A method, apparatus and system for vision guided machining

Abstract

The disclosure provides a visual guidance machining method, device and system, the method comprising: controlling a calibration object placed in a specified position of a machining mechanism to rotate around a first rotation axis of a preset coordinate system, so that a second rotation plane of the calibration object is parallel to the first coordinate axis and the second coordinate axis; obtaining a first relative position relationship between a target point in a camera field of view of the machining mechanism and an axis center of the second rotation axis; obtaining a second relative position relationship between the target point in the camera field of view and an axis center of an electric spindle of a tool; obtaining a third relative position relationship between the axis center of the second rotation axis and the axis center of the electric spindle according to the first relative position relationship and the second relative position relationship; determining a first coordinate value of the first coordinate axis and the second coordinate axis when the second rotation axis and the electric spindle are concentric as a calibration result according to the third relative position relationship; and controlling the tool to machine a to-be-machined object placed in the specified position according to the calibration result.

Description

Technical Field

[0001] This disclosure relates to the field of production line processing technology, and more specifically, to a vision-guided processing method, a vision-guided processing device, and a vision-guided processing system. Background Technology

[0002] With the development of technology, virtual reality devices are being used more and more widely. The frames of virtual reality glasses require high precision in their manufacturing, typically employing computer-controlled precision machining. Before machining the frames, the machining mechanism usually needs to be calibrated to ensure accurate processing.

[0003] However, in existing technologies, machining mechanisms are usually calibrated mechanically, which is costly and inefficient. Summary of the Invention

[0004] One object of this disclosure is to provide a new technical solution that can at least solve one of the above-mentioned problems.

[0005] According to a first aspect of this disclosure, a visually guided processing method is provided, comprising:

[0006] A calibration object placed at a designated position on a machining mechanism is controlled to rotate around a first rotation axis of a preset coordinate system, such that a second rotation plane of the calibration object is parallel to both the first and second coordinate axes of the preset coordinate system; wherein the first and second coordinate axes are perpendicular to each other, and the first rotation axis is parallel to the second rotation plane;

[0007] The first relative positional relationship between the target point in the camera's field of view in the processing mechanism and the axis of the second rotation axis in the preset coordinate system is obtained; the second rotation axis is perpendicular to the second rotation plane.

[0008] The second relative positional relationship between the target point in the camera's field of view and the axis of the electric spindle of the tool is obtained; wherein the tool rotates around the electric spindle during the machining process;

[0009] Based on the first relative positional relationship and the second relative positional relationship, a third relative positional relationship between the axis of the second rotating shaft and the axis of the electric spindle is obtained;

[0010] Based on the third relative positional relationship, determine the first coordinate values ​​of the first coordinate axis and the second coordinate axis when the second rotation axis and the electric spindle are concentric, and use them as the calibration result;

[0011] The tool is controlled to process the object to be processed at the designated position based on the calibration result.

[0012] Optionally, the first relative position relationship between the target point in the camera field of view and the axis of the second rotation axis of the calibration object is obtained by:

[0013] controlling the calibration object to move along the direction of the first coordinate axis and controlling the camera to move along the direction of the second coordinate axis, so that the calibration point of the calibration object is located in the camera field of view;

[0014] obtaining coordinates of the calibration point in the camera field of view at a plurality of rotation positions during the control of the calibration object to rotate around the second rotation axis, as field of view coordinates;

[0015] the first relative position relationship is obtained according to the field of view coordinates.

[0016] Optionally, the second relative position relationship between the target point in the camera field of view and the axis of the electric spindle for fixing the machining tool is obtained by:

[0017] controlling the calibration object to move along the direction of the first coordinate axis and controlling the camera to move along the direction of the second coordinate axis, to determine coordinate values of the first coordinate axis and the second coordinate axis when the calibration point coincides with the target point in the camera field of view, as second coordinate values;

[0018] controlling the calibration object to move along the direction of the first coordinate axis, controlling the electric spindle to move along the direction of the second coordinate axis, and controlling the electric spindle to move along the direction of the third coordinate axis of the preset coordinate system, to determine coordinate values of the first coordinate axis and the second coordinate axis when the axis of the electric spindle coincides with the calibration point, as third coordinate values; wherein the third coordinate axis is a direction close to or away from the specified position, and the third coordinate axis is perpendicular to the first coordinate axis and the second coordinate axis;

[0019] the second relative position relationship is obtained according to the second coordinate values and the third coordinate values.

[0020] Optionally, the machining of the to-be-machined object placed at the specified position according to the calibration result comprises:

[0021] obtaining a first machining trajectory of the to-be-machined object in the machining mechanism; wherein the machining trajectory is generated according to the calibration result;

[0022] machining the to-be-machined object according to the first machining trajectory.

[0023] Optionally, the obtaining of the machining trajectory of the to-be-machined object in the machining mechanism comprises:

[0024] obtaining machining data of a reference object corresponding to the object to be machined;

[0025] obtaining a second machining trajectory of the reference object in the machining mechanism according to the machining data of the reference object and the calibration result;

[0026] obtaining a first machining trajectory of the object to be machined in the machining mechanism according to the second machining trajectory of the reference object in the machining mechanism.

[0027] Optionally, the obtaining the first machining trajectory of the object to be machined in the machining mechanism according to the second machining trajectory of the reference object in the machining mechanism comprises:

[0028] obtaining a first image of the object to be machined, wherein the first image is an image obtained by controlling the camera to capture the reference object placed on the specified position;

[0029] controlling the camera to capture the object to be machined placed on the specified position to obtain a second image;

[0030] correcting the second machining trajectory according to the first image, the second image and the calibration result to obtain the first machining trajectory.

[0031] Optionally, the correcting the second machining trajectory according to the first image, the second image and the calibration result to obtain the first machining trajectory comprises:

[0032] determining a first difference between the reference object and the object to be machined in the field of view of the camera according to the first image and the second image;

[0033] obtaining a second difference between the reference object and the object to be machined in the coordinate system of the machining mechanism according to the first difference and the calibration result;

[0034] correcting the second machining trajectory according to the second difference to obtain the first machining trajectory.

[0035] Optionally, before the object to be machined placed on the specified position is machined according to the calibration result, the visual guidance machining method further comprises:

[0036] controlling a first rotary motor, a second rotary motor, a first linear motor and a second linear motor of the machining mechanism to reset;

[0037] The first rotary motor is configured to control rotation of the calibration object around the first rotary axis, the second rotary motor is configured to control rotation of the calibration object around the second rotary axis, the first linear motor is configured to control movement of the calibration object along the direction of the first coordinate axis, and the second linear motor is configured to control movement of the camera along the direction of the second coordinate axis.

[0038] According to a second aspect of the present disclosure, there is provided a visual guidance machining device, comprising:

[0039] A rotation control module is configured to control rotation of a calibration object placed at a specified position of a machining mechanism around a first rotary axis of a preset coordinate system, so that a second rotary plane of the calibration object is parallel to a first coordinate axis and a second coordinate axis of the preset coordinate system; wherein the first coordinate axis and the second coordinate axis are perpendicular to each other, and the first rotary axis is parallel to the second rotary plane.

[0040] A first relationship acquisition module is configured to acquire a first relative position relationship between a target point of a camera field of view in the machining mechanism and an axis center of a second rotary axis in the preset coordinate system; the second rotary axis is perpendicular to the second rotary plane.

[0041] A second relationship acquisition module is configured to acquire a second relative position relationship between the target point of the camera field of view and an axis center of an electric spindle of a tool; wherein the tool rotates around the electric spindle during a machining process.

[0042] A third relationship acquisition module is configured to obtain a third relative position relationship between the axis center of the second rotary axis and the axis center of the electric spindle according to the first relative position relationship and the second relative position relationship.

[0043] A calibration result determination module is configured to determine a first coordinate value of the first coordinate axis and the second coordinate axis when the second rotary axis and the electric spindle are concentric as a calibration result according to the third relative position relationship.

[0044] A machining control module is configured to control the tool to machine a to-be-machined object placed at the specified position according to the calibration result.

[0045] According to a third aspect of the present disclosure, there is provided a visual guidance machining system, comprising a machining mechanism and a visual guidance machining device according to the second aspect of the present disclosure.

[0046] By means of the embodiment of the present disclosure, the machining mechanism is calibrated in a visual guidance manner, and then the machining object is machined, so that the automatic machining of the machining object can be realized, the machining precision of the machining object is improved, and the machining efficiency of the machining object is improved. In addition, the first machining track of the machining object is obtained by correcting the second machining track of the reference object, the size of the machining object can be self-adapted, and the machining object has strong customizability, so that different precision requirements of customers for the machined product can be met.

[0047] Other features of the present disclosure, and their advantages, will become apparent from the following detailed description of exemplary embodiments of the present disclosure, with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0049] Figure 1 A schematic diagram of a machining mechanism for implementing a visual guidance machining method according to an embodiment of the present disclosure is shown;

[0050] Figure 2 A front view of a machining mechanism for implementing a visual guidance machining method according to an embodiment of the present disclosure is shown;

[0051] Figure 3 A flowchart of one example of a visual guidance machining method according to an embodiment of the present disclosure is shown;

[0052] Figure 4 A flowchart of another example of a visual guidance machining method according to an embodiment of the present disclosure is shown;

[0053] Figure 5 A flowchart of still another example of a visual guidance machining method according to an embodiment of the present disclosure is shown;

[0054] Figure 6 A flowchart of one example of resetting a machining mechanism according to an embodiment of the present disclosure is shown;

[0055] Figure 7 A block diagram of a visual guidance machining device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0056] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present disclosure, unless otherwise specifically stated.

[0057] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the disclosure or its application or uses.

[0058] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and apparatus should be considered as being part of the specification.

[0059] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0060] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and thus, once an item is defined in one drawing, it is not necessary that it be further discussed in subsequent drawings.

[0061] <Processing mechanism>

[0062] Figure 1 A schematic diagram of a processing mechanism for implementing a visual guidance processing method according to an embodiment of the disclosure is shown; Figure 2 A front view of a processing mechanism for implementing a visual guidance processing method according to an embodiment of the disclosure is shown.

[0063] As shown in Figure 1 and Figure 2 , the processing mechanism can include a first linear motor 1, a first rotary motor 2, a second rotary motor 3, a tool magazine 4, a light source 5, a camera 6, an electric spindle 7, a second linear motor 8, a third linear motor 9, and a powder blowing device 10.

[0064] Specifically, a preset coordinate system of five axes can be established in advance, which can include a first coordinate axis X, a second coordinate axis Y, a third coordinate axis Z, a first rotary axis A, and a second rotary axis C. The first coordinate axis X, the second coordinate axis Y, and the third coordinate axis Z are perpendicular to each other in pairs. The first rotary axis A is parallel to the first coordinate axis X, and the second rotary axis C is perpendicular to the first rotary axis A.

[0065] The second rotary motor 3 is configured to control the rotation of the tool around the second rotary axis C. The first rotary motor 1 is configured to control the rotation of the tool and the second rotary motor 3 around the first rotary axis A. The first linear motor 1 is configured to control the movement of the first rotary motor 1, the second rotary motor 3, and the tool in the direction of the first coordinate axis X. The second linear motor 8 is configured to control the movement of the camera 6 and the electric spindle 7 in the direction of the second coordinate axis Y. The third linear motor 9 is configured to control the movement of the second linear motor 8, the camera 6, and the electric spindle 7 in the direction of the third coordinate axis Z.

[0066] The light source 5 is used to light the object to be processed, the calibration object, or the reference object placed on the specified position, so that the object to be processed, the calibration object, or the reference object on the specified position can be clearly imaged in the camera 6.

[0067] The tool magazine 4 is used to place a plurality of tools. The tool used in the process of processing the object to be processed needs to be fixed on the electric spindle 7 first. The tool fixed on the electric spindle 7 rotates around the electric spindle 7 in the process of processing the object to be processed.

[0068] The powder blowing device 10 is used to blow powder on the object to be processed in the process of processing the object to be processed.

[0069] <Method Embodiment>

[0070] In this embodiment, a visual guidance processing method is provided. The visual guidance processing method can be implemented by the visual guidance processing device 7000.

[0071] Figure 3 A flowchart of the visual guidance processing method according to the embodiment of the present disclosure.

[0072] According to Figure 3 As shown in FIG. 7, the method includes steps S1100-S1600 as shown below:

[0073] Step S1100, control the calibration object placed on the specified position of the processing mechanism to rotate around the first rotation axis of the preset coordinate system, so that the second rotation plane of the calibration object is parallel to the first coordinate axis and the second coordinate axis of the preset coordinate system.

[0074] Wherein, the first coordinate axis X and the second coordinate axis Y are perpendicular to each other, and the first rotation axis A is parallel to the second rotation plane.

[0075] In this embodiment, the specified position of the processing mechanism can be located on the second rotation axis C. Wherein, the second rotation axis C is perpendicular to the second rotation plane.

[0076] Further, the specified position can be a tool setting on the second rotation axis.

[0077] Still further, the calibration object can be a tool setting on the second rotation axis, or an object to be processed placed in the tool.

[0078] Controlling the calibration object placed on the specified position of the processing mechanism to rotate around the first rotation axis of the preset coordinate system can be driving the first rotation motor, so that the first rotation motor controls the calibration object and the second rotation motor 3 to rotate around the first rotation axis A.

[0079] In step S1200, a first relative position relationship between a target point in the camera field of view in the machining mechanism and an axis of the second rotation axis in the preset coordinate system is acquired, wherein the second rotation axis is perpendicular to the second rotation plane.

[0080] The target point in the camera field of view can be set according to an application scenario or specific requirements in advance. In an example, the target point can be a center point of the camera field of view.

[0081] In an embodiment of the present disclosure, acquiring the first relative position relationship between the target point in the camera field of view in the machining mechanism and the axis of the second rotation axis in the preset coordinate system can include steps S1210-S1230 as shown in the following table: Figure 4

[0082] In step S1210, the calibration object is controlled to move along a direction of the first coordinate axis, and the camera is controlled to move along a direction of the second coordinate axis, so that the calibration point of the calibration object is located in the camera field of view.

[0083] In the present embodiment, controlling the calibration object to move along the direction of the first coordinate axis can be achieved by driving the first linear motor, so that the first linear motor controls the calibration object, the first rotation motor and the second rotation motor to move along the direction of the first coordinate axis. Specifically, the calibration object can be controlled to move in the same direction as the first coordinate axis, or the calibration object can be controlled to move in the opposite direction of the first coordinate axis.

[0084] Further, controlling the camera to move along the direction of the second coordinate axis can be achieved by driving the second linear motor, so that the second linear motor controls the camera to move along the direction of the second coordinate axis. Specifically, the camera can be controlled to move in the same direction as the second coordinate axis, or the camera can be controlled to move in the opposite direction of the second coordinate axis.

[0085] In step S1220, coordinates of the calibration point in the camera field of view when the calibration point is at a plurality of rotation positions during the control of the calibration object to rotate around the second rotation axis are acquired as field of view coordinates.

[0086] In the present embodiment, the calibration object can be controlled to rotate around the second rotation axis while the coordinate values of the first coordinate axis and the first rotation axis remain unchanged, so that the coordinate axis of the calibration point of the calibration object changes relative to the second rotation axis.

[0087] Further, the camera can be controlled to take pictures of the calibration object during the control of the calibration object to rotate around the second rotation axis, so as to obtain the coordinates of the calibration point in the camera field of view when the calibration point is at different rotation positions.

[0088] Still further, at least 9 field of view coordinates can be acquired.

[0089] ​Step S1230, obtaining the first relative position relationship according to the field of view coordinates.

[0090] In the embodiment, the first relative position relationship between the target point of the camera field of view and the axis of the second rotation axis can be obtained according to a plurality of field of view coordinates.

[0091] In another embodiment of the present disclosure, the first relative position relationship can be pre-set. Specifically, it can be determined by steps S1210-S1230 of the foregoing embodiment and stored in the visual guidance machining device executing the embodiment. In the case where the setting position of the camera on the second coordinate axis does not change, i.e., the camera is not removed from the second coordinate axis, the first relative position relationship can be directly obtained.

[0092] Step S1300, obtaining a second relative position relationship between the target point of the camera field of view and the axis of the main axis of the tool; wherein the tool rotates around the main axis during the machining process.

[0093] In the embodiment, the tool can be fixed on the main axis of the motor and rotate around the main axis of the motor during the machining process of the object to be machined.

[0094] Further, the tool tip of the tool is located on the straight line where the main axis of the motor is located.

[0095] In one embodiment of the present disclosure, obtaining the second relative position relationship between the target point of the camera field of view and the axis of the main axis of the tool can include steps S1310-S1330 as shown in the following: Figure 4

[0096] Step S1310, controlling the calibration object to move along the direction of the first coordinate axis and controlling the camera to move along the direction of the second coordinate axis, determining the coordinate values of the first coordinate axis and the second coordinate axis when the calibration point coincides with the target point in the camera field of view as the second coordinate values.

[0097] In the embodiment, controlling the calibration object to move along the direction of the first coordinate axis can be achieved by driving the first linear motor to control the calibration object, the first rotary motor and the second rotary motor to move along the direction of the first coordinate axis. Specifically, the calibration object can be controlled to move in the same direction as the first coordinate axis, or the calibration object can be controlled to move in the opposite direction of the first coordinate axis.

[0098] Further, controlling the camera to move along the direction of the second coordinate axis can be achieved by driving the second linear motor to control the camera to move along the direction of the second coordinate axis. Specifically, the camera can be controlled to move in the same direction as the second coordinate axis, or the camera can be controlled to move in the opposite direction of the second coordinate axis. ​

[0099] The calibration point is coincident with the target point in the camera view, i.e., the imaging position of the calibration point in the camera view is coincident with the target point of the camera view.

[0100] In this embodiment, the coordinate values of the first coordinate axis and the second coordinate axis can be obtained by the first linear motor and the second linear motor respectively. Specifically, the coordinate values of the first coordinate axis and the second coordinate axis can be obtained according to the rotation direction and the number of rotations of the first linear motor and the second linear motor.

[0101] In step S1320, the calibration object is controlled to move along the direction of the first coordinate axis, the electric spindle is controlled to move along the direction of the second coordinate axis, and the electric spindle is controlled to move along the direction of the third coordinate axis of the preset coordinate system, so as to determine the coordinate values of the first coordinate axis and the second coordinate axis when the axis center of the electric spindle is coincident with the calibration point as the third coordinate values; the third coordinate axis is the direction close to or away from the specified position, and the third coordinate axis is perpendicular to the first coordinate axis and the second coordinate axis.

[0102] In this embodiment, the control of the calibration object to move along the direction of the first coordinate axis can be achieved by driving the first linear motor to control the calibration object, the first rotary motor and the second rotary motor to move along the direction of the first coordinate axis. Specifically, the calibration object can be controlled to move in the same direction as the first coordinate axis, or the calibration object can be controlled to move in the opposite direction of the first coordinate axis.

[0103] Further, the control of the electric spindle to move along the direction of the second coordinate axis can be achieved by driving the second linear motor to control the electric spindle to move along the direction of the second coordinate axis. Specifically, the electric spindle can be controlled to move in the same direction as the second coordinate axis, or the electric spindle can be controlled to move in the opposite direction of the second coordinate axis.

[0104] Still further, the control of the electric spindle to move along the direction of the third coordinate axis can be achieved by driving the third linear motor to control the electric spindle to move along the direction of the third coordinate axis. Specifically, the electric spindle can be controlled to move in the same direction as the third coordinate axis, or the electric spindle can be controlled to move in the opposite direction of the third coordinate axis. In addition, the control of the electric spindle to move along the direction of the third coordinate axis can be achieved by controlling the electric spindle to move in the direction close to the calibration object.

[0105] In this embodiment, the camera and the electric spindle can be moved synchronously.

[0106] In step S1330, the second relative position relationship is obtained according to the second coordinate values and the third coordinate values.

[0107] According to the coordinate values of the first coordinate axis and the second coordinate axis when the camera view field coincides with the target point, and the coordinate values of the first coordinate axis and the second coordinate axis when the axis center of the motorized spindle coincides with the calibration point, the second relative positional relationship between the target point of the camera view field and the axis center of the main motorized spindle of the tool can be obtained.

[0108] In another embodiment of the present disclosure, the second relative positional relationship can be pre-set. Specifically, it can be determined by steps S1310-S1330 of the foregoing embodiment and stored in the visual guidance machining device executing the present embodiment. In the case where the setting position on the motorized spindle does not change, i.e., the motorized spindle is not removed, the second relative positional relationship can be directly obtained.

[0109] In another embodiment of the present disclosure, the second relative positional relationship can be pre-set. Specifically, it can be determined by steps S1310-S1330 of the foregoing embodiment and stored in the visual guidance machining device executing the present embodiment. In the case where the setting position on the motorized spindle does not change, i.e., the motorized spindle is not removed, the second relative positional relationship can be directly obtained.

[0110] Step S1500, according to the third relative positional relationship, determining the first coordinate value of the first coordinate axis and the second coordinate axis when the second rotating shaft and the motorized spindle are concentric as the calibration result.

[0111] Through steps S1100-S1500, the calibration of the machining mechanism can be completed.

[0112] Step S1600, according to the calibration result, controlling the tool to machine the object to be machined placed on the specified position.

[0113] In one embodiment of the present disclosure, machining the object to be machined placed on the specified position according to the calibration result includes:

[0114] Obtaining a first machining trajectory of the object to be machined in the machining mechanism; wherein the machining trajectory is generated according to the calibration result; and machining the object to be machined according to the first machining trajectory.

[0115] The machining trajectory of the object to be machined in the machining mechanism can include a plurality of five-axis coordinate values in sequence, and each five-axis coordinate value can include coordinate values of the first coordinate axis X, the second coordinate axis Y, the third coordinate axis Z, the first rotating shaft A and the second rotating shaft C.

[0116] In one embodiment of the present disclosure, obtaining the first machining trajectory of the object to be machined in the machining mechanism can include: obtaining machining data of a reference object corresponding to the object to be machined; obtaining a second machining trajectory of the reference object in the machining mechanism according to the machining data of the reference object and the calibration result; and obtaining the first machining trajectory of the object to be machined in the machining mechanism according to the second machining trajectory of the reference object in the machining mechanism.

[0117] The reference object and the product to be processed in the embodiment are of the same type, and the reference object may, for example, be a standard part of the product to be processed.

[0118] The processing data of the reference object may be preset, and the processing data may reflect the shape of the reference object after processing. In an example, the processing data may be a processing track of the reference object in a reference object coordinate system, and the reference object coordinate system may be a space rectangular coordinate system established in advance for the reference object, and three coordinate axes in the space rectangular coordinate system are perpendicular to each other.

[0119] In an embodiment of the present disclosure, the error between the product to be processed and the reference object is small, and the first processing track of the product to be processed in the processing mechanism may be obtained according to the second processing track of the reference object in the processing mechanism, which may be the second processing track of the reference object in the processing mechanism as the first processing track of the product to be processed in the processing mechanism.

[0120] Further, the reference object and the product to be processed may be the same product or different products, which is not limited herein.

[0121] In another embodiment of the present disclosure, the error between the product to be processed and the reference object is large, and the first processing track of the product to be processed in the processing mechanism may be obtained according to the second processing track of the reference object in the processing mechanism, which may include: obtaining a first image of the product to be processed, wherein the first image is an image obtained by controlling a camera to capture the reference object placed on a specified position; controlling the camera to capture the product to be processed placed on the specified position to obtain a second image; and correcting the second processing track according to the first image, the second image, and a calibration result to obtain the first processing track.

[0122] In the embodiment, the first image may be pre-captured and stored in the visual guidance processing device, and the first image may be directly obtained according to the second processing track of the reference object in the processing mechanism to obtain the first processing track of the product to be processed in the processing mechanism.

[0123] In the case where the product to be processed is placed on the specified position and has not been processed, the second image may be obtained by controlling the camera to capture the product to be processed.

[0124] In an embodiment of the present disclosure, the first processing track of the product to be processed in the processing mechanism may be obtained according to the second processing track of the reference object in the processing mechanism, which may include:

[0125] According to the first image and the second image, a first difference between the reference object and the object to be processed in the field of view of the camera is determined; according to the first difference and the calibration result, a second difference between the reference object and the object to be processed in the coordinate system of the machining mechanism is obtained; and the second machining trajectory is corrected according to the second difference to obtain the first machining trajectory.

[0126] In the embodiment, at least two feature points for positioning can be pre-set in the reference object and the object to be processed, which can be determined according to a first position of the feature point of the reference object in the first image, a second position of the feature point of the object to be processed in the second image, a difference between the first position and the second position in the field of view of the camera as the first difference between the reference object and the object to be processed in the field of view of the camera. According to the calibration result and the first difference, a difference between the feature point of the reference object and the feature point of the object to be processed in the machining mechanism can be obtained as the second difference. According to the second difference, at least one five-axis coordinate value in the second machining trajectory is corrected, that is, the first machining trajectory of the object to be processed in the machining mechanism can be obtained.

[0127] Through the automatic machining of the object to be processed in the embodiment, the size of the object to be processed can be adapted, the machining efficiency of the object to be processed is improved, and the object to be processed has strong customizability and can meet different precision requirements of customers for the object to be processed.

[0128] In one example, the control of the cutter to process the object to be processed placed on the specified position according to the calibration result can include steps S1610-S1680 as shown in the following table: Figure 5

[0129] Step S1610, under the condition that the object to be processed is placed on the specified position, the electric spindle and the cold water machine are started.

[0130] Step S1620, it is detected whether the vision function is enabled, if yes, step S1630 is executed; if no, step S1660 is executed.

[0131] Step S1630, a first image of the object to be processed is obtained. The first image is an image obtained by controlling the camera to shoot the reference object placed on the specified position.

[0132] Step S1640, the camera is controlled to shoot the object to be processed placed on the specified position to obtain a second image.

[0133] Step S1650, according to the first image, the second image and the calibration result, the second machining trajectory of the reference object in the machining mechanism is corrected to obtain the first machining trajectory of the object to be processed in the machining mechanism.

[0134] ​Step S1660, taking the second machining track of the reference object in the machining mechanism as the first machining track of the object to be machined in the machining mechanism.

[0135] Step S1670, machining the object to be machined according to the first machining track in the case that the electric spindle reaches the rated speed and the state of the water chiller is the open state.

[0136] The rated speed is set in advance according to the electric spindle.

[0137] In the embodiment, the water chiller can be used for cooling the electric spindle, or can be used for cooling the object to be machined or the tool.

[0138] Step S1680, controlling the dust removal mechanism to perform dust removal treatment.

[0139] In the embodiment, the dust removal mechanism can perform dust removal treatment on the machining mechanism and the object to be machined.

[0140] In one embodiment of the present disclosure, before performing step S1600, machining the object to be machined placed in the specified position according to the calibration result, the visual guided machining method further comprises:

[0141] Controlling the first rotary motor, the second rotary motor, the first linear motor, the second linear motor and the third linear motor of the machining mechanism to reset.

[0142] Specifically, controlling the first rotary motor, the second rotary motor, the first linear motor, the second linear motor and the third linear motor of the machining mechanism to reset can include steps S6100-S6012 as shown in the following table: Figure 6

[0143] Step S6001, controlling the third linear motor to reset.

[0144] Step S6002, detecting whether the third linear motor resets successfully, if yes, performing step S6003 and step S6004; if not, performing step S6011.

[0145] In the embodiment, whether the third linear motor resets successfully can be detected by detecting whether the coordinate value of the third coordinate axis is zero. In the case that the coordinate value of the third coordinate axis is zero, it is determined that the third linear motor resets successfully; in the case that the coordinate value of the third coordinate axis is not zero, it is determined that the third linear motor resets unsuccessfully.

[0146] Step S6003, controlling the second linear motor to reset.

[0147] Step S6004, controlling the first rotary motor to reset.

[0148] ​Step S6005, detecting whether the second linear motor resets successfully, if yes, executing step S6012; if no, executing step S6011.

[0149] Step S6006, detecting whether the first rotary motor resets successfully, if yes, executing step S6007 and step S6008; if no, executing step S6011.

[0150] Step S6007, controlling the first linear motor to reset.

[0151] Step S6008, controlling the second rotary motor to reset.

[0152] Step S6009, detecting whether the first linear motor resets successfully, if yes, executing step S6012; if no, executing step S6011.

[0153] Step S6010, detecting whether the second rotary motor resets successfully, if yes, executing step S6007 and step S6008; if no, executing step S6011.

[0154] Step S6011, issuing an alarm prompt.

[0155] Step S6012, the machining mechanism resets successfully, and the coordinate values of each axis are cleared.

[0156] In this embodiment, step S6012 can be executed when the execution results of steps S6002, S6009 and S6010 are all yes.

[0157] In this embodiment, the coordinate value of any coordinate axis or rotary axis after resetting is zero, which means that the corresponding coordinate axis or rotary axis resets successfully. The coordinate value of any coordinate axis or rotary axis after resetting is not zero, which means that the corresponding coordinate axis or rotary axis resets unsuccessfully, and an alarm prompt is issued.

[0158] In the case that the first rotary motor, the second rotary motor, the first linear motor, the second linear motor and the third linear motor of the machining mechanism all reset successfully, the coordinate values of the first coordinate axis, the second coordinate axis, the third coordinate axis, the first rotary axis and the second rotary axis in the preset coordinate system are all zero.

[0159] Through this embodiment, controlling the first rotary motor, the second rotary motor, the first linear motor, the second linear motor and the third linear motor to reset can make the coordinate values of each axis in the machining mechanism more accurate, and then the object to be processed can be accurately processed.

[0160] <Device Embodiment>

[0161] Corresponding to the above method, the disclosure also provides a visual guidance machining device 7000. As shown inFigure 7 As shown, the guiding machining device 7000 includes a rotation control module 7100, a first relationship acquisition module 7200, a second relationship acquisition module 7300, a third relationship acquisition module 7400, a calibration result determination module 7500, and a machining control module 7600.

[0162] The rotation control module 7100 is configured to control a calibration object placed at a specified position of a machining mechanism to rotate around a first rotation axis of a preset coordinate system, so that a second rotation plane of the calibration object is parallel to a first coordinate axis and a second coordinate axis of the preset coordinate system; wherein the first coordinate axis and the second coordinate axis are perpendicular to each other, and the first rotation axis is parallel to the second rotation plane.

[0163] The first relationship acquisition module 7200 is configured to acquire a first relative position relationship between a target point in a camera field of view in the machining mechanism and an axis center of a second rotation axis in the preset coordinate system; the second rotation axis is perpendicular to the second rotation plane.

[0164] The second relationship acquisition module 7300 is configured to acquire a second relative position relationship between the target point in the camera field of view and an axis center of an electric spindle of a tool; wherein the tool rotates around the electric spindle during machining.

[0165] The third relationship acquisition module 7400 is configured to obtain a third relative position relationship between the axis center of the second rotation axis and the axis center of the electric spindle according to the first relative position relationship and the second relative position relationship.

[0166] The calibration result determination module 7500 is configured to determine a first coordinate value of the first coordinate axis and the second coordinate axis when the second rotation axis and the electric spindle are concentric as a calibration result according to the third relative position relationship.

[0167] The machining control module 7600 is configured to control the tool to machine a to-be-machined object placed at the specified position according to the calibration result.

[0168] In an embodiment of the present disclosure, the first relationship acquisition module 7200 is specifically configured to:

[0169] control the calibration object to move along the direction of the first coordinate axis, and control the camera to move along the direction of the second coordinate axis, so that a calibration point of the calibration object is located in the camera field of view;

[0170] acquire coordinates of the calibration point in the camera field of view when the calibration point is at a plurality of rotation positions during control of the calibration object to rotate around the second rotation axis, as a field of view coordinate;

[0171] The first relative position relationship is obtained according to the field of view coordinates.

[0172] In an embodiment of the present disclosure, the second relationship obtaining module 7300 is specifically configured to:

[0173] The calibration object is controlled to move along the direction of the first coordinate axis, the camera is controlled to move along the direction of the second coordinate axis, and the coordinate values of the first coordinate axis and the second coordinate axis when the calibration point coincides with the target point in the field of view of the camera are determined as second coordinate values.

[0174] The calibration object is controlled to move along the direction of the first coordinate axis, the electric spindle is controlled to move along the direction of the second coordinate axis, and the electric spindle is controlled to move along the direction of a third coordinate axis of the preset coordinate system, and the coordinate values of the first coordinate axis and the second coordinate axis when the axis center of the electric spindle coincides with the calibration point are determined as third coordinate values; the third coordinate axis is a direction close to or away from the specified position, and the third coordinate axis is perpendicular to the first coordinate axis and the second coordinate axis.

[0175] The second relative position relationship is obtained according to the second coordinate values and the third coordinate values.

[0176] In an embodiment of the present disclosure, the processing control module 7600 is specifically configured to:

[0177] The first processing track of the object to be processed in the processing mechanism is obtained; the processing track is generated according to the calibration result.

[0178] The object to be processed is processed according to the first processing track.

[0179] In an embodiment of the present disclosure, the processing control module 7600 is specifically configured to:

[0180] The processing data of a reference object corresponding to the object to be processed is obtained.

[0181] The second processing track of the reference object in the processing mechanism is obtained according to the processing data of the reference object and the calibration result.

[0182] The first processing track of the object to be processed in the processing mechanism is obtained according to the second processing track of the reference object in the processing mechanism.

[0183] In an embodiment of the present disclosure, the processing control module 7600 is specifically configured to:

[0184] obtaining a first image of the object to be processed, wherein the first image is an image obtained by controlling the camera to capture the reference object placed on the specified position;

[0185] controlling the camera to capture the object to be processed placed on the specified position to obtain a second image;

[0186] According to the first image, the second image and the calibration result, the second machining trajectory is corrected to obtain the first machining trajectory.

[0187] In an embodiment of the present disclosure, the second machining trajectory is corrected according to the first image, the second image and the calibration result to obtain the first machining trajectory, including:

[0188] According to the first image and the second image, a first difference between the reference object and the object to be processed in the field of view of the camera is determined;

[0189] According to the first difference and the calibration result, a second difference between the reference object and the object to be processed in the coordinate system of the machining mechanism is obtained;

[0190] According to the second difference, the second machining trajectory is corrected to obtain the first machining trajectory.

[0191] In an embodiment of the present disclosure, the visual guidance machining device 7000 further includes:

[0192] a module for controlling the first rotary motor, the second rotary motor, the first linear motor and the second linear motor of the machining mechanism to reset;

[0193] The first rotary motor is used to control the calibration object to rotate around the first rotary axis, the second rotary motor is used to control the calibration object to rotate around the second rotary axis, the first linear motor is used to control the calibration object to move along the direction of the first coordinate axis, and the second linear motor is used to control the camera to move along the direction of the second coordinate axis.

[0194] <system embodiment>

[0195] The embodiment also provides a visual guidance machining system. The visual guidance machining system can include the aforementioned visual guidance machining device 7000.

[0196] Further, the visual guidance machining system can further include the aforementioned machining mechanism 1000.

[0197] The above-described embodiments are mainly focused on the differences from other embodiments, but those skilled in the art shall clearly understand that the above-described embodiments can be used alone or in combination according to the needs.

[0198] The embodiments in the specification are described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment mainly focuses on the differences from other embodiments, but those skilled in the art shall clearly understand that the above-described embodiments can be used alone or in combination according to the needs. In addition, for the device embodiments, since they are corresponding to the method embodiments, they are described more simply, and the related parts can be referred to the corresponding part of the method embodiments. The system embodiments described above are only schematic, and the modules described as separate components can or can not be physically separate.

[0199] The present disclosure can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure.

[0200] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched tape, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0201] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0202] Computer readable program instructions for carrying out operations of the present disclosure can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as python, java, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, for example, through the Internet using an Internet Service Provider. In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0203] The computer readable program instructions can also be loaded onto a computing / processing device, other programmable data processing apparatus, or other device to cause a series of operations to be performed on the computing / processing device, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computing / processing device, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0204] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data, programs, program modules, e.g., instructions for operation, or digital content stored thereon or therein for a short time or not at all. The computer readable storage medium can also have instructions stored thereon or therein which may

[0205] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0206] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0207] Having described above several embodiments of the disclosure, any modifications and variations that fall within the scope of the described embodiments are also contemplated by the inventor(s). As such, the foregoing description is not intended to limit the scope of the disclosure, and it is recognized that modifications are contemplated which can provide one or more benefits and which are within the scope of the disclosure. The disclosure is defined by the appended claims.

Claims

1. A visually guided processing method, characterized in that, include: A calibration object placed at a designated position on a machining mechanism is controlled to rotate around a first rotation axis of a preset coordinate system, such that a second rotation plane of the calibration object is parallel to both the first and second coordinate axes of the preset coordinate system; wherein the first and second coordinate axes are perpendicular to each other, and the first rotation axis is parallel to the second rotation plane; The first relative positional relationship between the target point in the camera's field of view in the processing mechanism and the axis of the second rotation axis in the preset coordinate system is obtained; the second rotation axis is perpendicular to the second rotation plane. The second relative positional relationship between the target point in the camera's field of view and the axis of the electric spindle of the tool is obtained; wherein the tool rotates around the electric spindle during the machining process; Based on the first relative positional relationship and the second relative positional relationship, a third relative positional relationship between the axis of the second rotating shaft and the axis of the electric spindle is obtained; Based on the third relative positional relationship, determine the first coordinate values ​​of the first coordinate axis and the second coordinate axis when the second rotation axis and the electric spindle are concentric, and use them as the calibration result; The tool is controlled to process the object to be processed at the designated position based on the calibration result.

2. The visually guided processing method according to claim 1, characterized in that, The step of obtaining the first relative positional relationship between the target point in the camera's field of view in the processing mechanism and the axis of the second rotation axis of the calibrated object includes: The calibration object is controlled to move along the first coordinate axis, and the camera is controlled to move along the second coordinate axis, so that the calibration point of the calibration object is located within the field of view of the camera; The coordinates of the calibration point in the camera's field of view when the calibration point is in multiple rotational positions during the process of controlling the calibration object to rotate around the second rotation axis are obtained and used as field of view coordinates; The first relative positional relationship is obtained based on the field of view coordinates.

3. The visually guided processing method according to claim 1, characterized in that, The second relative positional relationship between the target point obtained from the camera's field of view and the axis of the electric spindle used to fix the machining tool includes: The calibration object is controlled to move along the first coordinate axis, and the camera is controlled to move along the second coordinate axis. When the calibration point coincides with the target point in the camera's field of view, the coordinate values ​​of the first coordinate axis and the second coordinate axis are determined as the second coordinate value. The calibration object is controlled to move along the first coordinate axis, the electric spindle is controlled to move along the second coordinate axis, and the electric spindle is controlled to move along the third coordinate axis of the preset coordinate system. When the axis of the electric spindle coincides with the calibration point, the coordinate values ​​of the first and second coordinate axes are determined as the third coordinate value. The third coordinate axis is the direction that is closer to or farther from the specified position, and the third coordinate axis is perpendicular to the first and second coordinate axes. The second relative position relationship is obtained based on the second coordinate value and the third coordinate value.

4. The visually guided processing method according to claim 1, characterized in that, The step of processing the object to be processed placed at the designated position according to the calibration result includes: Obtain the first processing trajectory of the object to be processed in the processing mechanism; wherein the processing trajectory is generated based on the calibration result; The object to be processed is processed according to the first processing trajectory.

5. The visually guided processing method according to claim 4, characterized in that, The step of obtaining the processing trajectory of the object to be processed in the processing mechanism includes: Obtain the processing data of the reference object corresponding to the object to be processed; Based on the processing data of the reference object and the calibration results, the second processing trajectory of the reference object in the processing mechanism is obtained; The first processing trajectory of the object to be processed in the processing mechanism is obtained based on the second processing trajectory of the reference object in the processing mechanism.

6. The visually guided processing method according to claim 5, characterized in that, The step of obtaining the first processing trajectory of the object to be processed in the processing mechanism based on the second processing trajectory of the reference object in the processing mechanism includes: Acquire a first image of the object to be processed, wherein the first image is an image obtained by controlling the camera to capture the reference object placed at the specified position; The camera is controlled to capture an image of the object to be processed, which is placed at the designated position, to obtain a second image; Based on the first image, the second image, and the calibration result, the second processing trajectory is corrected to obtain the first processing trajectory.

7. The visually guided processing method according to claim 6, characterized in that, The step of correcting the second processing trajectory based on the first image, the second image, and the calibration result to obtain the first processing trajectory includes: Based on the first image and the second image, determine the first difference between the reference object and the object to be processed in the camera's field of view; Based on the first difference and the calibration result, a second difference between the reference object and the object to be processed in the coordinate system of the processing mechanism is obtained; The second processing trajectory is corrected based on the second difference to obtain the first processing trajectory.

8. The visually guided processing method according to claim 1, characterized in that, Before processing the object to be processed placed at the designated position according to the calibration result, the visually guided processing method further includes: The first rotary motor, the second rotary motor, the first linear motor, and the second linear motor of the processing mechanism are reset. The first rotary motor controls the calibration object to rotate around the first rotation axis, the second rotary motor controls the calibration object to rotate around the second rotation axis, the first linear motor controls the calibration object to move along the first coordinate axis, and the second linear motor controls the camera to move along the second coordinate axis.

9. A visually guided processing device, characterized in that, include: A rotation control module is used to control a calibration object placed at a designated position on the machining mechanism to rotate around a first rotation axis of a preset coordinate system, such that a second rotation plane of the calibration object is parallel to both the first and second coordinate axes of the preset coordinate system; wherein the first and second coordinate axes are perpendicular to each other, and the first rotation axis is parallel to the second rotation plane; The first relationship acquisition module is used to acquire the first relative positional relationship between the target point in the camera's field of view in the processing mechanism and the axis of the second rotation axis in the preset coordinate system; the second rotation axis is perpendicular to the second rotation plane; The second relationship acquisition module is used to acquire a second relative positional relationship between the target point in the camera's field of view and the axis of the electric spindle of the tool; wherein the tool rotates around the electric spindle during the machining process; The third relationship acquisition module is used to obtain a third relative position relationship between the axis of the second rotating shaft and the axis of the electric spindle based on the first relative position relationship and the second relative position relationship; The calibration result determination module is used to determine the first coordinate values ​​of the first coordinate axis and the second coordinate axis when the second rotation axis and the electric spindle are concentric, based on the third relative position relationship, as the calibration result; The machining control module is used to control the cutting tool to process the object to be processed placed at the specified position according to the calibration result.

10. A vision-guided processing system, characterized in that, It includes a processing mechanism and a vision-guided processing device according to claim 9.

Images