Posture correction value determination and discharge position determination method and device, and electronic equipment

Abstract

The application provides a posture correction value determination and discharge position determination method and device and electronic equipment, wherein the method comprises: obtaining a standard photographing position of a discharge device in a target area, the standard photographing position being a position at which a workpiece feature of a current workpiece image obtained by the discharge device coincides with a workpiece feature of a workpiece model image; moving the discharge device to a preset position for discharging at the standard photographing position to obtain a standard discharging position of the discharge device in the target area, the standard discharging position being a position at which the discharge device discharges a workpiece to a corresponding workpiece; and determining a posture correction value of the discharge device in the target area according to coordinates of the standard photographing position and coordinates of the standard discharging position. The application converts from a photographing posture to a discharging posture at the standard photographing position in the target area to calculate the posture correction value of the discharge device in the target area, thereby reducing the number of times of posture correction value calculation and improving discharging efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of position determination, in particular to a posture correction value determination and a material placing position determination method and device and electronic equipment. BACKGROUND

[0002] At present, many workpieces are placed and unloaded by a material placing device to replace manual placement and unloading. When the workpieces are unloaded, the material placing device needs to switch multiple postures for unloading when placing the workpieces at a unloading trolley. The material placing device needs to switch multiple postures for unloading, that is, the material placing device needs to be debugged multiple times to normally complete the work, thereby reducing the unloading efficiency of the material placing device. SUMMARY

[0003] Therefore, the embodiment of the present application aims to provide a posture correction value determination and a material placing position determination method, device and electronic equipment. The number of times of debugging the material placing device can be reduced, and the unloading efficiency of the material placing device can be improved.

[0004] In a first aspect, the embodiment of the present application provides a posture correction value determination method, comprising: obtaining a standard photographing position of a material placing device in a target area, the standard photographing position being a position at which workpiece features of a current workpiece image obtained by the material placing device coincide with workpiece features of a workpiece model image; moving the material placing device to a preset position for unloading at the standard photographing position to obtain a standard unloading position of the material placing device in the target area, the standard unloading position being a position at which the material placing device places a workpiece on a corresponding workpiece; and determining a posture correction value of the material placing device in the target area according to coordinates of the standard photographing position and coordinates of the standard unloading position; wherein the target area comprises one or more areas, and each target area comprises one or more workpieces.

[0005] In the above implementation process, the posture correction value of the material placing device in the target area is determined according to the standard photographing position of the target area and the standard unloading position of unloading at the preset position. Since the unloading posture of the material placing device is consistent in one area, the posture correction value of the material placing device in the same area can be determined only by the posture change at one position in the area.

[0006] In one embodiment, the target area comprises a first target area, and the standard photographing position comprises a first standard photographing position. The obtaining of the standard photographing position of the material placing device in the target area comprises: obtaining a first standard photographing position of the material placing device in the first target area; wherein the first target area is an initial area in which the posture correction value of the material placing device is determined, and the first standard photographing position is an initial photographing position of an image acquisition device.

[0007] In the implementation process, since the target area is the first target area, the feeding device can be accurately moved to the set photographing position for photographing to obtain the first standard photographing position, thereby simplifying the obtaining manner of the first standard photographing position and improving the debugging efficiency of the feeding device.

[0008] In one embodiment, the standard feeding position includes a first standard feeding position, the preset position includes a first preset position, the attitude correction value includes a first attitude correction value, and the moving the feeding device to the preset position for feeding at the standard photographing position to obtain the standard feeding position of the feeding device in the target area includes: moving the feeding device to the first preset position for feeding at the first standard photographing position to obtain the first standard feeding position of the feeding device in the first target area; and the determining the attitude correction value of the feeding device in the target area according to the coordinates of the standard photographing position and the coordinates of the standard feeding position includes: determining the first attitude correction value of the feeding device in the first target area according to the coordinates of the first standard photographing position and the coordinates of the first standard feeding position.

[0009] In the implementation process, the first standard feeding position of the feeding device in the first target area is determined by moving the feeding device from the first standard photographing position to the first preset position for feeding, and then the first attitude correction value of the feeding device in the first target area can be determined according to the first standard photographing position and the first standard feeding position. Since the feeding device is only converted from the photographing attitude to the feeding attitude from the first standard photographing position to the first standard feeding position, the first standard photographing position and the first standard feeding position represent the attitude conversion of the feeding device, the position change of the feeding device during the attitude conversion is accurately calculated, and the accuracy of the attitude correction value of the feeding device is improved.

[0010] In one embodiment, the target area includes a second target area, the preset position includes a second theoretical preset position, the standard photographing position includes a second standard photographing position, and the attitude correction value includes a second attitude correction value. The obtaining the standard photographing position of the feeding device in the target area includes: controlling the feeding device to move from the first preset position to the second theoretical preset position; obtaining a workpile image of the feeding device at the second theoretical preset position, and determining a photographing correction position of the feeding device according to the workpile image at the second theoretical preset position and the workpile model image; and determining the second standard photographing position of the feeding device through the photographing correction position and the second theoretical preset position.

[0011] In the implementation process, the photographing deviation position between the second theoretical preset position and the second standard photographing position is determined by the work pile image obtained at the second theoretical preset position and the work pile model image, and the second theoretical preset position is further corrected according to the photographing deviation position, so as to obtain the second standard photographing position. The photographing position deviation is corrected, the standard photographing position is obtained, and the accuracy of the standard photographing position is improved.

[0012] In one embodiment, the preset position further includes a second actual preset position, and the moving the feeding device to the preset position for feeding at the standard photographing position to obtain a standard feeding position of the feeding device in the target area includes: moving the feeding device to the second actual preset position for feeding at the second standard photographing position to obtain a second standard feeding position of the feeding device in the second target area, the second actual preset position being a work pile position set for the second target area; and the determining the attitude correction value of the feeding device in the target area according to the coordinates of the standard photographing position and the coordinates of the standard feeding position includes: determining a second attitude correction value of the feeding device in the second target area according to the coordinates of the second standard photographing position and the coordinates of the second standard feeding position.

[0013] In the implementation process, the second standard feeding position of the feeding device in the second target area is determined by moving the feeding device from the second standard photographing position to the second actual preset position for feeding, and then the second attitude correction value of the feeding device in the second target area can be determined according to the second standard photographing position and the second standard feeding position. Since the feeding device is only converted from the photographing attitude to the feeding attitude from the second standard photographing position to the second standard feeding position, the second standard photographing position and the second standard feeding position represent the attitude conversion of the feeding device, the position change of the feeding device during the attitude conversion is accurately calculated, and the accuracy of the attitude correction value calculation of the feeding device is improved.

[0014] In a second aspect, the embodiments of the present application further provide a feeding position determination method, including: obtaining a current photographing position of a feeding device; obtaining a photographing correction value fed back by an image acquisition device, the feeding device including the image acquisition device; determining an actual photographing position of the feeding device according to the current photographing position and the photographing correction value; determining a feeding position of the feeding device in a target area according to the actual photographing position and an attitude correction value of the target area; wherein the attitude correction value of the target area is obtained by the method in the first aspect or any possible implementation manner of the first aspect.

[0015] In the implementation process, when the discharging equipment is discharging, the actual photographing position of the discharging equipment can be directly determined according to the current photographing position of the discharging equipment and the photographing correction value, and the discharging position of the discharging equipment in the target area can be determined according to the actual photographing position and the posture correction value of the target area. Therefore, it is not necessary to additionally debug the discharging equipment, the steps in the discharging process of the discharging equipment are reduced, and the discharging efficiency is improved.

[0016] In a third aspect, the embodiments of the present application further provide a posture correction value device, comprising: a first acquisition module configured to acquire a standard photographing position of a discharging equipment in a target area, the standard photographing position being a position at which a workpiece feature of a current workpiece image acquired by the discharging equipment coincides with a workpiece feature of a workpiece model image; a moving module configured to move the discharging equipment to a preset position for discharging at the standard photographing position, so as to acquire a standard discharging position of the discharging equipment in the target area, the standard discharging position being a position at which the discharging equipment discharges a workpiece to a corresponding workpiece; and a first determination module configured to determine a posture correction value of the discharging equipment in the target area according to coordinates of the standard photographing position and coordinates of the standard discharging position; wherein the target area comprises one or more areas, and each target area comprises one or more workpieces.

[0017] In a fourth aspect, the embodiments of the present application further provide a discharging position determination device, comprising: a second acquisition module configured to acquire a current photographing position of a discharging equipment; a third acquisition module configured to acquire a photographing correction value fed back by an image acquisition device, the discharging equipment comprising the image acquisition device; a second determination module configured to determine an actual photographing position of the discharging equipment according to the current photographing position and the photographing correction value; and a third determination module configured to determine a discharging position of the discharging equipment in a target area according to the actual photographing position and a posture correction value of the target area; wherein the posture correction value of the target area is obtained by the method in the first aspect or any possible implementation manner of the first aspect.

[0018] In a fifth aspect, the embodiments of the present application further provide an electronic device, comprising a processor and a memory, the memory storing machine readable instructions executable by the processor, when the electronic device is running, the machine readable instructions being executed by the processor to perform the steps of the method in the first aspect or any possible implementation manner of the first aspect, the second aspect or any possible implementation manner of the second aspect.

[0019] In a sixth aspect, the embodiments of the present application further provide a computer readable storage medium, having stored thereon a computer program, which, when run by a processor, performs the steps of the method of the first aspect, or any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect.

[0020] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following will specifically describe embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0022] Figure 1 A schematic diagram of the controller interacting with the local terminal provided by the embodiments of the present application;

[0023] Figure 2 A block schematic diagram of the controller provided by the embodiments of the present application;

[0024] Figure 3 A flowchart of the posture correction value determination method provided by the embodiments of the present application;

[0025] Figure 4 A flowchart of the material discharge position determination method provided by the embodiments of the present application;

[0026] Figure 5 A functional module schematic diagram of the posture correction value determination device provided by the embodiments of the present application;

[0027] Figure 6 A functional module schematic diagram of the material discharge position determination device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0028] The technical solutions of the embodiments of the present application will be described below with reference to the drawings of the embodiments of the present application.

[0029] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second”, etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

[0030] With the rise of artificial intelligence, automated equipment plays an increasingly important role in various industries. In recent years, the discharging equipment has gradually replaced manual work in material handling, feeding and discharging and other fields. In order to ensure the accuracy of the discharging equipment during operation, the discharging equipment needs to be debugged every time it operates, so as to ensure that the discharging equipment operates at a specific position, so that the material can be placed at the corresponding position. Since the discharging equipment needs to be debugged every time it operates, it greatly affects the efficiency of the discharging equipment during operation.

[0031] Therefore, the inventors of the present application propose a posture correction value determination method. By dividing the discharging work pile by area, the posture deviation value of each area is determined by the posture transformation of the discharging equipment at a position point, simplifying the determination step of the posture deviation value and speeding up the efficiency of the discharging equipment debugging. When the discharging equipment operates, the position of the discharging equipment is adjusted directly according to the posture deviation value of the corresponding area obtained during debugging, reducing the debugging steps of the discharging equipment during operation and improving the operation efficiency of the discharging equipment.

[0032] In order to facilitate the understanding of the present embodiment, first, the operating environment of the posture correction value determination method and / or the discharging position determination method disclosed in the present application is introduced in detail.

[0033] As Figure 1 shown, is a schematic diagram of the controller interacting with the local terminal provided by the present application. The controller 100 is connected in communication with one or more local terminals through a network to communicate or interact with data. The controller 100 can be a network controller, a database controller, etc. The local terminal here can be a discharging equipment 200, which can include an image acquisition device 201 and a clamping device 202, etc. The controller 100 is connected in communication with the image acquisition device 201 and the clamping device 202 through a network.

[0034] The above-mentioned image acquisition device 201 can be one or more devices such as a camera, a video camera, a laser acquisition device, etc. The image acquisition device 201 is used to acquire image information of target workpieces, mounting devices, etc.

[0035] The above-mentioned clamping device 202 can be an industrial automation device for clamping target workpieces. For example, the clamping device 202 can be a mechanical arm, a mechanical hand, a robot, etc. The clamping device 202 is used to mount target workpieces at target positions.

[0036] In some embodiments, the image acquisition device 201 can be provided on the clamping device 202, and the discharging equipment 200 includes a material taking posture and a photographing posture.

[0037] Understandably, when the discharging device 200 is debugged, a photograph is taken by controlling the discharging device 200 to move to a standard photographing position of the target area, and after the photographing is completed, the discharging device 200 is controlled to move from the standard photographing position to a preset position for discharging, and a standard discharging position of the discharging device 200 during discharging is obtained, the coordinate difference value of the discharging device 200 in the target area from the photographing posture to the discharging posture is determined based on the standard photographing position and the standard discharging position, so as to obtain the posture correction value of the discharging device 200. Since the discharging posture of the discharging device 200 in one area is the same, the posture correction value of one area only needs to be debugged once, thereby reducing the number of times of debugging the posture correction value of the discharging device 200 and improving the discharging efficiency.

[0038] When the standard photographing position cannot be determined, a workpile image can be obtained at a second theoretical preset position of the target area, and a photographing correction position of the discharging device 200 is determined based on the workpile image and the workpile model image, and the standard photographing position of the discharging device 200 is further determined according to the photographing correction position and the second theoretical preset position, so as to control the discharging device 200 to move to the photographing position for photographing. And after the photographing is completed, the discharging device 200 is controlled to move from the standard photographing position to the second actual preset position for discharging, and a standard discharging position of the discharging device 200 during discharging is obtained, the coordinate difference value of the discharging device 200 in the target area from the photographing posture to the discharging posture is determined based on the standard photographing position and the standard discharging position, so as to obtain the posture correction value of the discharging device 200.

[0039] When discharging, the discharging position of the discharging device 200 in the target area can be directly determined by obtaining the current photographing position of the discharging device 200, the photographing correction value fed back by the image acquisition device 201, and the posture correction value of the target area.

[0040] The controller 100 described above can be a PLC (Programmable Logic Controller), an upper computer, a single-chip microcomputer, etc.

[0041] Alternatively, the controller 100 and the discharging device 200 can be the same device, or can be two different devices. The controller 100 and the discharging device 200 can be set according to actual conditions, which is not specifically limited in the present application.

[0042] In order to facilitate the understanding of the present embodiment, the controller for executing the workpiece installation original position determination method and the workpiece installation method disclosed in the present application will be described in detail below.

[0043] As Figure 2As shown, it is a block diagram of the controller. The controller 100 can include a memory 111, a storage controller 112, a processor 113, a peripheral interface 114. Those skilled in the art can understand that Figure 2 The structure shown is only a schematic, which does not limit the structure of the controller 100. For example, the controller 100 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 2 The controller 100 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 2 The controller 100 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure.

[0044] The above-mentioned memory 111, storage controller 112, processor 113 and peripheral interface 114 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The above-mentioned processor 113 is used to execute the executable modules stored in the memory.

[0045] The memory 111 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) and the like. The memory 111 is used to store programs, and the processor 113 executes the programs after receiving execution instructions. The method executed by the controller 100 defined by the process disclosed in any embodiment of the present application can be applied in the processor 113 or implemented by the processor 113.

[0046] The processor 113 described above can be an integrated circuit chip with a signal processing capability. The processor 113 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), and the like; and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed by the processor. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like.

[0047] The peripheral interface 114 described above couples various input / output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory controller 112 can be implemented in a single chip. In other embodiments, they can be implemented by independent chips, respectively.

[0048] In order to facilitate the understanding of the present embodiment, the implementation process of the material taking method is first described in detail through several embodiments.

[0049] Please refer to Figure 3 is a flowchart of the posture correction value determination method provided by the present embodiment. The specific process shown in FIG. 2 will be described in detail below. Figure 3

[0050] In step S201, a standard photographing position of the discharging equipment in the target area is obtained.

[0051] The standard photographing position is a position where the workpiece features of the current workpiece image obtained by the discharging equipment coincide with the workpiece features of the workpiece model image. The standard photographing position can be a specific position stored in the controller or the discharging equipment, or a specific position input externally, etc. The acquisition of the standard photographing position can be adjusted according to the actual situation, and the present application does not make specific limitations.

[0052] The target area here includes one or more areas, and each target area includes one or more workpieces. The target area includes but is not limited to the first target area and the second target area.

[0053] ​The material placing device needs to be placed in different postures during the placing process, and different postures are used in different areas. For example, posture 1 is used in area 1, posture 2 is used in area 2, posture 3 is used in area 3, and so on. The specific posture and area can be adjusted and divided according to the actual situation, and the application does not make specific limitations. Understandably, the difference between the standard shooting position and the standard placing position can be universal in the same posture, that is, only one posture correction value needs to be calculated for each target area.

[0054] The standard shooting position described above includes a first standard shooting position and a second standard shooting position. The first standard shooting position is the standard shooting position of the material placing device in the first target area, and the second standard shooting position is the standard shooting position of the material placing device in the second target area.

[0055] Step S202, moving the material placing device to a preset position at the standard shooting position for placing, to obtain a standard placing position of the material placing device in the target area.

[0056] The standard placing position is the position where the material placing device places the workpiece on the corresponding workpile. The standard placing position includes a first standard placing position and a second standard placing position.

[0057] The preset position here can be understood as the position where the material placing device grabs the workpiece. The preset position includes a first preset position, a second actual preset position, and a second theoretical preset position. The second theoretical preset position is the theoretical standard shooting position of the second target area. The second actual preset position is the workpile position set in the second target area. Understandably, in the actual placing process, due to a series of actions such as shooting, placing, adjusting, and the non-standard stop position of the placing trolley, there may be a certain deviation between the theoretical position and the actual position of the material placing device in the target area. At this time, the material placing device is first moved according to the theoretical position, and the position of the material placing device is further adjusted at the theoretical position.

[0058] Step S203, determining a posture correction value of the material placing device in the target area according to the coordinates of the standard shooting position and the coordinates of the standard placing position.

[0059] The posture correction value includes a first posture correction value and a second posture correction value.

[0060] The posture correction value here can be the coordinate difference between the standard shooting position and the standard placing position.

[0061] In the implementation process, the posture correction value of the material placing device in the target area is determined according to the standard photographing position of the target area and the standard material placing position at the preset position, and the material placing posture of the material placing device is consistent in one area. Therefore, the posture correction value of the material placing device in the same area can be determined only by the change of the posture at one position in the area.

[0062] In some embodiments, the step S201 comprises: acquiring a first standard photographing position of the material placing device in a first target area.

[0063] The first target area is an initial area for determining the posture correction value of the material placing device, and the first standard photographing position is an initial photographing position of the image acquisition device.

[0064] Since the first target area is an initial area for determining the posture correction value of the material placing device, the position of the material placing device when moving to the photographing position of the first target area will not be offset, that is, the material placing device can accurately move to the set photographing position for photographing to acquire the first standard photographing position.

[0065] In the implementation process, since the target area is the first target area, the material placing device can accurately move to the set photographing position for photographing to acquire the first standard photographing position, which simplifies the acquisition method of the first standard photographing position and improves the debugging efficiency of the material placing device.

[0066] In some embodiments, the step S202 comprises: moving the material placing device to a first preset position for material placing at the first standard photographing position to acquire a first standard material placing position of the material placing device in the first target area.

[0067] The step S203 comprises: determining a first posture correction value of the material placing device in the first target area according to the coordinates of the first standard photographing position and the coordinates of the first standard material placing position.

[0068] The first preset position herein is a position of the material placing device for grabbing a workpiece in the first target area. The first preset position can be a workpiece grabbing position set in advance, or a specific position input externally, etc. The acquisition of the first preset position can be adjusted according to actual conditions, which is not limited in the present application.

[0069] The first standard material placing position described above is a position of the material placing device for placing a workpiece on a corresponding workpiece in the first target area.

[0070] In the implementation process, the first standard discharging position of the discharging equipment in the first target area is determined by moving the discharging equipment from the first standard photographing position to the first preset position for discharging, and then the first attitude correction value of the discharging equipment in the first target area can be determined according to the first standard photographing position and the first standard discharging position. Since the discharging equipment is only converted from the photographing attitude to the discharging attitude from the first standard photographing position to the first standard discharging position, the first standard photographing position and the first standard discharging position represent the attitude conversion of the discharging equipment, the position change of the discharging equipment during the attitude conversion is accurately calculated, and the accuracy of the attitude correction value calculation of the discharging equipment is improved.

[0071] In some embodiments, step S201 comprises: controlling the discharging equipment to move from the first preset position to a second theoretical preset position; acquiring a workpile image of the discharging equipment at the second theoretical preset position, and determining a photographing correction position of the discharging equipment according to the workpile image at the second theoretical preset position and the workpile model image; and determining a second standard photographing position of the discharging equipment through the photographing correction position and the second theoretical preset position.

[0072] The photographing correction position here refers to the coordinate difference value of the photographing of the discharging equipment at the second theoretical preset position and the photographing at the second standard photographing position. It can be understood that the workpile image acquired by the discharging equipment at the second standard photographing position and the workpile model image are completely coincident in features.

[0073] Alternatively, the photographing correction position can be fed back by the image acquisition device, or can be calculated by the controller or the discharging equipment according to the workpile image at the second theoretical preset position and the workpile standard image. The acquisition of the photographing correction position can be adjusted according to the actual situation, and the present application does not make specific limitation.

[0074] Since the second target area is not the initial area for determining the attitude correction value of the discharging equipment, the theoretical standard photographing position and the actual standard photographing position of the second target area may have certain deviation due to the movement of the discharging equipment or the non-standard position of the discharging trolley. Therefore, when the discharging equipment moves from the first preset position to the second theoretical preset position, there is a certain position deviation between the second theoretical preset position and the second standard photographing position. The workpile image acquired at the second theoretical preset position is compared with the workpile model image to calculate the photographing correction position of the discharging equipment, and the second standard photographing position of the discharging equipment is determined by compensating the second theoretical preset position based on the photographing correction position.

[0075] In some embodiments, the feeding device can be moved from any other position to the second theoretical preset position in addition to moving from the first preset position to the second theoretical preset position. If the feeding device is moved from any other position to the second theoretical preset position, the second standard photographing position is the same as step S201.

[0076] In the above implementation process, the photographing correction position between the second theoretical preset position and the second standard photographing position is determined by the workpiece image obtained at the second theoretical preset position and the workpiece model image, and the second standard photographing position is further corrected according to the photographing correction position, so that the photographing position offset is corrected to obtain the standard photographing position, thereby improving the accuracy of the standard photographing position.

[0077] In some embodiments, step S202 includes moving the feeding device to a second actual preset position for feeding at the second standard photographing position to obtain a second standard feeding position of the feeding device in the second target area.

[0078] Step S203 includes determining a second posture correction value of the feeding device in the second target area according to the coordinates of the second standard photographing position and the coordinates of the second standard feeding position.

[0079] The second actual preset position here is the position of the feeding device for grabbing the workpiece in the second target area. The second actual preset position can be a workpiece grabbing position set in advance, or a specific position input externally, etc. The acquisition of the second actual preset position can be adjusted according to actual conditions, which is not limited in the present application.

[0080] The above-mentioned second standard feeding position is the position of the feeding device for placing the workpiece on the corresponding workpile in the second target area.

[0081] In the above implementation process, the second standard feeding position of the feeding device in the second target area is determined by moving the feeding device from the second standard photographing position to the second actual preset position for feeding, and then the second posture correction value of the feeding device in the second target area can be determined according to the second standard photographing position and the second standard feeding position. Since the feeding device is only converted from the photographing posture to the feeding posture from the second standard photographing position to the second standard feeding position, the second standard photographing position and the second standard feeding position represent the posture conversion of the feeding device, the position change of the feeding device during the posture conversion is accurately calculated, and the accuracy of the posture correction value calculation of the feeding device is improved.

[0082] Please refer to Figure 4 is a flowchart of a feeding position determination method provided by an embodiment of the present application. The specific process shown in Figure 4 will be described in detail below.

[0083] Step S301, obtain the current photographing position of the discharging device.

[0084] The current photographing position here is the photographing position of the discharging device in front of any one workpile. The current photographing position can be obtained through the workpile image acquired by the image acquisition device of the discharging device, or the position information output by the controller to control the movement of the discharging device. The acquisition of the current photographing position can be set according to actual conditions, which is not specifically limited in the present application.

[0085] Step S302, determine the actual photographing position of the discharging device according to the current photographing position and the photographing correction value.

[0086] The actual photographing position here is the standard photographing position, and the features of the workpile image obtained at the actual photographing position and the workpile model image can coincide.

[0087] Optionally, the photographing correction value can be fed back by the image acquisition device, or can be calculated by the controller or the discharging device according to the workpile image at the current photographing position and the workpile standard image. The acquisition of the photographing correction value can be adjusted according to actual conditions, which is not specifically limited in the present application.

[0088] It can be understood that since the workpile of the material box on the discharging trolley has a certain degree of freedom, when the next trolley is pushed, the discharging position of the workpile has a large deviation from the position when modeling. If the discharging device wants to put the workpiece into the workpile of the trolley again, when the discharging device moves to the current photographing position according to the theoretical photographing position issued by the controller, the photographing correction value between the current photographing position and the standard photographing position fed back by the image acquisition device can be obtained. The photographing correction value can be used to correct the current photographing position to obtain the actual photographing position of the discharging device, so that the features of the workpile image obtained at the actual photographing position and the workpile model image can coincide.

[0089] Step S303, determine the discharging position of the discharging device in the target area according to the actual photographing position and the attitude correction value of the target area.

[0090] The attitude correction value of the target area is obtained by the above-mentioned attitude correction value determination method. The attitude correction value is the attitude correction value of the target area where the workpile is located.

[0091] Since the discharging device is only converted from the photographing attitude to the discharging attitude at the actual photographing position, after the actual photographing position is determined, the attitude correction value is used to correct the actual photographing position to obtain the discharging position of the discharging device in the target area.

[0092] In the implementation process, when the discharging equipment is discharging, the actual photographing position of the discharging equipment can be directly determined according to the current photographing position of the discharging equipment and the photographing correction value, and the discharging position of the discharging equipment in the target area can be determined according to the actual photographing position and the posture correction value of the target area. Therefore, it is not necessary to additionally debug the discharging equipment, the steps in the discharging process of the discharging equipment are reduced, and the discharging efficiency is improved.

[0093] Based on the same application concept, the posture correction value determination device corresponding to the posture correction value determination method is also provided in the embodiment of the application. Since the principle of solving problems in the device in the embodiment of the application is similar to the foregoing posture correction value determination method embodiments, the implementation of the device in the embodiment can be referred to the description in the foregoing method embodiments, and the repeated parts will not be described herein.

[0094] Please refer to Figure 5 FIG. 4 is a functional module schematic diagram of the posture correction value determination device provided in the embodiment of the application. Each module in the posture correction value determination device in the embodiment is used to execute each step in the foregoing method embodiments. The posture correction value determination device includes a first acquisition module 401, a moving module 402, and a first determination module 403. Wherein,

[0095] The first acquisition module 401 is configured to acquire a standard photographing position of the discharging equipment in a target area. The standard photographing position is a position at which the workpiece features of a current workpiece image acquired by the discharging equipment coincide with the workpiece features of a workpiece model image.

[0096] The moving module 402 is configured to move the discharging equipment to a preset position for discharging at the standard photographing position, so as to acquire a standard discharging position of the discharging equipment in the target area. The standard discharging position is a position at which the discharging equipment discharges a workpiece to a corresponding workpiece.

[0097] The first determination module 403 is configured to determine a posture correction value of the discharging equipment in the target area according to the coordinates of the standard photographing position and the coordinates of the standard discharging position. Wherein, the target area includes one or more areas, and each target area includes one or more workpieces.

[0098] In a possible implementation, the first acquisition module 401 is further configured to acquire a first standard photographing position of the discharging equipment in a first target area. Wherein, the first target area is an initial area in which the discharging equipment determines the posture correction value, and the first standard photographing position is an initial photographing position of the image acquisition device.

[0099] In a possible implementation, the moving module 402 is further configured to move the material placing device to a first actual preset position for placing material at the second standard material placing position of the second target area at the second standard photographing position.

[0100] In a possible implementation, the first determining module 403 is further configured to determine a first attitude correction value of the material placing device in the first target area according to the coordinates of the first standard photographing position and the coordinates of the first standard material placing position.

[0101] In a possible implementation, the first obtaining module 401 is further configured to control the material placing device to move from the first preset position to a second theoretical preset position, obtain a workpile image of the material placing device at the second theoretical preset position, and determine a photographing correction position of the material placing device according to the workpile image at the second theoretical preset position and the workpile model image, and determine a second standard photographing position of the material placing device through the photographing correction position and the second theoretical preset position.

[0102] In a possible implementation, the moving module 402 is further configured to move the material placing device to a second actual preset position for placing material at the second standard material placing position of the second target area at the second standard photographing position, the second actual preset position being a workpile position set for the second target area.

[0103] In a possible implementation, the first determining module 403 is further configured to determine a second attitude correction value of the material placing device in the second target area according to the coordinates of the second standard photographing position and the coordinates of the second standard material placing position.

[0104] Based on the same application concept, the embodiments of the present application further provide a material placing position determination apparatus corresponding to the material placing position determination method. Since the principle of the apparatus in the embodiments of the present application solves problems similar to the aforementioned material placing position determination method embodiments, the implementation of the apparatus in the embodiments of the present application can be referred to the description of the aforementioned method embodiments, and the repeated parts will not be described herein.

[0105] Please refer to Figure 6 FIG. 5 is a schematic diagram of functional modules of a material placing position determination apparatus according to an embodiment of the present application. Each module in the material placing position determination apparatus in the embodiment is configured to perform each step in the aforementioned method embodiments. The material placing position determination apparatus comprises a second obtaining module 501, a third obtaining module 502, a second determining module 503, and a third determining module 504, wherein,

[0106] The second obtaining module 501 is configured to obtain a current photographing position of a material placing device.

[0107] The third obtaining module 502 is configured to obtain a photographing deviation correction value fed back by an image acquisition device, and the feeding device comprises the image acquisition device.

[0108] The second determining module 503 is configured to determine an actual photographing position of the feeding device according to the current photographing position and the photographing deviation correction value.

[0109] The third determining module 504 is configured to determine a feeding position of the feeding device in a target region according to the actual photographing position and a pose deviation correction value of the target region, wherein the pose deviation correction value of the target region is obtained by any one of the methods for determining a pose deviation correction value.

[0110] In addition, the embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the steps of the method for determining a pose deviation correction value and / or the method for determining a feeding position described in the above method embodiments are executed.

[0111] The computer program product of the method for determining a pose deviation correction value and / or the method for determining a feeding position provided in the embodiment of the present application comprises a computer readable storage medium storing program codes. The instructions included in the program codes can be used to execute the steps of the method for determining a pose deviation correction value and / or the method for determining a feeding position described in the above method embodiments. For details, refer to the above method embodiments, which will not be described here.

[0112] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only schematic. For example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those shown in the drawings. For example, two consecutive blocks can actually be executed in a substantially parallel manner, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0113] In addition, each functional module in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0114] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the part that contributes to the prior art, or part of the technical solutions. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes. It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variant are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to the process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0115] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0116] The above is only the specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of determining a pose correction value, the method comprising: receiving a pose value; determining a pose correction value based on the pose value; and outputting the pose correction value. The method comprises the following steps: acquiring a standard photographing position of a discharging device in a target area, the standard photographing position being a position at which a current workpiece image acquired by the discharging device coincides with a workpiece feature of a workpiece model image; moving the discharging device to a preset position at the standard photographing position to prepare for discharging, to acquire a standard discharging position of the discharging device in the target area, the standard discharging position being a position at which the discharging device discharges a workpiece to a corresponding workpiece; determining a pose correction value of the discharging device in the target area according to coordinates of the standard photographing position and coordinates of the standard discharging position; wherein the target area comprises one or more areas, and each target area comprises one or more workpieces; the target area comprises a first target area, and the standard photographing position comprises a first standard photographing position, and the acquiring a standard photographing position of a discharging device in a target area comprises: acquiring a first standard photographing position of the discharging device in the first target area; wherein the first target area is an initial area for the discharging device to determine the pose correction value, and the first standard photographing position is an initial photographing position of an image acquisition device; the standard discharging position comprises a first standard discharging position, the preset position comprises a first preset position, the pose correction value comprises a first pose correction value, and the moving the discharging device to a preset position at the standard photographing position to prepare for discharging, to acquire a standard discharging position of the discharging device in the target area comprises: moving the discharging device to the first preset position at the first standard photographing position to discharge, to acquire the first standard discharging position of the discharging device in the first target area; the determining a pose correction value of the discharging device in the target area according to coordinates of the standard photographing position and coordinates of the standard discharging position comprises: determining a first pose correction value of the discharging device in the first target area according to coordinates of the first standard photographing position and coordinates of the first standard discharging position; the target area comprises a second target area, the preset position comprises a second theoretical preset position, the standard photographing position comprises a second standard photographing position, the pose correction value comprises a second pose correction value, and the acquiring a standard photographing position of a discharging device in a target area comprises: controlling the discharging device to move from the first preset position to the second theoretical preset position; acquiring a workpiece image of the discharging device at the second theoretical preset position, and determining a photographing correction position of the discharging device according to the workpiece image at the second theoretical preset position and the workpiece model image; determining a second standard photographing position of the discharging device through the photographing correction position and the second theoretical preset position; wherein the workpiece image acquired by the second standard photographing position and the workpiece model image are completely coincident in feature. The preset position further includes a second actual preset position, and the moving the feeding device to the preset position in the standard photographing position to prepare for feeding includes: moving the feeding device to a second actual preset position in the second standard photographing position to feed, to obtain a second standard feeding position of the feeding device in the second target area, the second actual preset position being a workpile position set for the second target area; The determining the attitude correction value of the feeding device in the target area according to the coordinates of the standard photographing position and the coordinates of the standard feeding position includes: determining a second attitude correction value of the feeding device in the second target area according to the coordinates of the second standard photographing position and the coordinates of the second standard feeding position.

2. A method of determining a position of a charge, characterized by, including: obtaining a current photographing position of a feeding device; obtaining a photographing correction value fed back by an image acquisition device, the feeding device including the image acquisition device; determining an actual photographing position of the feeding device according to the current photographing position and the photographing correction value; determining a feeding position of the feeding device in a target area according to the actual photographing position and an attitude correction value of the target area; wherein the attitude correction value of the target area is obtained by the method of claim 1.

3. A device for determining a pose correction value, characterized in that including: a first obtaining module, configured to obtain a standard photographing position of a feeding device in a target area, the standard photographing position being a position at which a workpile feature of a current workpile image obtained by the feeding device coincides with a workpile feature of a workpile model image; a moving module, configured to move the feeding device to a preset position in the standard photographing position to prepare for feeding, to obtain a standard feeding position of the feeding device in the target area, the standard feeding position being a position at which the feeding device places a workpiece on a corresponding workpile; and the preset position being a position at which the feeding device grasps the workpiece; a first determining module, configured to determine an attitude correction value of the feeding device in the target area according to coordinates of the standard photographing position and coordinates of the standard feeding position; wherein the target area includes one or more areas, and each target area includes one or more workpieces; and the target area includes a first target area; the first obtaining module is further configured to obtain a first standard photographing position of the feeding device in the first target area; wherein the first target area is an initial area for which the feeding device determines the attitude correction value, and the first standard photographing position is an initial photographing position of an image acquisition device; wherein the standard feeding position includes a first standard feeding position, the preset position includes a first preset position, and the attitude correction value includes a first attitude correction value; the moving module is further configured to move the feeding device to the first preset position in the first standard photographing position to feed, to obtain the first standard feeding position of the feeding device in the first target area; and The first determining module is further configured to determine the first attitude correction value of the discharging device in the first target area according to the coordinates of the first standard photographing position and the coordinates of the first standard discharging position. The target area includes a second target area, the preset position includes a second theoretical preset position, and the standard photographing position includes a second standard photographing position. The first obtaining module is further configured to control the discharging device to move from the first preset position to the second theoretical preset position, obtain a workpile image of the discharging device at the second theoretical preset position, and determine a photographing correction position of the discharging device according to the workpile image at the second theoretical preset position and the workpile model image. The target area includes a second target area, the preset position includes a second theoretical preset position, and the standard photographing position includes a second standard photographing position. The moving module is further configured to move the discharging device to a second actual preset position for discharging at the second standard photographing position, so as to obtain a second standard discharging position of the discharging device in the second target area, the second actual preset position being a workpile position set for the second target area. The preset position further includes a second actual preset position. The first determining module is further configured to determine a second attitude correction value of the discharging device in the second target area according to the coordinates of the second standard photographing position and the coordinates of the second standard discharging position.

4. A stock position determination apparatus characterized by comprising: Comprising: The second obtaining module is configured to obtain a current photographing position of the discharging device. The third obtaining module is configured to obtain a photographing correction value fed back by an image acquisition device included in the discharging device. The second determining module is configured to determine an actual photographing position of the discharging device according to the current photographing position and the photographing correction value. The third determining module is configured to determine a discharging position of the discharging device in a target area according to the actual photographing position and an attitude correction value of the target area. The attitude correction value of the target area is obtained by the method of claim 1.

5. An electronic device, comprising: Comprising: A processor and a memory, the memory storing machine-readable instructions executable by the processor, when the electronic device is running, the machine-readable instructions being executed by the processor to perform the steps of the method of any one of claims 1 or 2.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is executed by the processor to perform the steps of the method of any one of claims 1 or 2.

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