Punching control method, system, device and computer equipment

Abstract

The application relates to a punching control method, system and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: receiving target punching position information sent by an upper computer equipment; the target punching position information comprises initial coordinates corresponding to a plurality of punching positions; controlling the movement of an automatic guided vehicle according to the initial coordinates corresponding to a current punching position, and tracking the automatic guided vehicle through a laser tracker to obtain current position coordinates of the automatic guided vehicle; controlling an auxiliary positioning equipment to measure characteristic angle information corresponding to the automatic guided vehicle; compensating the current position coordinates according to the characteristic angle information to obtain punching position compensation information; and the punching position compensation information is used to control the movement of the automatic guided vehicle to the current punching position. The method can automatically compensate the punching position, effectively reduce the precision deviation of the final hole position, improve the automatic punching positioning precision, and improve the punching work efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of automotive automation equipment, and in particular to a punching control method, system, device, computer equipment, storage medium, and computer program product. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with electromagnetic or optical navigation systems, capable of traveling along a prescribed path and offering safety features and various transfer functions. Due to the limitations of traditional AGV control technology, the traditional method of drilling and positioning holes for production line equipment has low accuracy and cannot meet the requirements for high-precision installation. Summary of the Invention

[0003] Based on this, it is necessary to provide a punching control method, system, device, computer equipment, storage medium and computer program product that can solve the above technical problems.

[0004] In a first aspect, the present application provides a punching control method, the method comprising:

[0005] Receive target punching position information sent by the host device; the target punching position information includes initial coordinates corresponding to multiple punching positions;

[0006] Controlling the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and tracking the automatic guided vehicle with a laser tracker to obtain the current position coordinates of the automatic guided vehicle;

[0007] Controlling the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle;

[0008] The current position coordinates are compensated according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0009] In one embodiment, the control auxiliary positioning device measures and obtains characteristic angle information corresponding to the automatic guided vehicle, including:

[0010] Controlling the auxiliary positioning device to move and measure, and obtaining a current rotation angle of the automatic guided vehicle and an inclination angle of the ground on which the automatic guided vehicle is located;

[0011] The current rotation angle and the tilt angle are used as characteristic angle information corresponding to the automatic guided vehicle.

[0012] In one embodiment, the compensating the current position coordinates according to the characteristic angle information to obtain the punching position compensation information includes:

[0013] Determining a coordinate rotation angle corresponding to the current position coordinates according to a current rotation angle of the automated guided vehicle and an inclination angle of the ground on which the automated guided vehicle is located;

[0014] The coordinate rotation angle and the current position coordinates are processed by a preset calculation formula to obtain the target coordinates corresponding to the current punching position as the punching position compensation information.

[0015] In one embodiment, the method further comprises:

[0016] After detecting that the punching operation for the current punching position is completed, determining a next punching position for the current punching position;

[0017] The next punching position is used as the current punching position, and the initial coordinates corresponding to the current punching position are returned to control the movement of the automatic guided vehicle, and the automatic guided vehicle is tracked by a laser tracker to obtain the current position coordinates of the automatic guided vehicle, until the punching operation is completed at the multiple punching positions.

[0018] In one embodiment, the host computer device is respectively connected to the laser tracker and the controller for controlling the automatic guided vehicle and the auxiliary positioning device; the host computer device is used to obtain the initial punching position information based on the laser tracker, and perform coordinate conversion on the initial punching position information according to the constructed designated coordinate system to obtain the target punching position information.

[0019] In a second aspect, the present application further provides a drilling control system, the system comprising a host computer device, a laser tracker, a controller, an automatic guided vehicle, and an auxiliary positioning device, wherein:

[0020] The host computer device is used to obtain initial punching position information based on the laser tracker, perform coordinate conversion on the initial punching position information according to the established designated coordinate system to obtain target punching position information, and send the target punching position information to the controller;

[0021] The laser tracker is used to track the automatic guided vehicle and collect the current position coordinates of the automatic guided vehicle in real time;

[0022] The auxiliary positioning device is used to measure characteristic angle information corresponding to the automatic guided vehicle; the characteristic angle information includes the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located;

[0023] The controller is used to receive the target punching position information; control the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and obtain the current position coordinates of the automatic guided vehicle; control the auxiliary positioning equipment to measure and obtain the characteristic angle information corresponding to the automatic guided vehicle; compensate the current position coordinates according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0024] In a third aspect, the present application further provides a punching control device, comprising:

[0025] A punching information receiving module is used to receive target punching position information sent by a host device; the target punching position information includes initial coordinates corresponding to multiple punching positions;

[0026] A current position coordinate determination module is used to control the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and track the automatic guided vehicle through a laser tracker to obtain the current position coordinates of the automatic guided vehicle;

[0027] A characteristic angle information obtaining module is used to control the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle;

[0028] The punching position compensation module is used to compensate the current position coordinates according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0029] In a fourth aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the punching control method described above when executing the computer program.

[0030] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the punching control method described above.

[0031] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned puncture control method when executed by a processor.

[0032] The above-mentioned punching control method, system, device, computer equipment, storage medium and computer program product receive target punching position information sent by a host computer device, and the target punching position information includes initial coordinates corresponding to multiple punching positions. The automatic guided vehicle is controlled to move according to the initial coordinates corresponding to the current punching position, and the automatic guided vehicle is tracked by a laser tracker to obtain the current position coordinates of the automatic guided vehicle. Then, the auxiliary positioning device is controlled to measure and obtain the characteristic angle information corresponding to the automatic guided vehicle, and then the current position coordinates are compensated according to the characteristic angle information to obtain the punching position compensation information. The punching position compensation information is used to control the automatic guided vehicle to move to the current punching position, which greatly improves the degree of automation and optimizes the punching control based on the automatic guided vehicle. Through automatic compensation of the punching position, the accuracy deviation of the final hole position can be effectively reduced, the automatic punching positioning accuracy is improved, and the punching work efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 1 is a flow chart of a punching control method according to an embodiment;

[0034] Figure 2a A schematic diagram of an overall architecture for hole punching control according to an embodiment;

[0035] Figure 2b A schematic diagram of an automatic punching process in one embodiment;

[0036] Figure 3a A schematic diagram of a host computer device interface in one embodiment;

[0037] Figure 3b A schematic diagram of another host computer device interface in one embodiment;

[0038] Figure 4 is a schematic diagram of a method for calculating Euler angles in one embodiment;

[0039] Figure 5 1 is a flow chart of another punching control method according to an embodiment;

[0040] Figure 6 A structural block diagram of a punching control system in one embodiment;

[0041] Figure 7 is a structural block diagram of a punching control device in one embodiment;

[0042] Figure 8 The figure is a diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0044] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties; correspondingly, this application also provides a corresponding user authorization entrance for users to choose to authorize or refuse.

[0045] In one embodiment, Figure 1 As shown, a punching control method is provided. This embodiment uses the method applied to a controller as an example for illustration. The method includes the following steps:

[0046] Step 101: receiving target punching position information sent by a host device; the target punching position information includes initial coordinates corresponding to multiple punching positions;

[0047] Among them, such as Figure 2a The overall architecture diagram of the punching control shown in the figure can represent the application environment of the punching control method provided in this embodiment. The host computer device can communicate with the laser tracker and the controller (PLC) respectively through the network. The host computer device can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices; the controller can communicate with the automatic guided vehicle and auxiliary positioning equipment (such as three-axis truss punching equipment) to control the automatic guided vehicle (AGV) and the auxiliary positioning equipment. The automatic guided vehicle (AGV) is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, which can travel along a specified navigation path and has safety protection and various transfer functions.

[0048] As an example, the host computer device can be configured with host computer software. By combining a high-precision laser tracker for measurement, software calculations, judgments and logical processing can be performed based on the host computer software, and the processed data can be sent to the controller. This can realize automatic control of drilling and automatic compensation of drilling errors based on the automatic guided vehicle and controller.

[0049] In practical applications, the host device can obtain the initial punching position information based on the laser tracker, and then perform coordinate conversion on the initial punching position information according to the established specified coordinate system to obtain the target punching position information, and then send the target punching position information to the controller. Then the controller can receive the target punching position information sent by the host device and obtain the initial coordinates corresponding to multiple punching positions, for example, Figure 2b As shown, the punching work order can be obtained and imported, and by judging whether the punching work order is imported, the initial coordinates corresponding to the multiple punching positions specified in the punching work order can be obtained after the import is completed.

[0050] In one example, the host computer device can be communicated with the laser tracker and the controller respectively. The controller can be used to control the automatic guided vehicle and the auxiliary positioning device. The host computer device can be used to obtain the initial punching position information based on the laser tracker, and perform coordinate conversion on the initial punching position information according to the constructed specified coordinate system to obtain the target punching position information.

[0051] In an optional embodiment, by obtaining the respective IP addresses of the laser tracker, controller, and automatic guided vehicle, a communication connection can be established between the host device and the laser tracker and controller, as well as a communication connection between the controller and the automatic guided vehicle. For example, the IP address of the laser tracker, the IP address of the controller, and the IP address of the automatic guided vehicle can be input through the host software page of the host device to establish a communication connection. Data transmission can also be achieved based on the development kit of the laser tracker, the communication development kit of the controller, and the host software. Figure 2b As shown, after the connection is successful, the laser tracker can be initialized and the automatic guided vehicle can be tracked. The host computer device can establish the corresponding spatial coordinate system according to the drilling requirements to perform coordinate conversion processing. For example, the coordinate transformation can be performed through matrix calculation, Euler angle calculation formula, and least squares calculation. It can be implemented based on the algorithm of the host computer device and the host computer software code calculation is completed.

[0052] Specifically, the position data X, Y, Z of the laser tracker (i.e., the initial punching position information) can be obtained. For example, the host computer device can read the position data X, Y, Z of the laser tracker based on the host computer software, and then a factory coordinate system can be established based on the punching requirements, and the obtained position data X, Y, Z of the laser tracker can be coordinate transformed. For example, the position data in the coordinate system corresponding to the laser tracker can be coordinate transformed through a coordinate transformation matrix to obtain the position data in the factory coordinate system (i.e., the target punching position information). After the coordinate transformation is completed, the converted data can be sent to the controller and the automatic guided vehicle.

[0053] For example, the main interface of the host software of the host device can be as follows Figure 3aAs shown, the coordinate system related pages can be Figure 3b As shown, Figure 3b The connection parameter settings can represent the IP address of the laser tracker, the IP address of the controller (PLC), and the IP address of the automatic guided vehicle (AGV); Figure 3b The coordinate data of the laser tracker coordinate system shown on the left is converted into Figure 3b The coordinate data of the new coordinate system shown on the right side is, for example, the coordinate system of the production line plant established based on the drilling requirements.

[0054] Step 102: Control the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and track the automatic guided vehicle with a laser tracker to obtain the current position coordinates of the automatic guided vehicle;

[0055] In a specific implementation, the movement of the automatic guided vehicle can be controlled according to the initial coordinates corresponding to the current punching position, and the automatic guided vehicle can be tracked by a laser tracker, and the current position information of the automatic guided vehicle can be collected in real time. Then, the host computer device can read the current position information of the automatic guided vehicle collected by the laser tracker in real time, and can send the data after coordinate conversion of the current position information to the controller, so that the controller can obtain the current position coordinates of the automatic guided vehicle; the host computer device can also send the coordinate conversion relationship to the controller to further realize the automatic positioning of the automatic guided vehicle and the automatic positioning and error compensation based on the auxiliary positioning device. For example, the host computer device can read the current position information of the automatic guided vehicle collected by the laser tracker in real time, and can send the current position information to the controller, so that the controller can obtain the current position coordinates of the automatic guided vehicle after coordinate conversion.

[0056] For example, the automatic guided vehicle and controller can import the data of the punching work order to obtain the initial coordinates corresponding to multiple punching positions specified in the punching work order. The controller can give the automatic guided vehicle positioning points, such as the initial coordinates corresponding to the current punching position, and then the automatic guided vehicle can automatically move to the specified position.

[0057] In one example, the controller can use an open source communication development package and, based on a data acquisition message mechanism, read the data in a timely manner when a change is detected. Through upper computer software development, the communication time can be controlled within 10ms, and the upper computer device adopts multi-threading technology to avoid software crashes caused by failures in a certain communication link. By reading data through a message mechanism and multi-threading technology, the stability of the software is effectively guaranteed, and the position of the automatic guided vehicle can be accurately tracked in real time, which can enhance the stability and positioning accuracy of the system and save costs.

[0058] Step 103: Control the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle;

[0059] In practical applications, due to the positioning error caused by the movement of the automatic guided vehicle and the uneven ground, the characteristic angle information corresponding to the automatic guided vehicle can be obtained by moving and measuring the auxiliary positioning equipment to further automatically compensate for the drilling error.

[0060] Specifically, the characteristic angle information may include the current rotation angle of the AGV and the inclination angle of the ground on which the AGV is located. For example, the rotation angle of the AGV and the inclination angle of the ground may be measured by moving an auxiliary positioning device.

[0061] Step 104 : Compensate the current position coordinates according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0062] After obtaining the characteristic angle information, the current position coordinates can be compensated according to the characteristic angle information to obtain the punching position compensation information, and then the automatic guided vehicle can be controlled to move to the current punching position based on the punching position compensation information, thereby realizing automatic compensation through the algorithm, which can correct the position error of the automatic guided vehicle movement, mechanical error, and punching position deviation caused by uneven ground, thereby improving the punching accuracy.

[0063] In one example, after the punching work order data is imported, the automatic guided vehicle and the controller can enter the automatic punching program, realize automatic positioning of the automatic guided vehicle, and automatically compensate the punching position through matrix operations and Euler angle calculation formulas. After completing punching at the current punching position, it can automatically enter the next punching coordinate for punching operations until all punching positions in the punching work order are completed.

[0064] Compared with traditional methods, due to the limitations of AGV control technology, the maximum accuracy of laser navigation is only ±10mm, which cannot meet the needs of high-precision positioning and installation of equipment. In addition, PLC communication adopts traditional OPC communication method, which has large communication delay, poor flexibility and real-time performance, high cost and limited functions. The technical solution of this embodiment, through combining high-precision laser tracker for measurement, and performing software calculation, judgment and logic processing based on the host computer software, can control the positioning accuracy of the automatic guided vehicle within ±20mm, and perform secondary precise positioning through auxiliary positioning equipment, automatically compensate for the drilling position, so as to be able to control the most accurate positioning. The final hole position accuracy deviation is within ±1mm; it can also realize automatic import of punching work orders, automatic generation of reports, real-time display of system status monitoring, fault alarm and processing methods, as well as remote operation and other functions. The application results of the technical solution of this embodiment show that the automatic punching positioning accuracy of the automatic punching system can reach ±1mm, the punching cost is reduced by 60%, and the punching efficiency is increased by more than 70%. By using AGV and PLC for automatic control, the punching time can be shortened, the labor intensity can be reduced, and the degree of automation can be greatly improved. It also verifies the feasibility, safety, stability and reliability of the system, and greatly improves work efficiency.

[0065] In the above-mentioned punching control method, by receiving the target punching position information sent by the upper computer device, the movement of the automatic guided vehicle is controlled according to the initial coordinates corresponding to the current punching position, and the automatic guided vehicle is tracked by the laser tracker to obtain the current position coordinates of the automatic guided vehicle, and then the auxiliary positioning device is controlled to measure and obtain the characteristic angle information corresponding to the automatic guided vehicle, and then the current position coordinates are compensated according to the characteristic angle information to obtain the punching position compensation information, which greatly improves the degree of automation and optimizes the punching control based on the automatic guided vehicle. Through automatic compensation of the punching position, the accuracy deviation of the final hole position can be effectively reduced, the automatic punching positioning accuracy is improved, and the punching work efficiency is improved.

[0066] In one embodiment, the controlling auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle may include the following steps:

[0067] The auxiliary positioning device is controlled to move and measure to obtain a current rotation angle of the automatic guided vehicle and an inclination angle of the ground on which the automatic guided vehicle is located; and the current rotation angle and the inclination angle are used as characteristic angle information corresponding to the automatic guided vehicle.

[0068] In one example, due to the positioning error caused by the movement of the automatic guided vehicle and the uneven ground, the rotation angle of the automatic guided vehicle (that is, the current rotation angle of the automatic guided vehicle) and the inclination angle of the ground (that is, the inclination angle of the ground on which the automatic guided vehicle is located) can be measured by moving the auxiliary positioning equipment. The current rotation angle and inclination angle can then be used as the characteristic angle information corresponding to the automatic guided vehicle to further automatically compensate for the drilling error.

[0069] In this embodiment, by controlling the movement and measurement of the auxiliary positioning equipment, the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located are obtained, and then the current rotation angle and inclination angle are used as the characteristic angle information corresponding to the automatic guided vehicle, which can effectively reduce the accuracy deviation of the final hole position and improve the automatic drilling positioning accuracy.

[0070] In one embodiment, performing compensation processing on the current position coordinates according to the characteristic angle information to obtain punching position compensation information may include the following steps:

[0071] According to the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located, the coordinate rotation angle corresponding to the current position coordinates is determined; through a preset calculation formula, the coordinate rotation angle and the current position coordinates are processed to obtain the target coordinates corresponding to the current punching position as the punching position compensation information.

[0072] In practical applications, the coordinate rotation angle corresponding to the current position coordinate can be determined based on the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located. For example, the rotation angles α, β, and γ of X, Y, and Z can be calculated respectively. Then, the final punching position X', Y', and Z' can be calculated based on the calculated coordinate rotation angle using the Euler angle formula to achieve automatic compensation for punching errors, thereby effectively correcting the position error of the automatic guided vehicle movement, mechanical error, and punching position deviation caused by uneven ground.

[0073] In one example, if Figure 2a As shown in the figure, A, B, C, and D corresponding to the automatic guided vehicle represent the four steering wheel travel motors of the automatic guided vehicle; the X-axis, Y-axis, and Z-axis corresponding to the auxiliary positioning equipment are its three-dimensional motion axes; the U-axis is the rotation axis, and its main function is to realize the laser measurement of the laser tracker to complete automatic alignment.

[0074] For example, the following methods can be used to calculate the rotation angles α, β, and γ of X, Y, and Z, respectively:

[0075] Step 1: Move the X axis 100 mm in the positive direction, and calculate the Y and Z rotation angles β and γ respectively based on the real-time position measurement of the laser and trigonometric functions;

[0076] β=Arctan(Y2-Y1) / 100

[0077] Among them, Y1 is the starting point coordinate before moving, and Y2 is the end point coordinate after moving;

[0078] γ=Arctan(Z2-Z1) / 100

[0079] Among them, Z1 is the coordinate of the starting point before moving, and Z2 is the coordinate of the end point after moving;

[0080] Step 2: Move the Y axis 100 mm in the positive direction and calculate α based on the real-time position measurement of the laser and trigonometric functions.

[0081] α=Arctan(X2-X1) / 100

[0082] Among them, X1 is the starting point coordinate before moving, and X2 is the end point coordinate after moving.

[0083] For example, Figure 4 As shown, the punching position can be automatically compensated through matrix operations and Euler angle calculation formulas in the following way:

[0084]

[0085] Among them, X, Y, Z can be the current position coordinates, α, β, γ can be the rotation angles of X, Y, Z respectively, R can represent the rotation matrix, c can represent the cos function, s can represent the sin function, and through matrix operations and Euler angle calculations, the final punching position X', Y', Z' can be obtained, that is, the target coordinates corresponding to the current punching position.

[0086] In this embodiment, the coordinate rotation angle corresponding to the current position coordinates is determined based on the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located. Then, the coordinate rotation angle and the current position coordinates are processed through a preset calculation formula to obtain the target coordinates corresponding to the current punching position. This is used as the punching position compensation information, thereby realizing automatic compensation of the punching position and effectively controlling the final hole position accuracy deviation.

[0087] In one embodiment, the following steps may also be included:

[0088] After detecting that the punching operation for the current punching position is completed, determining the next punching position of the current punching position; taking the next punching position as the current punching position, and returning to the steps of controlling the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and tracking the automatic guided vehicle by a laser tracker to obtain the current position coordinates of the automatic guided vehicle, until the punching operation is completed at the multiple punching positions.

[0089] In one example, if Figure 2b As shown, for the current punching position, it is possible to determine whether the punching operation is completed, and then automatically enter the next punching coordinate to perform the punching operation after detecting that the current punching position is completed. The next punching position of the current punching position can be determined, and the next punching position can be automatically positioned and compensated for, until all punching positions in the punching work order are completed.

[0090] In this embodiment, after detecting that the punching operation for the current punching position is completed, the next punching position of the current punching position is determined, and then the next punching position is used as the current punching position, and the initial coordinates corresponding to the current punching position are returned to control the movement of the automatic guided vehicle, and the automatic guided vehicle is tracked by a laser tracker to obtain the current position coordinates of the automatic guided vehicle, until the punching operation is completed at multiple punching positions, which can greatly improve the degree of automation and improve the efficiency of the punching work.

[0091] In one embodiment, Figure 5 As shown, a flow chart of another punching control method is provided. In this embodiment, the method includes the following steps:

[0092] In step 501, target drilling position information is received from a host device; the target drilling position information includes initial coordinates corresponding to multiple drilling positions. In step 502, the automated guided vehicle (AGV) is controlled to move based on the initial coordinates corresponding to the current drilling position, and the AGV is tracked by a laser tracker to obtain the current position coordinates of the AGV. In step 503, the auxiliary positioning device is controlled to move and measure, obtaining the current rotation angle of the AGV and the inclination angle of the ground on which the AGV is located. In step 504, the current rotation angle and inclination angle are used as characteristic angle information corresponding to the AGV. In step 505, the coordinate rotation angle corresponding to the current position coordinates is determined based on the current rotation angle of the AGV and the inclination angle of the ground on which the AGV is located. In step 506, the coordinate rotation angle and the current position coordinates are processed using a preset calculation formula to obtain the target coordinates corresponding to the current drilling position, which serve as drilling position compensation information. In step 507, after detecting that the drilling operation at the current drilling position has been completed, the next drilling position after the current drilling position is determined. In step 508, the next punching position is set as the current punching position, and the process returns to controlling the movement of the automated guided vehicle based on the initial coordinates corresponding to the current punching position, and tracking the automated guided vehicle with a laser tracker to obtain the coordinates of the current position of the automated guided vehicle, until the punching operation is completed at the multiple punching positions. It should be noted that the specific definitions of the above steps can be found in the specific definitions of a punching control method above and will not be repeated here.

[0093] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0094] Based on the same inventive concept, the embodiment of the present application also provides a punching control system for implementing the above-mentioned punching control method, such as Figure 6 As shown, the system includes a host device 601, a laser tracker 602, a controller 603, an automatic guided vehicle 604 and an auxiliary positioning device 605, wherein:

[0095] The host device 601 is used to obtain initial punching position information based on the laser tracker 602, perform coordinate conversion on the initial punching position information according to the established designated coordinate system to obtain target punching position information, and send the target punching position information to the controller 603;

[0096] The laser tracker 602 is used to track the automatic guided vehicle 604 and collect the current position coordinates of the automatic guided vehicle 604 in real time;

[0097] The auxiliary positioning device 605 is used to measure characteristic angle information corresponding to the automatic guided vehicle 604; the characteristic angle information includes the current rotation angle of the automatic guided vehicle 604 and the inclination angle of the ground on which the automatic guided vehicle 604 is located;

[0098] The controller 603 is used to receive the target punching position information; control the movement of the automatic guided vehicle 604 according to the initial coordinates corresponding to the current punching position, and obtain the current position coordinates of the automatic guided vehicle 604; control the auxiliary positioning device 605 to measure and obtain the characteristic angle information corresponding to the automatic guided vehicle 604; compensate the current position coordinates according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle 604 to move to the current punching position.

[0099] Based on the same inventive concept, the present application also provides a punching control device for implementing the punching control method described above. The solution provided by this device is similar to the solution described in the method described above. Therefore, the specific limitations of one or more punching control device embodiments provided below can be found in the above-mentioned limitations of the punching control method and will not be repeated here.

[0100] In one embodiment, Figure 7 As shown, a punching control device is provided, comprising:

[0101] The punching information receiving module 701 is used to receive target punching position information sent by the host device; the target punching position information includes initial coordinates corresponding to multiple punching positions;

[0102] The current position coordinate determination module 702 is used to control the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and track the automatic guided vehicle through a laser tracker to obtain the current position coordinates of the automatic guided vehicle;

[0103] The characteristic angle information obtaining module 703 is used to control the auxiliary positioning device to measure and obtain the characteristic angle information corresponding to the automatic guided vehicle;

[0104] The punching position compensation module 704 is used to compensate the current position coordinates according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0105] In one embodiment, the feature angle information obtaining module 703 includes:

[0106] an auxiliary positioning device measurement submodule, configured to control the movement and measurement of the auxiliary positioning device to obtain the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located;

[0107] The characteristic angle information determination submodule is configured to use the current rotation angle and the tilt angle as characteristic angle information corresponding to the automatic guided vehicle.

[0108] In one embodiment, the punch position compensation module 704 includes:

[0109] a coordinate rotation angle determination submodule, configured to determine the coordinate rotation angle corresponding to the current position coordinates based on the current rotation angle of the automated guided vehicle and the inclination angle of the ground on which the automated guided vehicle is located;

[0110] The target coordinate obtaining submodule is used to process the coordinate rotation angle and the current position coordinates through a preset calculation formula to obtain the target coordinates corresponding to the current punching position as the punching position compensation information.

[0111] In one embodiment, the apparatus further comprises:

[0112] A next punching position determining module, configured to determine a next punching position after detecting that the punching operation for the current punching position is completed;

[0113] The punching completion module is used to take the next punching position as the current punching position, return the initial coordinates corresponding to the current punching position to control the movement of the automatic guided vehicle, and track the automatic guided vehicle through a laser tracker to obtain the current position coordinates of the automatic guided vehicle until the punching operation is completed at the multiple punching positions.

[0114] Each module in the aforementioned punching control device may be implemented in whole or in part by software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0115] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store punching control data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a punching control method is implemented.

[0116] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0117] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0118] Receive target punching position information sent by the host device; the target punching position information includes initial coordinates corresponding to multiple punching positions;

[0119] Controlling the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and tracking the automatic guided vehicle with a laser tracker to obtain the current position coordinates of the automatic guided vehicle;

[0120] Controlling the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle;

[0121] The current position coordinates are compensated according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0122] In one embodiment, when the processor executes the computer program, it also implements the steps of the punching control method in other embodiments described above.

[0123] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0124] Receive target punching position information sent by the host device; the target punching position information includes initial coordinates corresponding to multiple punching positions;

[0125] Controlling the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and tracking the automatic guided vehicle with a laser tracker to obtain the current position coordinates of the automatic guided vehicle;

[0126] Controlling the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle;

[0127] The current position coordinates are compensated according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0128] In one embodiment, when the computer program is executed by a processor, the steps of the punching control method in the other embodiments described above are also implemented.

[0129] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0130] Receive target punching position information sent by the host device; the target punching position information includes initial coordinates corresponding to multiple punching positions;

[0131] Controlling the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and tracking the automatic guided vehicle with a laser tracker to obtain the current position coordinates of the automatic guided vehicle;

[0132] Controlling the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle;

[0133] The current position coordinates are compensated according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position.

[0134] In one embodiment, when the computer program is executed by a processor, the steps of the punching control method in the other embodiments described above are also implemented.

[0135] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0136] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A punching control method, characterized in that: The method comprises: Receive target punching position information sent by the host device; the target punching position information includes initial coordinates corresponding to multiple punching positions; Controlling the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and tracking the automatic guided vehicle with a laser tracker to obtain the current position coordinates of the automatic guided vehicle; Controlling the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle; including: controlling the auxiliary positioning device to move and measure to obtain a current rotation angle of the automatic guided vehicle and an inclination angle of the ground on which the automatic guided vehicle is located; and using the current rotation angle and the inclination angle as the characteristic angle information corresponding to the automatic guided vehicle; The current position coordinates are compensated according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position; including: determining the coordinate rotation angle corresponding to the current position coordinates according to the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located; through a preset calculation formula, the coordinate rotation angle and the current position coordinates are processed to obtain the target coordinates corresponding to the current punching position as the punching position compensation information.

2. The method according to claim 1, characterized in that The method further comprises: After detecting that the punching operation for the current punching position is completed, determining a next punching position for the current punching position; The next punching position is used as the current punching position, and the initial coordinates corresponding to the current punching position are returned to control the movement of the automatic guided vehicle, and the automatic guided vehicle is tracked by a laser tracker to obtain the current position coordinates of the automatic guided vehicle, until the punching operation is completed at the multiple punching positions.

3. The method according to claim 1 or 2, characterized in that The host computer device is respectively communicated with the laser tracker and the controller, and the controller is used to control the automatic guided vehicle and the auxiliary positioning device; the host computer device is used to obtain the initial punching position information based on the laser tracker, and perform coordinate conversion on the initial punching position information according to the constructed specified coordinate system to obtain the target punching position information.

4. A punching control system, characterized in that: The system includes a host computer, a laser tracker, a controller, an automatic guided vehicle, and auxiliary positioning equipment, wherein: The host computer device is used to obtain initial punching position information based on the laser tracker, perform coordinate conversion on the initial punching position information according to the established designated coordinate system to obtain target punching position information, and send the target punching position information to the controller; The laser tracker is used to track the automatic guided vehicle and collect the current position coordinates of the automatic guided vehicle in real time; The auxiliary positioning device is used to measure characteristic angle information corresponding to the automatic guided vehicle; the characteristic angle information includes the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located; The controller is used to receive the target punching position information; control the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and obtain the current position coordinates of the automatic guided vehicle; control the auxiliary positioning equipment to measure and obtain the characteristic angle information corresponding to the automatic guided vehicle; compensate the current position coordinates according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position; including: controlling the auxiliary positioning equipment to move and measure, to obtain the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located, and using the current rotation angle and the inclination angle as the characteristic angle information corresponding to the automatic guided vehicle; determining the coordinate rotation angle corresponding to the current position coordinate according to the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located, and processing the coordinate rotation angle and the current position coordinate through a preset calculation formula to obtain the target coordinate corresponding to the current punching position as the punching position compensation information.

5. A punching control device, characterized in that: The device comprises: A punching information receiving module is used to receive target punching position information sent by a host device; the target punching position information includes initial coordinates corresponding to multiple punching positions; A current position coordinate determination module is used to control the movement of the automatic guided vehicle according to the initial coordinates corresponding to the current punching position, and track the automatic guided vehicle through a laser tracker to obtain the current position coordinates of the automatic guided vehicle; A characteristic angle information obtaining module is used to control the auxiliary positioning device to measure and obtain characteristic angle information corresponding to the automatic guided vehicle; a punching position compensation module, configured to compensate the current position coordinates according to the characteristic angle information to obtain punching position compensation information; the punching position compensation information is used to control the automatic guided vehicle to move to the current punching position; The feature angle information obtaining module includes: an auxiliary positioning device measurement submodule, configured to control the movement and measurement of the auxiliary positioning device to obtain the current rotation angle of the automatic guided vehicle and the inclination angle of the ground on which the automatic guided vehicle is located; a characteristic angle information determination submodule, configured to use the current rotation angle and the tilt angle as characteristic angle information corresponding to the automatic guided vehicle; The punching position compensation module includes: a coordinate rotation angle determination submodule, configured to determine the coordinate rotation angle corresponding to the current position coordinates based on the current rotation angle of the automated guided vehicle and the inclination angle of the ground on which the automated guided vehicle is located; The target coordinate obtaining submodule is used to process the coordinate rotation angle and the current position coordinates through a preset calculation formula to obtain the target coordinates corresponding to the current punching position as the punching position compensation information.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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