Fast cloud computing intelligent positioning method, system and device

Abstract

The present invention discloses a rapid cloud computing intelligent positioning method, system, and device for locating and correcting the trajectory of a CNC machine's manipulator. The method comprises determining a coordinate origin and constructing a three-dimensional spatial coordinate system; acquiring the physical position and theoretical position of the product to be processed in the three-dimensional spatial coordinate system; calculating the position coordinates and offset angle of the product to be processed based on the physical position and theoretical position of the product to be processed; positioning the manipulator according to the position coordinates and offset angle; and correcting the manipulator's trajectory during operation. Compared with the prior art, the present invention eliminates the need for manual and repeated adjustment of the manipulator's position coordinates before product processing. Furthermore, during processing, the manipulator's position coordinates and trajectory can be adaptively adjusted based on the product's position, achieving high adjustment accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning of CNC equipment, and in particular to a fast cloud computing intelligent positioning method, system and device. Background Art

[0002] With the upgrading of the manufacturing industry, the demand for automation in the machining industry is increasing. In particular, CNC production lines are increasingly using robots to replace manual labor for product picking and placing. This process involves the positioning of the target product. Currently, this is achieved primarily through manual coarse adjustment of the robot's coordinates in the spatial coordinate system. Once the coarse coordinate values ​​are obtained, the robot's coordinates and trajectory are then adjusted based on the specific product shape and position.

[0003] However, the current manual debugging method has at least the following disadvantages: First, manual debugging utilizes the manufacturer's own control panel. During debugging, the product is moved manually and the coordinates of the robot are recorded. The debugging process is time-consuming and labor-intensive, and production efficiency is low. Second, CNC equipment processes a variety of products with a short production cycle. Every time a new product category is changed, the coordinates of the robot need to be re-debugged for the first newly processed product, further reducing production efficiency. Third, during the operation of the robot, adaptive adjustment cannot be performed, so that when the product position changes, the robot will not be able to accurately align when picking up and placing the material, resulting in improper picking and placing, and then causing the product to be scrapped. Although adding sensors to the product can solve the alarm problem when picking up and placing the material is not in place, and reduce the scrap rate of the product to a certain extent, this method still issues an alarm based on the premise that the product is scrapped, and the alarm needs to be manually released before subsequent processing can continue, which also reduces production efficiency. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a fast cloud computing intelligent positioning method, system and device to solve the problems in the prior art of low efficiency of manipulator coordinate debugging and inability to adaptively adjust the alignment during operation.

[0005] To solve the above technical problems, a technical solution of the present invention provides a fast cloud computing intelligent positioning method for locating and correcting the running trajectory of a manipulator of a CNC device, comprising the following steps:

[0006] Determine the coordinate origin and construct a three-dimensional space coordinate system;

[0007] Collecting the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system;

[0008] The position coordinates and offset angle of the product to be processed are calculated based on the physical position and theoretical position of the product to be processed, the robot is positioned according to the position coordinates and offset angle, and the operation trajectory of the robot is corrected during operation.

[0009] Furthermore, in the step of determining the coordinate origin and constructing the three-dimensional space coordinate system, the specific method is:

[0010] The method further comprises obtaining an X-axis distance from a preset position to a first position in the X-axis direction, a Y-axis distance from a second position in the Y-axis direction, and a Z-axis distance from a third position in the Z-axis direction, determining a coordinate origin based on the X-axis distance, the Y-axis distance, and the Z-axis distance, and constructing a three-dimensional space coordinate system based on the coordinate origin and the X-axis, Y-axis, and Z-axis.

[0011] Furthermore, in the step of collecting the physical position of the product to be processed in the three-dimensional space coordinate system and obtaining the corresponding theoretical position, the specific method is:

[0012] Obtain a physical image and a theoretical image of the product to be processed when it is at the loading position, extract the physical characteristic curves and theoretical characteristic curves of the physical image and the theoretical image respectively, and use the physical characteristic curves and the theoretical characteristic curves to define the corresponding physical characteristic planes and theoretical characteristic planes to obtain the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system.

[0013] Furthermore, in the step of calculating the position coordinates and offset angle of the product to be processed based on the physical position and theoretical position of the product to be processed, positioning the manipulator according to the position coordinates and offset angle, and correcting the running trajectory of the manipulator during operation, the specific method for correcting the running trajectory of the manipulator is:

[0014] Determine whether the trajectory of the manipulator needs to be corrected. If so, determine at least two first position points on the physical characteristic curve and at least two second position points on the theoretical characteristic curve. Otherwise, exit the correction program, wherein the line connecting any two of the at least two first position points passes through the center of the physical characteristic plane, and the line connecting any two of the at least two second position points passes through the center of the theoretical characteristic plane.

[0015] Obtaining the coordinates of the first position point and the second position point in the three-dimensional space coordinate system respectively, and calculating the physical center coordinates of the product to be processed on the physical feature plane and the theoretical center coordinates on the theoretical feature plane respectively based on the coordinates of the first position point and the second position point;

[0016] Calculating the offset angle of the manipulator in the three-dimensional space coordinate system according to the physical center coordinates and the theoretical center coordinates;

[0017] The running trajectory of the manipulator is corrected based on the physical center coordinates, theoretical center coordinates and offset angle.

[0018] Furthermore, in the step of determining whether the trajectory of the manipulator needs to be corrected, the specific method is:

[0019] Determine at least three first feature points on the physical feature plane and determine second feature points corresponding one-to-one to the first feature points on the theoretical feature plane, obtain the coordinates of the first feature points and the second feature points in the three-dimensional space coordinate system respectively, and match the coordinates of the first feature points with the coordinates of the second feature points one by one. If all matches are successful, no correction is required, otherwise correction is required.

[0020] Furthermore, in the step of calculating the offset angle of the manipulator in the three-dimensional space coordinate system based on the physical center coordinates and the theoretical center coordinates, the offset angle is calculated according to the following formula:

[0021] θ X =arctan(e / f);

[0022] θ Y =arctan(f / e);

[0023] θ Z =arctan(a / b);

[0024] Where: θ X ,θ Y ,θ Z are the offset angles between the entity center coordinates and the theoretical center coordinates in the X-axis, Y-axis and Z-axis directions, respectively; a, e, f are the distances between the entity center coordinates and the theoretical center coordinates in the X-axis, Y-axis and Z-axis directions, respectively; b is the distance between the projection position of the entity center on the theoretical feature plane and the theoretical center.

[0025] To solve the above technical problems, another technical solution of the present invention provides a fast cloud computing intelligent positioning system for locating and correcting the running trajectory of the manipulator of CNC equipment, comprising:

[0026] Coordinate construction module, used to determine the coordinate origin and construct a three-dimensional space coordinate system;

[0027] A position acquisition module, used to acquire the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system; and

[0028] The trajectory correction module is used to calculate the position coordinates and offset angle of the product to be processed based on the physical position and theoretical position of the product to be processed, position the robot according to the position coordinates and offset angle, and correct the operation trajectory of the robot during operation.

[0029] To solve the above technical problems, another technical solution of the present invention provides a fast cloud computing intelligent positioning device, comprising:

[0030] A manipulator having a loading position formed in a loading area of ​​the manipulator and a unloading position in an unloading area, the manipulator being used to take the product to be processed on the loading position and transfer the processed product to the unloading position for unloading; and

[0031] The adaptive positioning system is used to adaptively correct the running trajectory of the manipulator when picking up and placing materials.

[0032] Furthermore, the adaptive positioning system includes:

[0033] a collection mechanism for collecting images of products at the loading and / or unloading positions and an X-axis distance from a preset position of the collection mechanism to a first position in the X-axis direction, a Y-axis distance from a second position in the Y-axis direction, and a Z-axis distance from a third position in the Z-axis direction in space; and

[0034] The processor is used to determine the coordinate origin and construct a three-dimensional space coordinate system based on the X-axis distance, Y-axis distance and Z-axis distance, and calculate the position coordinates and offset angle of the product to be processed based on the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system, and correct the operation trajectory of the robot based on the position coordinates and offset angle.

[0035] Furthermore, the acquisition mechanism includes a mounting base fixed on the manipulator and a signal acquisition module and an image acquisition module integrated on the mounting base; the signal acquisition module includes an X-axis signal sensor, a Y-axis signal sensor and a Z-axis signal sensor arranged on the mounting base and corresponding to the X-axis direction, the Y-axis direction and the Z-axis direction respectively, and an X-axis baffle, a Y-axis baffle and a Z-axis baffle arranged in the signal radiation direction of the X-axis signal sensor, the Y-axis signal sensor and the Z-axis signal sensor and corresponding to the first position, the second position and the third position.

[0036] The present invention collects three-axis distances by installing an acquisition mechanism on the manipulator and constructs a three-axis space coordinate system relative to the manipulator using the three-axis distances. The position of the product in the three-dimensional space coordinate system is restored by modeling, and the position of the product in the three-dimensional space coordinate system is determined based on the extraction of feature points, thereby debugging the coordinates of the manipulator, greatly reducing the time for manual debugging, improving production efficiency and reducing labor costs; at the same time, during the operation of the manipulator, the processor collects the physical image of the product, and calculates the position deviation and angle deviation between the actual position and the theoretical position of the product based on the position of the physical image of the product and the modeled theoretical image in the three-dimensional space coordinate system, and uses the deviation to adaptively correct the running trajectory of the manipulator during operation, which can adapt to the position of the product in different states, avoid the manipulator from taking and placing materials in place due to material deviation, and solve the abnormal alarm caused by material deviation from the source, further improving production efficiency and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a structural diagram of the fast cloud computing intelligent positioning device of Example 1 of the present invention.

[0038] Figure 2 Schematic diagram of signal collection by the collection mechanism.

[0039] Figure 3 This is a structural diagram of the collection mechanism.

[0040] Figure 4 This is a flowchart of the fast cloud computing intelligent positioning method according to embodiment 2 of the present invention.

[0041] Figure 5 This is another flow chart of Example 2.

[0042] Figure 6 Schematic diagram of feature curve extraction.

[0043] Figure 7 Schematic diagram of the positions of the first feature point and the second feature point.

[0044] Figure 8 Schematic diagram of the position of the entity center coordinates and the theoretical center coordinates.

[0045] Figure 9 This is a control block diagram of the fast cloud computing intelligent positioning system of Example 3 of the present invention. DETAILED DESCRIPTION

[0046] The following is further described in detail through specific implementation methods:

[0047] The present invention constructs a three-dimensional spatial coordinate system based on the manipulator 11 of the CNC equipment and extracts features of the product 100 to be processed at the loading position 11a and the unloading position 11b to model the product 100 to obtain a theoretical image of the product 100 in the three-dimensional spatial coordinate system and its corresponding theoretical position. Based on the theoretical image and theoretical position of the product 100, coordinates for positioning and debugging the manipulator 11 are generated and assigned to the manipulator 11 to complete the positioning and debugging of the manipulator 11. At the same time, during the debugging process, by collecting a physical image of the product 100 and matching it with the theoretical image, it is determined whether the position of the product 100 deviates. If there is a deviation, the distance and angle of the deviation are calculated to timely correct the running trajectory of the manipulator 11 during operation to avoid improper material collection and discharge. The present invention is mainly used for positioning and correcting the running trajectory of the manipulator 11 of the CNC equipment. In the following description, the manipulator 11 of the CNC equipment is used as an example for explanation. However, it is understandable that the present invention can also be applied to the coordinate positioning, debugging and adaptive correction of the manipulator 11 of other 3C equipment or processing and production equipment.

[0048] Example 1

[0049] like Figure 1 The figure shows a schematic diagram of the structure of a fast cloud computing intelligent positioning device according to an embodiment of the present invention. The fast cloud computing intelligent positioning device includes a manipulator 11 and an adaptive positioning system in communication with the manipulator 11. The manipulator 11 has a loading position 11a formed in the loading area of ​​the CNC equipment (or manipulator 11) and a unloading position 11b formed in the unloading area. The manipulator 11 can pick up the product 100 to be processed placed at the loading position 11a and transfer the processed product 100 to the unloading position 11b for unloading. In this embodiment, the manipulator 11 can be a manipulator 11 used on a CNC device for picking up, unloading and transferring products 100, or a manipulator 11 used on 3C equipment or any other equipment used for production and processing. Its structure can be implemented using the existing structure, which will not be described in detail in this embodiment. The adaptive positioning system can locate the position coordinates of the manipulator 11 in a constructed three-dimensional space coordinate system before the manipulator 11 processes the product 100, so as to debug the manipulator 11 before processing. At the same time, the adaptive positioning system can also collect the physical image of the product 100 at the loading position 11a during the operation of the manipulator 11, and compare it with the pre-constructed theoretical image. Based on the comparison results of the two, the operation trajectory of the manipulator 11 (including the offset distance and offset angle) is adaptively corrected to avoid the manipulator 11 from taking and placing materials in place due to material deviation.

[0050] The adaptive positioning system includes a collection mechanism 12 mounted on the manipulator 11 and a processor 13 in communication with both the collection mechanism 12 and the manipulator 11. The collection mechanism 12 is used to collect a physical image of the product 100 when it is located at the loading position 11a and / or the unloading position 11b, and to collect the distance from a preset position to corresponding positions in the X-axis, Y-axis, and Z-axis directions. The processor 13 is used to construct a three-dimensional spatial coordinate system based on the distances in the corresponding directions and the preset positions collected by the collection mechanism 12, extract features of the product 100, and obtain its position in the three-dimensional spatial coordinate system. This amplitude is provided to the manipulator 11 for debugging and initialization of the manipulator 11. At the same time, the processor 13 can also compare the physical position of the collected physical image of the product 100 in the three-dimensional spatial coordinate system with a pre-stored theoretical position during the operation of the manipulator 11, and adaptively adjust the operation trajectory of the manipulator 11 based on the comparison structure to ensure that the manipulator 11 can pick and place materials in the correct position.

[0051] like Figure 2 As shown, the collection mechanism 12 is disposed on the manipulator 11 at a location that does not affect the movement of the manipulator 11, such as a robotic arm or base, to collect a physical image of the product 100 and the X-axis distance from a preset position on the collection mechanism 12 to a first position in the X-axis direction in space, the Y-axis distance from the preset position to a second position in the Y-axis direction in space, and the Z-axis distance from the preset position to a third position in the Z-axis direction in space. In this embodiment, the X-axis direction is the direction from the collection origin (located on the collection mechanism 12) of the X-axis distance of the collection mechanism 12 to the loading position 11a, the Y-axis direction is the direction from the collection origin of the Y-axis distance of the collection mechanism 12 to the unloading position 11b, and the Z-axis direction is the direction from the collection origin of the Z-axis distance of the collection mechanism 12 to the area below the manipulator 11 or the table. The preset position is the collection origin of the collection mechanism 12 (i.e., the intersection of the X-axis, Y-axis, and Z-axis, which serves as the coordinate origin for subsequently constructing a three-dimensional spatial coordinate system).

[0052] like Figure 3 As shown, the acquisition mechanism 12 includes a mounting base 121 fixed to the manipulator 11, and a signal acquisition module and an image acquisition module 125 integrated with the mounting base 121. The signal acquisition module is used to acquire the distance from the acquisition origin to the first position, the second position, and the third position in the corresponding direction; the image acquisition module 125 is used to capture the physical image of the product 100 at the loading position 11a and / or the unloading position 11b, so that the processor 13 can identify the physical position of the product 100. The image acquisition module 125 can be a camera integrated with the mounting base 121, or some other device capable of image acquisition.

[0053] Specifically, the signal acquisition module includes an X-axis signal sensor 122, a Y-axis signal sensor 123 and a Z-axis signal sensor 124 arranged on the mounting base 121 and corresponding to the X-axis direction, the Y-axis direction and the Z-axis direction respectively, and an X-axis baffle 126, a Y-axis baffle 127 and a Z-axis baffle 128 arranged in the signal radiation direction of the X-axis signal sensor 122, the Y-axis signal sensor 123 and the Z-axis signal sensor 124. In this embodiment, the X-axis baffle 126 and the Y-axis baffle 127 are preferably arranged on the outside of the loading position 11a or the unloading position 11b, and higher than the plane of the highest point of the product 100, so as to avoid the product 100 blocking the signal and causing inaccurate distance measurement; in some other embodiments, the X-axis baffle 126 and the Y-axis baffle 127 can also be arranged on the inside of the loading position 11a or the unloading position 11b, but their height must be lower than the plane of the highest point of the product 100, so as to avoid the baffle blocking the product 100 and causing the physical image of the product 100 captured by the image acquisition module 125 to be incomplete. The X-axis signal sensor 122, Y-axis signal sensor 123, and Z-axis signal sensor 124 are capable of synchronously radiating signals toward the corresponding X-axis baffles 126, Y-axis baffles 127, and Z-axis baffles 128, and receiving signals reflected by the X-axis baffles 126, Y-axis baffles 127, and Z-axis baffles. The transmission paths of the signals radiated by the corresponding signal sensors and the signals reflected by the corresponding baffles coincide or are parallel, thereby enabling the processor 13 to calculate the X-axis distance, Y-axis distance, and Z-axis distance between the collection origin of the collection mechanism 12 and the first, second, and third positions based on the time difference between the radiated and received signals. In this embodiment, the X-axis signal sensor 122, Y-axis signal sensor 123, and Z-axis signal sensor 124 can all be implemented using infrared emitting / receiving devices.

[0054] The processor 13 is capable of determining the coordinate origin and constructing a three-dimensional space coordinate system based on the X-axis distance, Y-axis distance and Z-axis distance, and calculating the position coordinates and offset angle of the product to be processed 100 based on the physical position and theoretical position of the product to be processed 100 in the three-dimensional space coordinate system, and correcting the operation trajectory of the robot 11 based on the position coordinates and offset angle. Specifically, the processor 13 calculates the X-axis distance, Y-axis distance and Z-axis distance based on the time difference between the signals emitted and collected by the X-axis signal sensor 122, the Y-axis signal sensor 123 and the Z-axis signal sensor 124, and constructs a three-dimensional space coordinate system including the X-axis, Y-axis and Z-axis with the preset position as the coordinate origin; at the same time, the processor 13 can also model the product 100 to be processed to generate a theoretical model of the product 100, and obtain the theoretical position of the theoretical model in the three-dimensional space coordinate system (the theoretical position is the position when the product 100 is accurately placed at the loading position 11a or the unloading position 11b), and then obtain the corresponding position coordinates, and assign them to the manipulator 11 to position and adjust the manipulator 11 to ensure that the manipulator 11 can accurately pick up and place materials.

[0055] As a preferred embodiment of the present invention, the processor 13 can also adaptively adjust the trajectory of the manipulator 11 during operation. Specifically, the processor 13 determines the physical position of the product 100 in the three-dimensional space coordinate system based on the physical image of the product 100 captured by the image acquisition module 125, and matches the physical position of the product 100 with the theoretical position based on the feature extraction algorithm. If the match is successful, it means that the position of the product 100 has not shifted. At this time, the manipulator 11 only needs to move according to the established program and trajectory to pick up and put out materials without adjustment. However, if the physical position is not matched with the theoretical position, it means that the position of the product 100 has shifted. If the manipulator 11 picks up and puts out materials according to the established program and trajectory, it will result in the material being picked up and put out in place or even falling off, causing the product 100 to be scrapped. At this time, it is necessary to adjust the trajectory of the manipulator 11 according to the physical position of the product 100 to ensure that the manipulator 11 can pick up materials according to the offset position and angle and correct the position and angle before putting out materials during operation.

[0056] The fast cloud computing intelligent positioning device of this embodiment assembles a collection mechanism 12 and a processor 13 communicatively connected to the manipulator 11 and the collection mechanism 12 on the manipulator 11. Utilizing the cooperation of baffles and signal sensors provided at corresponding positions on the outside of the manipulator 11, the device reconstructs a three-dimensional spatial coordinate system based on the manipulator 11. The device then models the product 100 to obtain the theoretical position of the product 100. The characteristic coordinates of the product 100 at the theoretical position are extracted and assigned to the manipulator 11 to adjust the position coordinates of the manipulator 11. This ensures accurate positioning without the need for repeated manual adjustment, significantly reducing the time and cost of manual adjustment. Furthermore, by collecting a physical image of the product 100, the device can determine whether the current position of the product 100 deviates. This allows for adaptive adjustment of the position and trajectory of the manipulator 11 during operation, and allows for correcting the position of the product 100 during operation before discharging the product. This device can accommodate the collection and discharge of products 100 at different positions, reducing the risk of product 100 being scrapped due to material deviation, resolving the problem of abnormal material deviation alarms at the source, further reducing the time and cost of manual handling of abnormalities, and improving the efficiency of product 100 processing.

[0057] Example 2

[0058] like Figure 4 and Figure 5 , which is a flow chart of the fast cloud computing intelligent positioning method of this embodiment. The fast cloud computing intelligent positioning method of this embodiment is applied to the fast cloud computing intelligent positioning device of Example 1, including a manipulator 11, a collection mechanism 12, and a processor 13 having the same or similar structure or function as Example 1, to adjust and locate the position coordinates of the manipulator 11 and to adaptively adjust the coordinates of the manipulator 11 during operation according to the physical position of the product 100 to ensure that the material is picked up and put in place. Specifically, the fast cloud computing intelligent positioning method of this embodiment includes the following steps:

[0059] S1: Determine the coordinate origin and construct a three-dimensional space coordinate system.

[0060] Specifically, according to the spatial position relationship between the manipulator 11 and the loading position 11a and the unloading position 11b of the product 100, the acquisition mechanism 12 is used to respectively obtain the X-axis distance from a preset position on the acquisition mechanism 12 to a first position in the X-axis direction in space, the Y-axis distance from the preset position to a second position in the Y-axis direction in space, and the Z-axis distance from the preset position to a third position in the Z-axis direction in space; then, the intersection of the X-axis, Y-axis and Z-axis (in this embodiment, the preset position, that is, the acquisition origin of the acquisition mechanism 12) is determined as the coordinate origin, and a three-dimensional space coordinate system based on the manipulator 11 is constructed based on the coordinate origin.

[0061] S2: Obtain or collect the physical position and theoretical position of the product 100 to be processed.

[0062] First, an image of the product to be processed 100 when it is accurately placed at the loading position 11a or the unloading position 11b is collected, and a model is built to obtain a theoretical model of the product to be processed 100, and the theoretical model is placed in a three-dimensional space coordinate system to obtain a theoretical image corresponding to the product 100; an actual physical image of the product to be processed 100 at the loading position 11a or the unloading position 11b is collected.

[0063] Then, based on the feature extraction algorithm, the theoretical characteristic curve S1 of the theoretical image and the actual characteristic curve S2 of the physical image are extracted respectively, and the theoretical characteristic plane P1 corresponding to the product 100 is defined by the theoretical characteristic curve S1, and the physical characteristic plane P2 corresponding to the product 100 is defined by the physical characteristic curve S2, thereby obtaining the physical position and theoretical position of the product 100 to be processed in the three-dimensional space coordinate system.

[0064] like Figure 6 As shown, in this embodiment, the theoretical characteristic curve S1 and the actual characteristic curve S2 correspond to the contour curves corresponding to the top surface of the product 100. Therefore, the top surface of the product 100 is defined as the corresponding theoretical characteristic plane P1 and physical characteristic plane P2.

[0065] S3: Positioning and adjusting the coordinates of the robot 11.

[0066] Before processing the product 100, the processor 13 first debugs the position coordinates of the manipulator 11 according to the theoretical position, that is, determines at least two theoretical position points M1 and M2 on the theoretical characteristic curve S1 (the line connecting the two theoretical position points passes through the center of the theoretical characteristic plane P1), obtains the theoretical position coordinates of the two theoretical position points in the three-dimensional space coordinate system, and calculates the theoretical center point coordinates (X0, Y0, Z0) of the center of the theoretical characteristic plane P1 in the three-dimensional space coordinate system based on the theoretical position coordinates:

[0067]

[0068] Among them: The theoretical position coordinates of the theoretical position points M1 and M2 in the three-dimensional space coordinate system are and

[0069] The theoretical center point coordinates (X0, Y0, Z0) of the center of the theoretical characteristic plane P1 are assigned to the manipulator 11 to debug the position coordinates of the manipulator 11 before processing the product 100.

[0070] During the processing of product 100, the processor 13 determines the corresponding characteristic points on the theoretical characteristic curve S1 and the physical characteristic curve S2 to determine whether the physical position of product 100 deviates, and calculates the physical position coordinates and offset angle of the product 100 to be processed based on the judgment result, and corrects the operation trajectory of the robot 11 based on the physical position coordinates and offset angle.

[0071] In this embodiment, the specific method for correcting the trajectory of the manipulator 11 during movement is as follows:

[0072] S301: Determine whether the running trajectory of the robot 11 needs to be corrected.

[0073] like Figure 7 As shown, at least three first feature points A, B, C are determined on the physical feature plane P2, and the position coordinates of the three first feature points A, B, C in the three-dimensional space coordinate system are obtained respectively; at the same time, second feature points A', B', C' corresponding to the first feature points A, B, C are determined one-to-one at the positions corresponding to the first feature points A, B, C on the theoretical feature plane P1, and the position coordinates of the three second feature points A', B', C' in the three-dimensional space coordinate system are obtained respectively. In this embodiment, in order to facilitate coordinate acquisition and coordinate matching, the first feature points A, B, C are all located on the actual feature curve S2, and the second feature points A', B', C' are located on the theoretical feature curve S1, and in order to ensure the matching of the first feature points A, B, C and the second feature points A', B', C', the first feature points A, B, C and the second feature points A', B', C' are preferably points with obvious features on the corresponding plane or curve, such as corners or points with large changes in position.

[0074] The processor 13 matches the coordinates of the first feature points A, B, C with the coordinates of the second feature points A', B', C' one by one. If the match is successful, it means that the position of the product 100 has not deviated, and there is no need to correct the position coordinates and operation trajectory of the manipulator 11. Then the correction program ends, and the manipulator 11 performs material picking and unloading according to the established program; if the match fails, it means that the position of the product 100 has deviated, and the position coordinates and operation trajectory of the manipulator 11 need to be corrected before picking up the material. At this time, step S302 is continued to be executed.

[0075] S302: Determine the first position point and the second position point respectively.

[0076] Specifically, at least two first points Q1 and Q2 are determined on the physical characteristic curve S2, and at least two second points Q1' and Q2' are determined on the theoretical characteristic curve S1. In this embodiment, a line connecting two of the at least two first points Q1 and Q2 passes through the center of the physical characteristic plane P2, and a line connecting two of the at least two second points Q1' and Q2' passes through the center of the theoretical characteristic plane P1.

[0077] S303: Obtain and calculate the entity center coordinates and theoretical center coordinates.

[0078] Specifically, the coordinates of the first position points Q1, Q2 and the second position points Q1', Q2' in the three-dimensional space coordinate system are obtained respectively. Then, based on the coordinates of the first position points Q1, Q2 and the second position points Q1', Q2', the physical center coordinates of the product 100 to be processed on the physical feature plane and the theoretical center coordinates on the theoretical feature plane are calculated respectively. In this embodiment, the physical center coordinates are expressed as (X, Y, Z):

[0079]

[0080] Among them: the position coordinates of the first position points Q1 and Q2 in the three-dimensional space coordinate system are and

[0081] The theoretical center coordinates are expressed as (X', Y', Z'):

[0082]

[0083] Among them: the position coordinates of the second position points Q1', Q2' in the three-dimensional space coordinate system are and In this embodiment, the theoretical center coordinates are expressed as (X', Y', Z'), which are the theoretical center point coordinates (X0, Y0, Z0) in the above formula (1).

[0084] S304: Calculate the offset angle of the product 100.

[0085] The offset angle of the manipulator 11 in the three-dimensional space coordinate system is calculated according to the physical center coordinates (X, Y, Z) and the theoretical center coordinates (X', Y', Z').

[0086] Specifically, the entity center coordinates (X, Y, Z) and the theoretical center coordinates (X', Y', Z') are established as follows: Figure 8The position diagram shown in the figure calculates the offset angles of the entity center coordinates (X, Y, Z) relative to the theoretical center coordinates (X', Y', Z') in the X-axis, Y-axis, and Z-axis directions based on the theory of trigonometric and inverse trigonometric functions:

[0087]

[0088] Where: θ X ,θ Y ,θ Z are the offset angles between the entity center coordinates and the theoretical center coordinates in the X-axis, Y-axis and Z-axis directions, respectively; a, e, f are the distances between the entity center coordinates and the theoretical center coordinates in the X-axis, Y-axis and Z-axis directions, respectively; b is the distance between the projection position of the entity center on the theoretical feature plane and the theoretical center.

[0089] based on Figure 8 The distances a, b, e, and f in formula (4) are calculated using the physical center coordinates (X, Y, Z) and the theoretical center coordinates (X', Y', Z'):

[0090]

[0091] From this, we can get the offset angle θ of the entity center coordinates (X, Y, Z) relative to the theoretical center coordinates (X', Y', Z') in the X-axis, Y-axis and Z-axis directions. X θ Y θ Z .

[0092] S305: Correct the running trajectory of the robot 11.

[0093] Based on the physical center coordinates (X, Y, Z), the theoretical center coordinates (X', Y', Z') and the offset angle θ X θ Y θ Z Correct the trajectory of the manipulator 11. Specifically, the offset angle θ X θ Y θ Z Assign a value to the manipulator 11 so that the manipulator 11 follows the offset angle θ X θ Y θ Z After adjusting the posture, the product 100 is picked up, and after the picking is completed, the physical center coordinates (X, Y, Z), the theoretical center coordinates (X', Y', Z') and the offset angle θ are used. X θ Y θ Z After adjusting back to the original posture, the product 100 is discharged.

[0094] The fast cloud computing intelligent positioning method of this embodiment reconstructs the three-dimensional space coordinate system to unify the movement of the manipulator 11 and the position of the product 100 into the three-dimensional space coordinate system, and extracts the characteristic coordinates of the product 100 at the theoretical position and assigns them to the manipulator 11 to adjust and initialize the position coordinates of the manipulator 11. At the same time, during the operation of the manipulator 11, by collecting the physical image of the product 100, it is determined whether there is a deviation in the position of the product 100 based on the feature extraction algorithm, and the offset angle of the product 100 in each direction is calculated based on the theory of trigonometric functions and inverse trigonometric functions, so as to adaptively adjust the position and trajectory of the manipulator 11 during the operation process, and timely correct the position coordinates and operation trajectory of the manipulator 11 to avoid inadequate material collection or placement, reduce the risk of product 100 scrapping due to material deviation, solve the problem of abnormal material deviation alarm from the source, reduce the time and cost of manual abnormality processing and improve the efficiency of product 100 processing.

[0095] Example 3

[0096] like Figure 9 FIG2 is a control block diagram of the fast cloud computing intelligent positioning system of this embodiment. The fast cloud computing intelligent positioning system of this embodiment is integrated into the fast cloud computing intelligent positioning device of Example 1 and is capable of executing the fast cloud computing intelligent positioning method of Example 2 to achieve position coordinate adjustment of the robot 11 before processing the product 100 and adaptive adjustment of the running trajectory of the product 100 during processing.

[0097] The fast cloud computing intelligent positioning system of this embodiment includes a coordinate construction module 31, a position acquisition module 32, and a trajectory correction module 33.

[0098] The coordinate construction module 31 is integrated in the acquisition mechanism 12, and is used to determine the coordinate origin based on the collected X-axis distance from the preset position to the first position in the X-axis direction in space, the Y-axis distance from the preset position to the second position in the Y-axis direction in space, and the Z-axis distance from the preset position to the third position in the Z-axis direction in space, and construct a three-dimensional space coordinate system based on the manipulator 11 based on the coordinate origin.

[0099] The position acquisition module 32 is used to collect images of the product to be processed 100 when it is accurately placed at the loading position 11a or the unloading position 11b, and model it to obtain a theoretical model of the product to be processed 100, and place the theoretical model in a three-dimensional space coordinate system to obtain a theoretical image corresponding to the product 100; collect the actual physical image of the product to be processed 100 at the loading position 11a or the unloading position 11b; and based on the feature extraction algorithm, respectively extract the theoretical characteristic curve S1 of the theoretical image and the actual characteristic curve S2 of the physical image, and use the theoretical characteristic curve S1 to define the theoretical characteristic plane P1 corresponding to the product 100, and use the physical characteristic curve S2 to define the physical characteristic plane P2 corresponding to the product 100, thereby obtaining the physical position and theoretical position of the product to be processed 100 in the three-dimensional space coordinate system.

[0100] The trajectory correction module 33 is integrated into the processor 13 and is used to adjust the position coordinates of the manipulator 11 according to the theoretical position, determine whether the physical position of the product 100 to be processed deviates from the theoretical position of the product 100, and calculate the position coordinates and offset angle of the product 100 to be processed if a deviation occurs. The manipulator 11 is positioned according to the position coordinates and offset angle and the trajectory of the manipulator 11 is corrected during operation. In this embodiment, the specific method for the trajectory correction module 33 to correct the trajectory of the manipulator 11 is described in the relevant description of step S3 in Example 2, and is not further described in this embodiment.

[0101] The fast cloud computing intelligent positioning system of this embodiment reconstructs the three-dimensional space coordinate system by setting a coordinate construction module 31, unifies the movement of the manipulator 11 and the position of the product 100 into the three-dimensional space coordinate system, and collects the physical image of the product 100 by setting a position acquisition module 32, and sets a trajectory correction module 33 to extract the characteristic coordinates of the product 100 at the theoretical position and assign them to the manipulator 11, so as to adjust and initialize the position coordinates of the manipulator 11, determine whether there is any deviation in the position of the product 100, and adaptively adjust the position and trajectory of the manipulator 11 during the operation process, thereby effectively improving the debugging accuracy and efficiency.

Claims

1. A fast cloud computing intelligent positioning method for locating and correcting the trajectory of a manipulator, characterized in that: The following steps are involved: Determine the coordinate origin and construct a three-dimensional space coordinate system; Collecting the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system; wherein, obtaining a physical image and a theoretical image of the product to be processed when it is at the loading position or the unloading position, extracting physical characteristic curves and theoretical characteristic curves of the physical image and the theoretical image respectively, and defining corresponding physical characteristic planes and theoretical characteristic planes by the physical characteristic curves and the theoretical characteristic curves to obtain the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system; Based on the corresponding characteristic points determined on the theoretical characteristic curve and the physical characteristic curve, it is judged whether the physical position of the product deviates, and the position coordinates and offset angle of the physical position of the product to be processed are calculated according to the judgment result. The robot is positioned according to the position coordinates and offset angle, and the operation trajectory of the robot is corrected during the operation process.

2. The fast cloud computing intelligent positioning method according to claim 1, characterized in that: In the step of determining the coordinate origin and constructing the three-dimensional space coordinate system, the specific method is: The method further comprises obtaining an X-axis distance from a preset position to a first position in the X-axis direction, a Y-axis distance from a second position in the Y-axis direction, and a Z-axis distance from a third position in the Z-axis direction, determining a coordinate origin based on the X-axis distance, the Y-axis distance, and the Z-axis distance, and constructing a three-dimensional space coordinate system based on the coordinate origin and the X-axis, Y-axis, and Z-axis.

3. The fast cloud computing intelligent positioning method according to claim 1, characterized in that: In the steps of calculating the position coordinates and offset angle of the product to be processed based on the physical position and theoretical position of the product to be processed, positioning the manipulator according to the position coordinates and offset angle, and correcting the running trajectory of the manipulator during operation, the specific method for correcting the running trajectory of the manipulator is as follows: Determine whether the movement trajectory of the manipulator needs to be corrected. If so, determine at least two first position points on the physical characteristic curve and at least two second position points on the theoretical characteristic curve; otherwise, exit the correction program, wherein a line connecting any two of the at least two first position points passes through the center of the physical characteristic plane, and a line connecting any two of the at least two second position points passes through the center of the theoretical characteristic plane; Obtaining the coordinates of the first position point and the second position point in the three-dimensional space coordinate system respectively, and calculating the physical center coordinates of the product to be processed on the physical feature plane and the theoretical center coordinates on the theoretical feature plane respectively based on the coordinates of the first position point and the second position point; Calculating the offset angle of the manipulator in the three-dimensional space coordinate system according to the physical center coordinates and the theoretical center coordinates; The running trajectory of the manipulator is corrected based on the physical center coordinates, theoretical center coordinates and offset angle.

4. The fast cloud computing intelligent positioning method according to claim 3, characterized in that: In the step of determining whether the trajectory of the robot needs to be corrected, the specific method is: Determine at least three first feature points on the physical feature plane and determine second feature points corresponding one-to-one to the first feature points on the theoretical feature plane, obtain the coordinates of the first feature points and the second feature points in the three-dimensional space coordinate system respectively, and match the coordinates of the first feature points with the coordinates of the second feature points one by one. If all matches are successful, no correction is required, otherwise correction is required.

5. The fast cloud computing intelligent positioning method according to claim 3, characterized in that: In the step of calculating the offset angle of the manipulator in the three-dimensional space coordinate system based on the physical center coordinates and the theoretical center coordinates, the offset angle is calculated according to the following formula: in: are the offset angles between the entity center coordinates and the theoretical center coordinates in the X-axis, Y-axis and Z-axis directions, are the distances between the entity center coordinates and the theoretical center coordinates on the X-axis, Y-axis, and Z-axis, respectively. is the distance between the projection position of the entity center on the theoretical characteristic plane and the theoretical center.

6. A fast cloud computing intelligent positioning system based on the fast cloud computing intelligent positioning method according to any one of claims 1 to 5, for locating and correcting the running trajectory of a manipulator of a CNC device, characterized in that: include: Coordinate construction module, used to determine the coordinate origin and construct a three-dimensional space coordinate system; A position acquisition module, used to acquire the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system; as well as The trajectory correction module is used to calculate the position coordinates and offset angle of the product to be processed based on the physical position and theoretical position of the product to be processed, position the robot according to the position coordinates and offset angle, and correct the operation trajectory of the robot during operation.

7. A fast cloud computing intelligent positioning device based on the fast cloud computing intelligent positioning method according to any one of claims 1 to 5, characterized in that: include: A manipulator having a loading position formed in a loading area and a unloading position in an unloading area, the manipulator being used to take the product to be processed from the loading position and transfer the processed product to the unloading position for unloading; and The adaptive positioning system is used to adaptively correct the running trajectory of the manipulator when picking up and placing materials.

8. The fast cloud computing intelligent positioning device according to claim 7, characterized in that: The adaptive positioning system comprises: a collection mechanism for collecting images of products at the loading and / or unloading positions and an X-axis distance from a preset position of the collection mechanism to a first position in the X-axis direction, a Y-axis distance from a second position in the Y-axis direction, and a Z-axis distance from a third position in the Z-axis direction in space; and The processor is used to determine the coordinate origin and construct a three-dimensional space coordinate system based on the X-axis distance, Y-axis distance and Z-axis distance, and calculate the position coordinates and offset angle of the product to be processed based on the physical position and theoretical position of the product to be processed in the three-dimensional space coordinate system, and correct the operation trajectory of the robot based on the position coordinates and offset angle.

9. The fast cloud computing intelligent positioning device according to claim 8, characterized in that: The acquisition mechanism includes a mounting base fixed on the manipulator and a signal acquisition module and an image acquisition module integrated on the mounting base; the signal acquisition module includes an X-axis signal sensor, a Y-axis signal sensor and a Z-axis signal sensor arranged on the mounting base and corresponding to the X-axis direction, the Y-axis direction and the Z-axis direction respectively, and an X-axis baffle, a Y-axis baffle and a Z-axis baffle arranged in the signal radiation direction of the X-axis signal sensor, the Y-axis signal sensor and the Z-axis signal sensor and corresponding to the first position, the second position and the third position.

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