinate system are optimized and adjusted according to the accuracy, so that a target coordinate system with high absolute accuracy can be obtained. The workpiece is processed by the first target coordinate system and the second target coordinate system, thereby improving the absolute trajectory accuracy of the robot arm in the actual process of processing the workpiece.

[0038] Among them, when it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system meets the standard, there is no need to adjust the first initial coordinate system and the second initial coordinate system, and the first initial coordinate system and the second initial coordinate system can be directly used as the first target coordinate system and the second target coordinate system. When it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system does not meet the standard, it is necessary to adjust the first initial coordinate system and the second initial coordinate system according to the current accuracy. The specific adjustment form is to adjust the coordinate parameters in the first initial coordinate system, and / or adjust the coordinate parameters in the second initial coordinate system, so as to improve the accuracy of the first coordinate system and the second coordinate system.

[0039] According to a third aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the control method of the processing equipment in any possible design described above are implemented. Therefore, all the beneficial technical effects of the control method of the processing equipment in any possible design described above are achieved, and no further elaboration is made here.

[0040] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0042] Figure 1 A schematic flow chart showing a control method for a processing device in a first embodiment of the present invention is shown;

[0043] Figure 2 One of the flow charts of the control method of the processing equipment in the second embodiment of the present invention is shown;

[0044] Figure 3 A second flow chart of a control method for processing equipment in a second embodiment of the present invention is shown;

[0045] Figure 4 A third flow chart of the control method of the processing equipment in the second embodiment of the present invention is shown;

[0046] Figure 5 A fourth flow chart of the control method of the processing equipment in the second embodiment of the present invention is shown;

[0047] Figure 6 shows the error variation curve of the coordinate system in the second embodiment of the present invention;

[0048] Figure 7 A fifth flow chart of a control method for processing equipment in a second embodiment of the present invention is shown;

[0049] Figure 8 A sixth flow chart of the control method of the processing equipment in the second embodiment of the present invention is shown;

[0050] Fig. 9 One of the flow charts of the control method of the processing equipment in the third embodiment of the present invention is shown;

[0051] Fig.10 A schematic diagram showing the structure of a workpiece in a third embodiment of the present invention is shown;

[0052] Fig.11 A second flow chart of a control method for processing equipment in a third embodiment of the present invention is shown;

[0053] Fig.12 A third flow chart of a control method for processing equipment in a third embodiment of the present invention is shown;

[0054] Fig.13 A schematic block diagram of a processing device in a fourth embodiment of the present invention is shown. DETAILED DESCRIPTION

[0055] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0056] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0057] Refer to the following Figures 1 to 13 A control method of a processing device, a processing device and a readable storage medium according to some embodiments of the present invention are described.

[0058] Embodiment 1:

[0059] like Figure 1 As shown, a first embodiment of the present invention provides a control method for a processing device, wherein the processing device includes a robot arm, and the robot arm is used to process a workpiece.

[0060] Among them, the control method of the processing equipment specifically includes:

[0061] Step 102, receiving a coordinate calibration instruction;

[0062] Step 104, obtaining a first initial coordinate system of the robot arm and a second initial coordinate system of the workpiece;

[0063] Step 106, determining the accuracy of the first initial coordinate system and the second initial coordinate system;

[0064] Step 108, adjusting the first initial coordinate system according to the accuracy to obtain a first target coordinate system;

[0065] Step 110, adjusting the second initial coordinate system according to the accuracy to obtain a second target coordinate system;

[0066] Step 112: Control the robot arm to process the workpiece in the first target coordinate system and the second target coordinate system.

[0067] The accuracy includes rotation parameter accuracy and displacement parameter accuracy.

[0068] The control method of the processing equipment provided in this embodiment is used for the processing equipment, and the processing equipment includes a robotic arm, and the robotic arm is used to process a workpiece. Before the robotic arm processes the workpiece, the tool coordinate system of the robotic arm and the workpiece coordinate system of the workpiece need to be calibrated. The specific calibration method is as follows:

[0069] After receiving the coordinate calibration instruction, the processing equipment calibrates the initial coordinate systems of the tool coordinates and the workpiece coordinates, stores the calibrated coordinate systems in the local storage area, and retrieves the calibrated first initial coordinate system of the robot arm and the second initial coordinate system of the workpiece. The first initial coordinate system is a coordinate system calibrated by the four-point method, and the second initial coordinate system is a coordinate system calibrated by the three-point method, so the accuracy of the coordinate system is not high. An evaluation index is set, and the accuracy of the first initial coordinate system and the second initial coordinate system is evaluated according to the evaluation index. The first initial coordinate system and the second initial coordinate system are adjusted according to the accuracy to obtain the corresponding first target coordinate system and second target coordinate system. Since the first initial coordinate system and the second initial coordinate system are both established based on the spatial coordinate system, that is, the first initial coordinate system and the second initial coordinate system include rotation parameters and displacement parameters, by respectively determining the accuracy of the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system, and adjusting the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system according to the accuracy of the rotation parameters and the accuracy of the displacement parameters, respectively adjusting the accuracy of the rotation parameters and the displacement parameters, the optimization efficiency of the rotation parameters and the displacement parameters can be improved. The initial coordinate system obtained by calibration is detected and judged by accuracy, and the workpiece coordinate system and the tool coordinate system are optimized and adjusted according to the accuracy, so that a target coordinate system with high absolute accuracy can be obtained. The workpiece is processed by the first target coordinate system and the second target coordinate system, thereby improving the absolute trajectory accuracy of the robot arm in the actual process of processing the workpiece.

[0070] Among them, when it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system meets the standard, there is no need to adjust the first initial coordinate system and the second initial coordinate system, and the first initial coordinate system and the second initial coordinate system can be directly used as the first target coordinate system and the second target coordinate system. When it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system does not meet the standard, it is necessary to adjust the first initial coordinate system and the second initial coordinate system according to the current accuracy. The specific adjustment form is to adjust the coordinate parameters in the first initial coordinate system, and / or adjust the coordinate parameters in the second initial coordinate system, so as to improve the accuracy of the first coordinate system and the second coordinate system, that is, to improve the accuracy of the tool coordinate system and the workpiece coordinate system in the processing equipment, thereby achieving the improvement of the absolute trajectory accuracy of the robot arm in the actual process of processing the workpiece.

[0071] Optionally, the final coordinate parameters are found within a certain range through a global optimization algorithm, and then based on the final parameters found, a local optimization algorithm is used to finally obtain the optimal parameters, and the corresponding target coordinate system can be directly determined according to the optimal parameters. Thus, the first target coordinate system is obtained by optimizing according to the coordinate parameters in the first initial coordinate system, and the second target coordinate system is obtained by optimizing according to the coordinate parameters in the second initial coordinate system.

[0072] The evaluation indicators include: maximum distance error, peak value of each trajectory error, and standard deviation of the average value of each trajectory error. The above evaluation indicators are weighted to obtain the fitness of the first initial coordinate and the second initial coordinate, thereby determining the accuracy of the first initial coordinate and the second initial coordinate.

[0073] It is understandable that the processing equipment also includes a processing station for fixing the workpiece, so as to facilitate the robot arm to calibrate the coordinates and perform mechanical processing on the workpiece on the processing station.

[0074] Embodiment 2:

[0075] like Figure 2 As shown, a second embodiment of the present invention provides a control method for a processing device, wherein the processing device includes a robot arm, and the robot arm is used to process a workpiece.

[0076] Among them, the control method of the processing equipment specifically includes:

[0077] Step 202, receiving a coordinate calibration instruction;

[0078] Step 204, obtaining a first initial coordinate system of the robot arm and a second initial coordinate system of the workpiece;

[0079] Step 206, obtaining the rotation parameter accuracy and the displacement parameter accuracy in the first initial coordinate system and the second initial coordinate system;

[0080] Step 208, determining whether the rotation parameter accuracy is within a first set accuracy range, if the determination result is yes, executing step 212, otherwise executing step 210;

[0081] Step 210, determining target rotation parameters;

[0082] Step 212, determining whether the displacement parameter accuracy is within a first set accuracy range, if the determination result is yes, executing step 216, otherwise executing step 214;

[0083] Step 214, determining target displacement parameters;

[0084] Step 216, determining a first target coordinate system and a second target coordinate system according to the target rotation parameter and the target displacement parameter;

[0085] Step 218: Control the robot arm to process the workpiece in the first target coordinate system and the second target coordinate system.

[0086] The control method of the processing equipment provided in this embodiment is used for the processing equipment, and the processing equipment includes a robotic arm, and the robotic arm is used to process a workpiece. Before the robotic arm processes the workpiece, the tool coordinate system of the robotic arm and the workpiece coordinate system of the workpiece need to be calibrated. The specific calibration method is as follows:

[0087] After receiving the coordinate calibration instruction, the processing equipment calibrates the initial coordinate systems of the tool coordinates and the workpiece coordinates, stores the calibrated coordinate systems in the local storage area, and retrieves the calibrated first initial coordinate system of the robot arm and the second initial coordinate system of the workpiece. The first initial coordinate system is a coordinate system calibrated by the four-point method, and the second initial coordinate system is a coordinate system calibrated by the three-point method, so the accuracy of the coordinate system is not high. An evaluation index is set, and the accuracy of the first initial coordinate system and the second initial coordinate system is evaluated according to the evaluation index. The first initial coordinate system and the second initial coordinate system are adjusted according to the accuracy to obtain the corresponding first target coordinate system and second target coordinate system. Since the first initial coordinate system and the second initial coordinate system are both established based on the spatial coordinate system, that is, the first initial coordinate system and the second initial coordinate system include rotation parameters and displacement parameters, by respectively determining the accuracy of the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system, and adjusting the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system according to the accuracy of the rotation parameters and the accuracy of the displacement parameters, respectively adjusting the accuracy of the rotation parameters and the displacement parameters, the optimization efficiency of the rotation parameters and the displacement parameters can be improved. The initial coordinate system obtained by calibration is detected and judged by accuracy, and the workpiece coordinate system and the tool coordinate system are optimized and adjusted according to the accuracy, so that a target coordinate system with high absolute accuracy can be obtained. The workpiece is processed by the first target coordinate system and the second target coordinate system, thereby improving the absolute trajectory accuracy of the robot arm in the actual process of processing the workpiece.

[0088] Among them, when it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system meets the standard, there is no need to adjust the first initial coordinate system and the second initial coordinate system, and the first initial coordinate system and the second initial coordinate system can be directly used as the first target coordinate system and the second target coordinate system. When it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system does not meet the standard, it is necessary to adjust the first initial coordinate system and the second initial coordinate system according to the current accuracy. The specific adjustment form is to adjust the coordinate parameters in the first initial coordinate system, and / or adjust the coordinate parameters in the second initial coordinate system, so as to improve the accuracy of the first coordinate system and the second coordinate system, that is, to improve the accuracy of the tool coordinate system and the workpiece coordinate system in the processing equipment, thereby achieving the improvement of the absolute trajectory accuracy of the robot arm in the actual process of processing the workpiece.

[0089] In the process of adjusting the first initial coordinate system and the second initial coordinate system, the rotation parameter accuracy of the first initial coordinate system and the second initial coordinate system is first determined. If the rotation parameter accuracy is outside the first set accuracy, the rotation parameters in the first initial coordinate system and the second initial coordinate system are first adjusted so that the rotation parameters in the first initial coordinate system and the second initial coordinate system reach the rotation parameter accuracy. Then the displacement parameter accuracy in the adjusted first initial coordinate and the adjusted second initial coordinate is determined. If the displacement parameter accuracy is outside the second accuracy, the displacement parameters in the first initial coordinate system and the second initial coordinate system are adjusted so that the displacement parameters in the first initial coordinate system and the second initial coordinate system reach the displacement parameter accuracy. By adjusting the first initial coordinate system and the second initial coordinate system in the above manner, the target rotation parameter and the target displacement parameter in the first initial coordinate system and the second initial coordinate system can be obtained, and the corresponding first target coordinate system and the second target coordinate system are determined by the target rotation parameter and the target displacement parameter. Since the rotation parameter and the displacement parameter in the first target coordinate system and the second target coordinate system are obtained after the accuracy adjustment, the first target coordinate system and the second target coordinate system have higher accuracy. Controlling the robot arm to process the workpiece in the first target coordinate system and the second target coordinate system can improve the accuracy of the movement trajectory of the robot arm, thereby improving the processing effect on the workpiece.

[0090] In the above embodiment, before the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter, the step further includes: determining a coordinate system adjustment range according to the first initial coordinate system and the second initial coordinate system.

[0091] In this design, before adjusting the first initial coordinate system and the second initial coordinate system, it is necessary to determine the adjustment range of the first initial coordinate system and the second initial coordinate system, and the adjustment range includes the adjustment range of the rotation parameter and the adjustment range of the displacement parameter, so as to avoid adjusting the rotation parameter and the displacement parameter in too large a range, which causes the adjusted first target coordinate system and the second target coordinate system to exceed a reasonable range and become inapplicable.

[0092] It can be understood that in the process of globally optimizing the rotation parameters and displacement parameters of the first initial coordinate system and the second initial coordinate system, it is necessary to ensure that the rotation parameters and displacement parameters obtained by optimization are within the rotation parameter adjustment range and the displacement parameter range, thereby ensuring that the adjustment range of the first initial coordinate system and the second initial coordinate system is within the coordinate system adjustment range.

[0093] like Figure 3 As shown, in any of the above embodiments, the step of determining the target rotation parameter specifically includes:

[0094] Step 302, obtaining initial rotation parameters of the first initial coordinate system and the second initial coordinate system, and converting the initial rotation parameters into corresponding quaternions;

[0095] Step 304: Determine the target rotation parameters within the coordinate system adjustment range according to the quaternion by using a genetic algorithm.

[0096] In this embodiment, in the process of optimizing the rotation parameters in the first initial coordinate system and the second initial coordinate system to obtain the target rotation parameters, it is necessary to obtain the initial rotation parameters, and the obtained initial rotation parameters are rotation angles. In order to ensure the continuity of the rotation angles in the process of adjusting the initial rotation parameters, the initial rotation parameters are converted into quaternions for subsequent optimization processing. The quaternions are optimized by genetic algorithms to obtain the target rotation parameters. The coordinate system adjustment range includes the rotation parameter adjustment range. It is necessary to ensure that the target rotation parameters obtained by optimization are within the rotation parameter adjustment range, which can effectively improve the accuracy of the target rotation parameters of the first initial coordinate system and the second initial coordinate system.

[0097] It can be understood that the target rotation parameters obtained after optimizing according to the quaternion are also in the form of quaternion. Converting the target rotation parameters in the form of quaternion into target rotation parameters in the form of rotation angle and replacing the initial rotation parameters with the target rotation parameters in the form of rotation angle can improve the rotation parameter accuracy of the first initial coordinate system and the second initial coordinate system.

[0098] like Figure 4 As shown, in any of the above embodiments, the step of determining the target displacement parameter specifically includes:

[0099] Step 402, obtaining initial displacement parameters of the first initial coordinate system and the second initial coordinate system;

[0100] Step 404: Determine target displacement parameters within the coordinate system adjustment range using a genetic algorithm based on the initial displacement parameters.

[0101] In this embodiment, the step of determining the target displacement parameter is performed after the step of determining the target rotation parameter, that is, at this time, the rotation parameters in the first initial coordinate system and the second initial coordinate system are the target rotation parameters obtained by optimization. The initial displacement parameters of the first initial coordinate system and the second initial coordinate system are obtained, and the target rotation parameters are brought into the displacement parameter accuracy of the initial displacement parameters for judgment. When the displacement parameter accuracy is not within the second accuracy range, the initial displacement parameters are optimized by a genetic algorithm to obtain the target displacement parameters. The coordinate system adjustment range includes the displacement parameter adjustment range. It is necessary to ensure that the target displacement parameters obtained by optimization are within the displacement parameter adjustment range, which can effectively improve the accuracy of the target displacement parameters of the first initial coordinate system and the second initial coordinate system.

[0102] like Figure 5 As shown, in any of the above embodiments, the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter specifically includes:

[0103] Step 502, establishing a first correction coordinate system and a second correction coordinate system according to the target rotation parameter and the target displacement parameter;

[0104] Step 504, determining whether the accuracy of the first corrected coordinate system and the second corrected coordinate system is within a third set accuracy range, if the determination result is no, executing step 506, if the determination result is yes, executing step 508;

[0105] Step 506, searching the first target coordinate system and the second target coordinate system within the coordinate system adjustment range by using the simplex method for the first revised coordinate system and the second revised coordinate system;

[0106] Step 508: Use the first corrected coordinate system as the first target coordinate system, and use the second corrected coordinate system as the second target coordinate system.

[0107] In this design, after the target rotation parameter and the target displacement parameter are obtained by the optimization algorithm, the corresponding coordinate system can be obtained according to the target rotation parameter and the target displacement parameter. Specifically, the first correction coordinate system can be determined by the target rotation parameter and the target displacement parameter obtained according to the first initial coordinate system, and the second correction coordinate system can be determined by the target rotation parameter and the target displacement parameter obtained according to the second initial coordinate system. At this time, the first correction coordinate system and the second correction coordinate system obtained have higher accuracy than the first initial coordinate system and the second initial coordinate system. The accuracy of the first correction coordinate system and the second correction coordinate system is detected to determine whether the accuracy of the first correction coordinate system and the second correction coordinate system is within the third set accuracy range. If it is determined that it is within the third set accuracy range, the first correction coordinate system and the second correction coordinate system are used as the first target coordinate system and the second target coordinate system. If it is determined that it is outside the third set accuracy range, the first correction coordinate system and the second correction coordinate system are locally optimized by the simplex method, and the optimization result is continuously tested for accuracy until the accuracy of the optimization result is within the third accuracy range, and the first coordinate system and the second coordinate system obtained by optimization are used as the first target coordinate system and the second target coordinate system. After multiple iterations of optimization of the first initial coordinate system and the second initial coordinate system, the trajectory error of the robot arm when processing the workpiece can be continuously reduced. The processing accuracy of the robot arm can be improved by controlling the robot arm to process the workpiece in the first target coordinate system and the second target coordinate system.

[0108] like Figure 6 The error variation curve of the coordinate system is shown. Each optimization of the first initial coordinate system and the second initial coordinate system can reduce the movement trajectory error of the robot arm. Specifically, the error reading of the sensor is reduced from 0.5 mm to below 0.14 mm.

[0109] like Figure 7 As shown, in any of the above embodiments, the step of obtaining the first initial coordinate system of the robot arm and the second initial coordinate system of the workpiece specifically includes:

[0110] Step 702, obtaining the current tool coordinate system of the robot arm as the first initial coordinate system;

[0111] Step 704, obtaining the current tool coordinate system of the workpiece, and determining the correction parameter value of the current workpiece coordinate system;

[0112] Step 706: adjust the current workpiece coordinate system according to the correction parameter value to obtain a second initial coordinate system.

[0113] In this embodiment, the processing equipment calibrates the tool coordinate system of the robot arm and the workpiece coordinate system of the workpiece in response to the coordinate calibration instruction, and stores the calibrated tool coordinate system and workpiece coordinate system in the local storage area. By obtaining the current tool coordinate system as the first initial coordinate system in the local storage area, obtaining the correction parameter values ​​of the current workpiece coordinate system and the current workpiece coordinate system, and adjusting the coordinate parameters in the current workpiece coordinate system by the correction parameters, the absolute accuracy of the current workpiece coordinate system is improved. By calibrating and optimizing the current workpiece coordinate system before optimizing the accuracy of the first initial coordinate system and the second initial coordinate system, the second initial coordinate system can have a higher accuracy before optimization, so that the subsequent optimization steps do not need to significantly adjust the coordinate parameters in the second initial coordinate system.

[0114] The absolute accuracy of the coordinate system of the processing equipment can be improved by calibrating and optimizing the coordinate system of the processing equipment multiple times.

[0115] It can be understood that the second initial coordinate system obtained by correcting the current workpiece coordinate system has good absolute accuracy, and its error is less than 0.5 mm.

[0116] like Figure 8 As shown, in any of the above embodiments, the step of determining the correction parameter value of the current workpiece coordinate system specifically includes:

[0117] Step 802, obtaining at least two test coordinate points on the workpiece, and determining the coordinate origin of the workpiece according to the test coordinate points;

[0118] Step 804, obtaining a test distance from the coordinate origin to the test coordinate point, and determining a correction parameter value according to the test distance.

[0119] In this embodiment, at least two test coordinate points are calibrated on the workpiece in the calibrated current workpiece coordinate system and the current tool coordinate system. All test coordinate points marked on the workpiece are obtained, and the coordinate origin on the workpiece is selected according to the test coordinate points, and the test distance between the coordinate origin and each test coordinate point is collected. According to the numerical relationship between the obtained multiple test distances, the coordinate parameters required to be corrected in the current workpiece coordinate system and the correction parameter values ​​of the coordinate parameters can be obtained, and the coordinate parameters required to be corrected are corrected by the correction parameter values, so as to obtain the second initial coordinate system. By adjusting each coordinate parameter in the current workpiece coordinate system, the absolute accuracy of the second initial coordinate system can be improved.

[0120] It can be understood that the test coordinate points are marked at the positions where the workpiece needs to be processed. The test coordinate points are marked manually by the user, which avoids excessive errors in the marking of the test coordinate points due to the low accuracy of the coordinate system of the processing equipment, thereby affecting the accuracy of the subsequent correction of the current workpiece coordinate system.

[0121] In the above embodiment, the number of test coordinate points is 8.

[0122] In this design, the workpiece has four planes that need to be processed, and two test coordinate points are marked on each plane that needs to be processed, thereby ensuring that each plane of the workpiece that needs to be processed is set with a test coordinate point, further improving the absolute accuracy of the second initial coordinate system obtained.

[0123] Embodiment three:

[0124] like Fig. 9 As shown, a third embodiment of the present invention provides a control method for a processing device, wherein the processing device includes a robot arm, and the robot arm is used to process a workpiece.

[0125] Step 902, obtaining the current tool coordinate system and the current workpiece coordinate system;

[0126] Step 904, determining a first initial coordinate system and a second initial coordinate system according to the current tool coordinate system and the current workpiece coordinate system;

[0127] Step 906: Determine a first target coordinate system and a second target coordinate system according to the first initial coordinate system and the second initial coordinate system.

[0128] In step 902, the workpiece coordinate system and the tool coordinate system of the processing equipment are calibrated. Optionally, the tool coordinates may be calibrated by a four-point method, and the workpiece coordinates may be calibrated by a three-point method.

[0129] The processing equipment also includes a sensor, and the sensor is selected as a laser sensor. The laser sensor is set to a position 30 mm away from the tool center point of the robotic arm, which can ensure that the laser sensor has a high accuracy in ranging.

[0130] In step 904, the workpiece has four planes that need to be processed, and two test coordinate points are marked on each plane that needs to be processed, thereby ensuring that each plane that needs to be processed of the workpiece is set with a test coordinate point, further improving the absolute accuracy of the obtained second initial coordinate system.

[0131] like Fig.10 As shown, in some embodiments, the workpiece includes a first processing surface, a second processing surface, a third processing surface and a fourth processing surface, two test coordinate points C1 and C2 are marked on the first processing surface, two test coordinate points C3 and C4 are marked on the second processing surface, two test coordinate points C5 and C6 are marked on the third processing surface, and two test marking points C7 and C8 are marked on the fourth processing surface.

[0132] like Fig.11As shown, the end point of the line connecting C1 and C2 is set as the coordinate origin. The distances from the coordinate origin to C1, C2, C3, C4, C5, C6, C7 and C8 are obtained and recorded as L1, L2, L3, L4, L5, L6, L7 and L8 respectively.

[0133] Determine whether abs(L1-L2)<0.05mm and abs(L3-L4)<0.05mm. If the above conditions are met, then determine the size relationship between L1 and L2, and the size relationship between L3 and L4, and adjust the rotation angles of the Y and Z axes according to the size relationship between L1 and L2 and the size relationship between L3 and L4. The specific adjustment logic is as follows:

[0134] When L1<L2, and L3<L4, the rotation angle of the Y axis is adjusted in the opposite direction;

[0135] When L1<L2, and L3≥L4, adjust the rotation angle of the Z axis in the opposite direction;

[0136] When L1≥L2 and L3<L4, the rotation angle of the Y axis is adjusted in the positive direction;

[0137] When L1≥L2, and L3≥L4, the rotation angle of the Z axis is adjusted in the positive direction;

[0138] When the adjustment is made to satisfy abs(L1-L2)≥0.05mm and abs(L3-L4)≥0.05mm, the rotation angles of the Y-axis and the Z-axis are no longer adjusted.

[0139] Continue to determine whether abs(L5-L6) < 0.05mm and abs(L7-L8) < 0.05mm. If the above conditions are not met, determine the size relationship between L5 and L6, and the size relationship between L7 and L8, and adjust the rotation angle of the X axis according to the size relationship between L5 and L6 and the size relationship between L7 and L8. The specific adjustment logic is as follows:

[0140] When L5<L6, and L7<L8, the rotation angle of the X-axis is adjusted in the positive direction;

[0141] When L5>L6, and L7>L8, the rotation angle of the X-axis is adjusted in the opposite direction;

[0142] If the above three conditions are not met, there is no need to adjust the rotation angle of the X axis.

[0143] Continue to determine whether abs[(L1+L2) / 2-(L3+L4) / 2]<0.05mm, and record the above condition as condition 1. Determine whether (L1+L2) / 2<(L3+L4) / 2, and record the above condition as condition 2. Determine whether (L1+L2) / 2>(L3+L4) / 2, and record the above condition as condition 3. The specific adjustment logic is as follows:

[0144] If condition 1 is not met, determine whether condition 2 is met. If condition 2 is met, adjust the displacement of the Y axis in the positive direction, and return to the step of determining whether condition 1 is met.

[0145] If condition 1 is not met, determine whether condition 2 is met. If condition 2 is not met, determine whether condition 3 is met. If condition 3 is met, adjust the displacement of the Y axis in the opposite direction, and return to the step of determining whether condition 1 is met.

[0146] When condition 1 is met, or when condition 1, condition 2, and condition 3 are not met at the same time, the execution continues.

[0147] Continue to determine whether abs[(L5+L6) / 2-(L7+L8) / 2]<0.05mm, and record the above condition as condition 4. Determine whether (L5+L6) / 2<(L7+L8) / 2, and record the above condition as condition 5. Determine whether (L5+L6) / 2>(L7+L8) / 2, and record the above condition as condition 6. The specific adjustment logic is as follows:

[0148] If condition 4 is not met, determine whether condition 5 is met. If condition 5 is met, adjust the displacement of the X-axis in the positive direction, and return to the step of determining whether condition 4 is met.

[0149] If condition 4 is not met, determine whether condition 5 is met. If condition 5 is not met, determine whether condition 6 is met. If condition 6 is met, adjust the displacement of the X-axis in the opposite direction, and return to the step of determining whether condition 4 is met.

[0150] When condition 1 is met, or when condition 1, condition 2, and condition 3 are not met at the same time, there is no need to continue adjusting the coordinate parameter values ​​in the current workpiece coordinate system.

[0151] After the above process is completed, the robot system now has relatively good absolute accuracy, with an error of less than 0.5 mm.

[0152] In step 906, after the above process is completed, the processing equipment now has relatively good absolute accuracy (error <0.5mm), but its absolute trajectory accuracy is still not high enough to meet high-precision requirements in practical applications.

[0153] The first initial coordinate system and the second initial coordinate system obtained based on the above process are further optimized based on the trajectory. This process is completed using a multi-objective optimization algorithm. During the optimization, the global optimization algorithm is first used to search for the target rotation parameters and the target displacement parameters within a certain range. Then, based on the target rotation parameters and the target displacement parameters obtained by the global optimization, the local optimization algorithm is used to finally obtain the first target coordinate system and the second target coordinate system.

[0154] like Fig.12 As shown, the steps of determining the first target coordinate system and the second target coordinate system specifically include:

[0155] Step 1202, determining rotation parameters in the first initial coordinate system and the second initial coordinate system;

[0156] Step 1204, converting the rotation parameter into a quaternion;

[0157] Step 1206, evaluating the accuracy of rotation parameters;

[0158] Step 1208, determining whether the rotation parameters are optimal, if the determination result is yes, executing step 1212, if the determination result is no, executing step 1210;

[0159] Step 1210, optimizing the rotation parameters using a genetic algorithm to obtain target rotation parameters;

[0160] Step 1212, displacement parameter accuracy evaluation;

[0161] Step 1214, determine whether it is the optimal displacement parameter, if the determination result is yes, execute step 1218, if the determination result is no, execute step 1216;

[0162] Step 1216, optimizing the displacement parameters using a genetic algorithm to obtain target displacement parameters;

[0163] Step 1218, determining a first corrected coordinate system and a second corrected coordinate system according to the target rotation parameter and the target displacement parameter;

[0164] Step 1220, determining whether the first corrected coordinate system and the second corrected coordinate system are optimal coordinates, if the determination result is yes, executing step 1224, if the determination result is no, executing step 1222;

[0165] Step 1222, using the simplex method to perform local optimization to determine the first target coordinate system and the second target coordinate system;

[0166] Step 1224: Use the first corrected coordinate system and the second corrected coordinate system as the first target coordinate system and the second target coordinate system.

[0167] In this embodiment, a genetic algorithm is used as a global optimization algorithm, and a simplex method is used as a local optimization algorithm.

[0168] There are three main evaluation indicators for determining whether they are optimal parameters and optimal coordinates: maximum distance error, peak-to-peak value of each trajectory error, and standard deviation of the average error of each trajectory. The weighted sum of the three evaluation indicators is used as the accuracy.

[0169] The optimization process is mainly divided into three steps:

[0170] (1) Using a genetic algorithm to optimize the rotation parameters in the first initial coordinate system and the second initial coordinate system to obtain the target rotation parameters. In this process, in order to ensure the continuity of the rotation angle, the rotation angle in the Cartesian coordinate system is first converted into a quaternion and then optimized.

[0171] (2) Based on the optimized rotation angle, a genetic algorithm is used to optimize the displacement parameters in the first initial coordinate system and the second initial coordinate system to obtain target displacement parameters.

[0172] (3) Determine the first correction coordinate system and the second correction coordinate system according to the target displacement parameter and the target rotation parameter, and use the simplex method to perform local optimization to obtain the first target coordinate system and the second target coordinate system.

[0173] Embodiment 4:

[0174] like Fig.13 As shown, in the fourth embodiment of the present invention, a processing device 1300 is provided, including: a robot arm 1306, for processing a workpiece; a sensor 1308, arranged on the robot arm 1306, for collecting parameters of the movement of the robot arm 1306 relative to the workpiece; a memory 1302, on which programs or instructions are stored; a processor 1304, which executes the program or instructions to implement the steps of the control method of the processing equipment 1300 in any of the above embodiments.

[0175] The processing equipment 1300 provided in this embodiment includes a mechanical arm 1306 and a sensor 1308. The mechanical arm 1306 is used to process a workpiece, and the sensor 1308 arranged on the mechanical arm 1306 can collect parameters of the movement of the mechanical arm 1306 relative to the workpiece. The processing equipment 1300 also includes a memory 1302 and a processor 1304. When the processor 1304 executes the control method of the processing equipment 1300 stored in the memory 1302, after receiving the coordinate calibration instruction, the initial coordinate system of the tool coordinates and the workpiece coordinates is calibrated, and the calibrated coordinate system is stored in the local storage area, and the first initial coordinate system of the mechanical arm 1306 obtained by calibration and the second initial coordinate system of the workpiece are retrieved. The first initial coordinate system and the second initial coordinate system are coordinate systems obtained by calibration by the four-point method, so the accuracy of the coordinate system is not high. An evaluation index is set, and the accuracy of the first initial coordinate system and the second initial coordinate system is evaluated according to the evaluation index, and the first initial coordinate system and the second initial coordinate system are adjusted according to the accuracy to obtain the corresponding first target coordinate system and the second target coordinate system. Since the first initial coordinate system and the second initial coordinate system are both established based on the spatial coordinate system, that is, the first initial coordinate system and the second initial coordinate system include rotation parameters and displacement parameters, the accuracy of the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system are determined respectively, and the rotation parameters and displacement parameters in the first initial coordinate system and the second initial coordinate system are adjusted according to the accuracy of the rotation parameters and the accuracy of the displacement parameters. The initial coordinate system obtained by calibration is detected and determined by accuracy, and the workpiece coordinate system and the tool coordinate system are optimized and adjusted according to the accuracy, so that a target coordinate system with high absolute accuracy can be obtained. The workpiece is processed by the first target coordinate system and the second target coordinate system, thereby improving the absolute trajectory accuracy of the robot arm 1306 in the actual workpiece processing process.

[0176] Among them, when it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system meets the standard, there is no need to adjust the first initial coordinate system and the second initial coordinate system, and the first initial coordinate system and the second initial coordinate system can be directly used as the first target coordinate system and the second target coordinate system. When it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system does not meet the standard, it is necessary to adjust the first initial coordinate system and the second initial coordinate system according to the current accuracy. The specific adjustment form is to adjust the coordinate parameters in the first initial coordinate system, and / or adjust the coordinate parameters in the second initial coordinate system, so as to improve the accuracy of the first coordinate system and the second coordinate system.

[0177] Embodiment five:

[0178] In another embodiment of the present invention, a readable storage medium is provided, on which a program is stored. When the program is executed by a processor, the control method of the processing equipment in any of the above embodiments is implemented, thereby having all the beneficial technical effects of the control method of the processing equipment in any of the above embodiments.

[0179] It should be clear that in the claims, specifications and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present invention; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or it can be an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the specific circumstances of the above data.

[0180] In the claims, specification and accompanying drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and accompanying drawings of the present invention, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0181] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for a processing device, wherein the processing device comprises a robot arm, and the robot arm is used to process a workpiece, characterized in that: include: Receiving a coordinate calibration instruction, acquiring a first initial coordinate system of the robot arm, and determining a second initial coordinate system of the workpiece; Determining the accuracy of the first initial coordinate system and the second initial coordinate system; Adjust the first initial coordinate system and the second initial coordinate system according to the accuracy to obtain a first target coordinate system and a second target coordinate system; Controlling the robot arm to process the workpiece in the first target coordinate system and the second target coordinate system; Wherein, the accuracy includes rotation parameter accuracy and displacement parameter accuracy; The step of adjusting the first initial coordinate system and the second initial coordinate system according to the precision specifically includes: determining a target rotation parameter based on that the rotation parameter accuracies of the first initial coordinate system and the second initial coordinate system are outside a first set accuracy range; determining a target displacement parameter based on that the displacement parameter accuracies of the first initial coordinate system and the second initial coordinate system are outside a second set accuracy range; Determine the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter; Before the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter, the method further includes: Determining a coordinate system adjustment range according to the first initial coordinate system and the second initial coordinate system; The step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter specifically includes: Establishing a first correction coordinate system and a second correction coordinate system according to the target rotation parameter and the target displacement parameter; Based on the fact that the accuracy of the first revised coordinate system and the second revised coordinate system is outside the third set accuracy range, the first revised coordinate system and the second revised coordinate system are searched within the coordinate system adjustment range by using the simplex method to obtain the first target coordinate system and the second target coordinate system.

2. The control method of processing equipment according to claim 1, characterized in that: The step of determining the target rotation parameter specifically includes: Initial rotation parameters of the first initial coordinate system and the second initial coordinate system are obtained, the initial rotation parameters are converted into corresponding quaternions, and target rotation parameters are determined within the adjustment range of the coordinate system through a genetic algorithm according to the quaternions.

3. The control method of processing equipment according to claim 1, characterized in that: The step of determining the target displacement parameter specifically includes: Acquire initial displacement parameters of the first initial coordinate system and the second initial coordinate system; According to the initial displacement parameters, target displacement parameters are determined within the coordinate system adjustment range by using a genetic algorithm.

4. The control method of a processing equipment according to any one of claims 1 to 3, characterized in that: The step of determining the first initial coordinate system of the robot arm and the second initial coordinate system of the workpiece specifically includes: Acquire the current tool coordinate system of the robot arm as the first initial coordinate system; Acquire a current workpiece coordinate system of the workpiece, and determine a correction parameter value of the current workpiece coordinate system; The current workpiece coordinate system is adjusted according to the correction parameter value to obtain the second initial coordinate system.

5. The control method of processing equipment according to claim 4, characterized in that: The step of determining the correction parameter value of the current workpiece coordinate system specifically includes: Acquire at least two test coordinate points on the workpiece, and determine the coordinate origin of the workpiece according to the test coordinate points; A test distance from the coordinate origin to the test coordinate point is obtained, and the correction parameter value is determined according to the test distance.

6. The control method of processing equipment according to claim 5, characterized in that: The number of the test coordinate points is 8.

7. A processing equipment, characterized in that: include: A robotic arm for processing workpieces; A sensor for collecting parameters of the movement of the robot arm relative to the workpiece; A memory, wherein a program or an instruction is stored in the memory; A processor, wherein the processor executes the program or instructions to implement the steps of the control method of the processing equipment according to any one of claims 1 to 6.

8. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the control method of the processing equipment according to any one of claims 1 to 6 are implemented.

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