Mobile machining method, system, device, computer device, and storage medium

Abstract

The application relates to a mobile machining method, system, device, computer equipment and storage medium. The method comprises the following steps: acquiring first position information and second position information according to information collected by a visual detector; the first position information and the second position information are position information of a carrier in a lathe coordinate system and position information of a workpiece to be machined on the carrier in a carrier coordinate system corresponding to the carrier at the same time; the carrier is in a moving state; confirming target position information of the workpiece to be machined in the lathe coordinate system according to the first position information and the second position information; and machining the workpiece to be machined on the carrier according to the target position information. By adopting the method, the machining precision of the mobile workpiece can be improved.

Description

Technical Field

[0001] This application relates to the field of motion control technology, and in particular to a motion processing method, system, device, computer equipment, storage medium, and computer program product. Background Technology

[0002] In the field of motion control, precise positioning of a moving workpiece is crucial for ensuring machining accuracy. Traditional moving machining methods typically assume the workpiece coordinate system equals the carrier coordinate system and the lathe coordinate system. However, in real-world machining scenarios, individual deviations exist when different workpieces are loaded onto the carrier, and different carriers have individual installation deviations on the lathe. This results in discrepancies between the workpiece coordinate system, the carrier coordinate system, and the lathe coordinate system. Consequently, traditional moving machining methods cannot achieve precise positioning of the machining location on the workpiece, thus reducing the machining accuracy of the moving workpiece. Summary of the Invention

[0003] Therefore, it is necessary to provide a moving machining method, system, device, computer equipment, computer-readable storage medium, and computer program product that can improve the machining accuracy of moving workpieces, in order to address the above-mentioned technical problems.

[0004] Firstly, this application provides a mobile processing method. The method includes:

[0005] Based on the information collected by the vision detector, first position information and second position information are obtained; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state;

[0006] Based on the first position information and the second position information, the target position information of the workpiece to be processed in the lathe coordinate system is confirmed;

[0007] The workpiece to be processed on the carrier is processed according to the target location information.

[0008] In one embodiment, the information acquired by the visual detector includes at least image information;

[0009] The step of obtaining the first location information and the second location information based on the information collected by the visual detector includes:

[0010] Using an image recognition model, the carrier coordinate display, the carrier identifier, and the workpiece identifier of the workpiece to be processed are identified from the image information collected by the visual detector; the coordinate image information of the carrier coordinate display is obtained from the motor driver that drives the carrier to move.

[0011] The first position information is confirmed based on the coordinate image information of the vehicle coordinate display;

[0012] The second location information is confirmed based on the carrier identifier and the workpiece identifier.

[0013] In one embodiment, the image information is multiple, and each image information corresponds to a coordinate image information of the vehicle coordinate display;

[0014] The step of confirming the first position information based on the coordinate image information of the vehicle coordinate display includes:

[0015] The coordinate image information of each vehicle coordinate display is binarized;

[0016] An attention mechanism network is used to fuse the coordinate image information after binarization to obtain the target coordinate image information, which is used as the first position information.

[0017] In one embodiment, the information acquired by the visual detector includes at least image information and electrical signal information;

[0018] The step of obtaining the first location information and the second location information based on the information collected by the visual detector further includes:

[0019] Based on the electrical signal information collected by the vision detector, the position information of the vehicle in the lathe coordinate system is confirmed as the first position information; the electrical signal information is the electrical signal information sent by the motor driver that drives the vehicle to move, received by the vision detector at the same time as the image information is collected.

[0020] The position information of the workpiece to be processed in the carrier coordinate system is identified from the image information collected by the vision detector, and is used as the second position information.

[0021] In one embodiment, processing the workpiece to be processed on the carrier according to the target location information includes:

[0022] Obtain the processing information of the workpiece to be processed;

[0023] Based on the processing information and the target position information, the processing position information is confirmed on the workpiece to be processed;

[0024] The processing position information is sent to the workpiece processor; the workpiece processor is used to process the workpiece on the carrier according to the processing position information.

[0025] Secondly, this application also provides a mobile processing system, characterized in that the system includes: a vision detector and a controller;

[0026] The visual detector is used to collect information and send the collected information to the controller;

[0027] The controller is configured to acquire first position information and second position information based on information collected by the vision detector; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state; based on the first position information and the second position information, the target position information of the workpiece to be processed in the lathe coordinate system is confirmed; and the workpiece to be processed on the carrier is processed according to the target position information.

[0028] Thirdly, this application also provides a mobile processing apparatus. The apparatus includes:

[0029] The position information acquisition module is used to acquire first position information and second position information based on the information collected by the vision detector; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state;

[0030] The target position confirmation module is used to confirm the target position information of the workpiece to be processed in the lathe coordinate system based on the first position information and the second position information.

[0031] The workpiece moving and processing module is used to process the workpiece to be processed on the carrier according to the target position information.

[0032] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0033] Based on the information collected by the vision detector, first position information and second position information are obtained; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state;

[0034] Based on the first position information and the second position information, the target position information of the workpiece to be processed in the lathe coordinate system is confirmed;

[0035] The workpiece to be processed on the carrier is processed according to the target location information.

[0036] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0037] Based on the information collected by the vision detector, first position information and second position information are obtained; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state;

[0038] Based on the first position information and the second position information, the target position information of the workpiece to be processed in the lathe coordinate system is confirmed;

[0039] The workpiece to be processed on the carrier is processed according to the target location information.

[0040] Sixthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0041] Based on the information collected by the vision detector, first position information and second position information are obtained; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state;

[0042] Based on the first position information and the second position information, the target position information of the workpiece to be processed in the lathe coordinate system is confirmed;

[0043] The workpiece to be processed on the carrier is processed according to the target location information.

[0044] The aforementioned mobile machining method, system, apparatus, computer equipment, storage medium, and computer program product first acquire first and second position information based on information collected by a vision detector. The first and second position information represent, respectively, the position of the carrier in the lathe coordinate system and the position of the workpiece to be machined on the carrier in the carrier's corresponding carrier coordinate system at the same time. The carrier is in a moving state. Then, based on the first and second position information, the target position information of the workpiece to be machined in the lathe coordinate system is confirmed. Finally, the workpiece to be machined on the carrier is machined based on the target position information. In this way, by using the position information of the moving carrier in the lathe coordinate system and the position information of the workpiece to be machined on the carrier in the carrier coordinate system, collected simultaneously by the vision detector, the position information of the moving workpiece to be machined in the lathe coordinate system can be accurately confirmed, thereby enabling the mobile machining of the workpiece on the carrier. The moving machining method based on the above process does not simply equate the workpiece coordinate system, the carrier coordinate system, and the lathe coordinate system. Instead, it fully considers the movement process of the carrier and then maps the position information of the workpiece to be processed in the carrier coordinate system to the lathe coordinate system. This eliminates the deviation between the coordinate systems, thereby enabling precise positioning of the machining position on the workpiece and improving the machining accuracy of the moving machining. Attached Figure Description

[0045] Figure 1 This is a diagram illustrating the application environment of the mobile processing method in one embodiment;

[0046] Figure 2 This is a flowchart illustrating a moving processing method in one embodiment;

[0047] Figure 3 This is a schematic diagram of a lathe during the moving machining process in one embodiment;

[0048] Figure 4 This is a flowchart illustrating the steps of obtaining first location information and second location information based on information collected by a visual detector in one embodiment.

[0049] Figure 5 This is a flowchart illustrating the moving processing method in another embodiment;

[0050] Figure 6 This is a structural block diagram of the mobile processing device in one embodiment;

[0051] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] The mobile processing method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown.

[0054] The application environment includes a vision detector 102, a controller 104, a workpiece processor 106, a lathe 108, a carrier 110 on the lathe 108, a workpiece 112 to be processed on the carrier 110, and a carrier coordinate display 114 on the carrier 110. The controller 104 is communicatively connected to both the vision detector 102 and the workpiece processor 106. The vision detector 102 is a vision inspection device with built-in image recognition and image processing algorithms, used to collect image information within the detection range. The controller 104 can be a standalone server or a server cluster composed of multiple servers. The controller 104 can also be the processor in the vision detector 102, used to confirm the position information based on the information collected by the vision detector 102, and to confirm the processing plan based on the position information. The workpiece processor 106 is equipped with processing equipment such as an electric drill and a cutting machine, used to process the workpiece 112 to be processed according to the processing plan. The carrier coordinate display 114 can be an LED display or a digital tube display, or other marking methods that can be recognized by the vision detector 102, used to display the position information of the carrier 110 in the lathe coordinate system corresponding to the lathe 108. It should be noted that a moving track is configured on the lathe 108, and the carrier 110 can move along the moving track on the lathe 108 under the operation of the motor driver.

[0055] Specifically, the vision detector 102 collects information within its detection range and sends the collected information to the controller 104. Based on the information collected by the vision detector 102, the controller 104 obtains the first position information of the carrier 110 in the lathe coordinate system corresponding to the lathe 108 at the same time, and the second position information of the workpiece 112 on the carrier 110 in the carrier coordinate system corresponding to the carrier 110. For example, the controller 104 confirms the first position information based on the information displayed on the carrier coordinate display 110. Then, based on the first and second position information, the controller 104 confirms the target position information of the workpiece 112 in the lathe coordinate system, and processes the workpiece 112 on the carrier 110 according to the target position information. For example, the controller 104 sends the target position information to the workpiece processor 106. The workpiece processor 106 processes the workpiece 112 on the carrier 110 according to the received target position information.

[0056] In one exemplary embodiment, such as Figure 2 As shown, a mobile processing method is provided, which is applied to... Figure 1 Taking the controller in the example, the following steps are included:

[0057] Step S202: Based on the information collected by the visual detector, obtain the first position information and the second position information.

[0058] The first position information and the second position information are, respectively, the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state.

[0059] It should be noted that, as Figure 3 This is a schematic diagram of a lathe during a moving machining process. In the field of moving machining technology, the workpiece to be machined is typically placed on a carrier, and then the carrier moves on the lathe via a conveyor belt or moving track. Finally, the workpiece on the moving carrier is machined on the lathe. During this process, the carrier is constantly moving, so its position relative to the lathe is constantly changing. Simultaneously, the position of the workpiece relative to the carrier will also differ from the expected placement position due to factors such as friction during movement and placement deviations. In other words, in the field of moving machining technology, there are usually three different coordinate systems: the workpiece coordinate system, the carrier coordinate system, and the lathe coordinate system. If these three coordinate systems are directly equated for machining on the workpiece, the machining accuracy will be reduced, leading to machining errors.

[0060] Specifically, refer to Figure 1 When the carrier holding the workpiece to be processed moves into the detection range of the vision detector, the vision detector collects information about the carrier and sends the collected information to the controller. Based on the information collected by the vision detector, the controller determines the position of the carrier relative to the lathe at the same moment, i.e., the first position information of the carrier in the lathe coordinate system, and the position of the workpiece to be processed relative to the carrier, i.e., the second position information of the workpiece on the carrier in the carrier coordinate system corresponding to the carrier.

[0061] Step S204: Based on the first position information and the second position information, confirm the target position information of the workpiece to be processed in the lathe coordinate system.

[0062] The target position information of the workpiece in the lathe coordinate system can be understood as the position information of the workpiece relative to the lathe.

[0063] Specifically, the controller converts the position information of the workpiece in the carrier coordinate system into the target position information of the workpiece in the lathe coordinate system based on the first position information and the second position information.

[0064] Step S206: Process the workpiece to be processed on the carrier according to the target position information.

[0065] Specifically, the controller identifies the part to be processed on the workpiece based on the target position information, and sends the position information corresponding to the part to be processed to the workpiece processor, so that the workpiece processor can position the workpiece and the part to be processed on the carrier according to the received information, thereby achieving precise processing of the moving workpiece.

[0066] In the aforementioned moving machining method, the controller first acquires first and second position information based on information collected by the vision detector. The first and second position information represent, respectively, the position of the carrier in the lathe coordinate system at the same moment, and the position of the workpiece to be machined on the carrier in the carrier's corresponding carrier coordinate system; the carrier is in a moving state. Then, based on the first and second position information, the controller confirms the target position information of the workpiece to be machined in the lathe coordinate system. Finally, based on the target position information, the controller processes the workpiece on the carrier. In this way, by using the position information of the moving carrier in the lathe coordinate system and the position information of the workpiece to be machined on the carrier in the carrier coordinate system collected by the vision detector at the same moment, the controller can accurately confirm the position information of the moving workpiece to be machined in the lathe coordinate system, thereby enabling the moving machining of the workpiece on the carrier. The moving machining method based on the above process does not simply equate the workpiece coordinate system, the carrier coordinate system, and the lathe coordinate system. Instead, it fully considers the movement process of the carrier and then maps the position information of the workpiece to be processed in the carrier coordinate system to the lathe coordinate system. This eliminates the deviation between the coordinate systems, thereby enabling precise positioning of the machining position on the workpiece and improving the machining accuracy of the moving machining.

[0067] In one exemplary embodiment, the information acquired by the visual detector includes at least image information;

[0068] like Figure 4 As shown, step S202 above, which obtains the first position information and the second position information based on the information collected by the visual detector, specifically includes the following steps:

[0069] Step S402: Using an image recognition model, identify the carrier coordinate display, the carrier identifier, and the workpiece identifier of the workpiece to be processed from the image information collected by the visual detector.

[0070] Step S404: Confirm the first position information based on the coordinate image information of the vehicle coordinate display.

[0071] Step S406: Confirm the second position information based on the carrier identifier and the workpiece identifier.

[0072] The coordinate image information of the vehicle coordinate display is obtained from the motor driver that drives the vehicle to move. It should be noted that the distance the vehicle has moved can be calculated based on the phase change of the encoder signal of the motor driver that drives the vehicle to move, thereby confirming the vehicle's first position information in the lathe coordinate system.

[0073] The vehicle coordinate display can be a digital tube display or an LED display, or other displays or other marking methods capable of displaying digital or code information.

[0074] Among them, reference Figure 3 The "+" sign in the upper left corner of the carrier is the carrier identifier, and the "-" sign in the lower left corner of the workpiece to be processed is the workpiece identifier. By measuring the distance, offset, and other positional relationships between the carrier identifier and the workpiece identifier, the positional information of the workpiece to be processed relative to the carrier can be confirmed, which is the second positional information.

[0075] The image recognition model is obtained through multiple training sessions on sample numbers, sample characters, and sample identifiers. Through the image recognition model, numbers, characters, and identifiers that meet the requirements can be identified from the image.

[0076] It is understandable that the carrier identifier and the workpiece identifier can be located at any position on the carrier or the workpiece, such as the center or the origin. The position information of the carrier identifier on the carrier and the position information of the workpiece identifier on the workpiece to be processed are known to the controller. Therefore, by using the position information of the carrier identifier and the workpiece identifier as a reference, and combining it with the positional relationship between the carrier identifier and the workpiece identifier in actual production, the position information of the workpiece to be processed in the carrier coordinate system can be confirmed.

[0077] It should be noted that the reference Figure 1 In existing technologies, the positional information of the carrier relative to the lathe is typically obtained by a workpiece processor, and then the positional information of the workpiece relative to the carrier is obtained by a vision detector. However, since the capture time of the vision detector cannot be traced or locked, there will be a certain error between the time when the workpiece processor obtains the first positional information and the time when the vision detector obtains the second positional information.

[0078] Specifically, the controller uses an image recognition model to identify, from the image information collected by the visual detector, the vehicle coordinate display corresponding to the preset vehicle coordinate display image, the vehicle identifier corresponding to the preset vehicle identifier image, and the workpiece identifier corresponding to the preset workpiece identifier image. Then, the controller performs digital recognition processing on the coordinate image information of the vehicle coordinate display to obtain the first position information. At the same time, the controller confirms the second position information based on the known vehicle identifier position information, the known workpiece identifier position information, and the positional relationship such as the distance and offset between the vehicle identifier and the workpiece identifier.

[0079] For example, see reference. Figure 1 The controller uses an image recognition model to identify the vehicle coordinate display from the image information, and further identifies the vehicle coordinate image information (5, 3) from the vehicle coordinate display, that is, the first position information of the vehicle in the lathe coordinate system; at the same time, it references... Figure 3 The controller uses an image recognition model to identify the "+" and "-" symbols from the image information, which are used as the carrier symbol and the workpiece symbol, respectively. Based on the position information corresponding to "the carrier symbol is at the upper left corner of the carrier" and "the workpiece symbol is at the lower left corner of the workpiece", as well as the positional relationship such as the distance and offset between the "+" and "-" symbols, the controller confirms the second position information of the workpiece in the carrier coordinate system.

[0080] In this embodiment, the phase change of the encoder signal of the motor driver is converted into coordinate information and displayed on the carrier coordinate display. This allows the controller to simultaneously acquire the position information of the workpiece relative to the carrier and the position information of the carrier relative to the lathe by the image information captured by the vision detector. This reduces the difficulty of acquiring the two position information synchronously, thereby enabling the accurate position information of the workpiece relative to the lathe to be processed to be obtained based on the two position information, thus improving the processing accuracy of the moving workpiece.

[0081] In one exemplary embodiment, there are multiple image information, and each image information corresponds to a coordinate image information of the vehicle coordinate display;

[0082] Step S404 above, which confirms the first position information based on the coordinate image information of the vehicle coordinate display, specifically includes the following: performing binarization processing on each coordinate image information of the vehicle coordinate display; and performing fusion processing on each binarized coordinate image information through an attention mechanism network to obtain the target coordinate image information as the first position information.

[0083] Taking a digital tube display as an example, since the vehicle is constantly in motion, the coordinate image information on the vehicle coordinate display may be blurry, ghosted, or flickering when the vision detector captures the image information, making it impossible to clearly identify the first position information from the coordinate image information. Therefore, it is necessary to process the coordinate image information in the image information captured by the vision detector.

[0084] Specifically, the visual detector can use a burst mode to capture multiple images. The controller then identifies multiple corresponding coordinate images based on these images. These coordinate images are then binarized to increase the distinction between the displayed and undisplayed areas of the digital tube. Finally, the binarized coordinate images are fused to obtain the target coordinate image, and the corresponding number is identified from this target coordinate image as the first position information.

[0085] In this embodiment, the controller performs binarization processing on multiple coordinate image information to increase the distinction between the display area and the non-display area of ​​the digital tube. Then, it fuses these multiple binarized coordinate image information to achieve the fusion of features of each coordinate image information, thereby obtaining clearer target coordinate image information, which makes it easier for the controller to more accurately identify the corresponding first position information.

[0086] In one exemplary embodiment, the information acquired by the visual detector includes at least image information and electrical signal information;

[0087] Step S202 above, which obtains the first position information and the second position information based on the information collected by the vision detector, further includes the following: confirming the position information of the carrier in the lathe coordinate system based on the electrical signal information collected by the vision detector, as the first position information; the electrical signal information is the electrical signal information sent by the motor driver that drives the carrier to move, received by the vision detector at the same time as the image information is collected; and identifying the position information of the workpiece to be processed in the carrier coordinate system from the image information collected by the vision detector, as the second position information.

[0088] The electrical signal information sent by the motor driver that drives the vehicle to move is obtained based on the phase change of the encoder signal of the motor driver.

[0089] It is understood that in this embodiment, it is not necessary to rely on the vehicle coordinate display, but rather to improve the hardware layer of the vision detector so that the vision detector can receive electrical signal information sent by the motor driver in real time.

[0090] Specifically, while acquiring image information, the vision detector simultaneously reads the electrical signal information sent to it by the motor driver that drives the carrier to move, and sends the image information and electrical signal information together to the controller. Then, the controller confirms the position information of the carrier in the lathe coordinate system based on the electrical signal information, as the first position information; at the same time, referring to step S406, the controller confirms the position information of the workpiece to be processed in the carrier coordinate system based on the image information, as the second position information.

[0091] In this embodiment, by improving the hardware of the vision detector, the vision detector can receive electrical signal information sent by the motor driver in real time. This ensures that the vision detector can read the electrical signal information sent by the motor driver while taking pictures, thereby binding the first position information and the second position information in time, eliminating the time difference in acquiring the two position information, providing a basis for the accurate positioning of the workpiece to be processed, and improving the processing accuracy of the moving workpiece.

[0092] In an exemplary embodiment, step S208, which processes the workpiece to be processed on the carrier according to the target position information, specifically includes the following: obtaining processing information of the workpiece to be processed; confirming the processing position information on the workpiece to be processed according to the processing information and the target position information; and sending the processing position information to the workpiece processor.

[0093] The workpiece processor is used to process the workpiece on the carrier according to the position information to be processed.

[0094] Among them, the processing information of the workpiece to be processed refers to the specific position and size of the part to be processed on the workpiece; the processing position information is the position information of the part to be processed on the workpiece in the lathe coordinate system.

[0095] Specifically, the controller first acquires information such as the specific position and dimensions of the part to be processed on the workpiece, as the processing information of the workpiece; then, based on the target position information, the controller maps the processing information to the lathe coordinate system to obtain the processing position information of the part to be processed on the workpiece in the lathe coordinate system; then, the controller sends the processing position information to the workpiece processor; after receiving the processing position information, the workpiece processor processes the workpiece on the moving carrier according to the processing position information.

[0096] For example, see reference. Figure 3After determining the target position information of the workpiece triangle in the lathe coordinate system, the controller needs to obtain the specific position and size of the circular hole on the triangle as machining information, such as the circular hole being located at the center of the triangle with a radius of 1cm and a thickness of 0.3mm. Then, based on the target position information, the controller maps the machining information of the part to be machined to the machining position information of the part to be machined in the lathe coordinate system and sends the machining position information to the workpiece machining machine. The workpiece machining machine then processes the workpiece according to the machining position information to obtain a triangle with a circular hole at the center with a radius of 1cm and a thickness of 0.3mm.

[0097] In this embodiment, the controller uses the processing information and target position information of the workpiece to be processed to determine the specific position and size of the part to be processed on the workpiece in the lathe coordinate system. This enables precise positioning of the part to be processed, thereby achieving precise processing of the moving workpiece and improving the processing accuracy of the moving workpiece.

[0098] In one exemplary embodiment, such as Figure 5 As shown, another moving processing method is provided, which is applied to... Figure 1 Taking the controller in the example, the following steps are included:

[0099] Step S501: Using an image recognition model, identify the carrier coordinate display, the carrier identifier, and the workpiece identifier of the workpiece to be processed from the image information collected by the visual detector.

[0100] The coordinate image information of the vehicle coordinate display is obtained from the motor driver that moves the vehicle; there are multiple image information, each corresponding to one coordinate image information of the vehicle coordinate display. The vehicle is in a moving state.

[0101] Step S502: Binarize the coordinate image information of each vehicle coordinate display, and fuse the binarized coordinate image information through an attention mechanism network to obtain the target coordinate image information, which serves as the first position information of the vehicle in the lathe coordinate system.

[0102] Step S503: Based on the carrier identifier and the workpiece identifier, confirm the second position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier.

[0103] The first location information and the second location information are location information at the same time.

[0104] Step S505: Based on the first position information and the second position information, confirm the target position information of the workpiece to be processed in the lathe coordinate system.

[0105] Step S506: Obtain the machining information of the workpiece to be machined, and confirm the machining position information in the lathe coordinate system based on the machining information and the target position information.

[0106] Step S507: Send the position information to be processed to the workpiece processor.

[0107] The workpiece processor is used to process the workpiece on the carrier according to the position information to be processed.

[0108] It should be noted that steps S501-S503 can also be implemented through the following step S504: Step S504, based on the electrical signal information collected by the vision detector, confirm the position information of the carrier in the lathe coordinate system as the first position information, and identify the position information of the workpiece to be processed in the carrier coordinate system from the image information collected by the vision detector as the second position information.

[0109] Among them, the electrical signal information is the electrical signal information received by the vision detector at the same time as acquiring image information, sent by the motor driver that drives the vehicle to move.

[0110] In this embodiment, on the one hand, the vision detector converts the phase change of the encoder signal of the motor driver into coordinate information and displays it on the carrier coordinate display. This allows the controller to simultaneously acquire the position information of the workpiece relative to the carrier and the position information of the carrier relative to the lathe through the image information captured by the vision detector, reducing the difficulty of synchronously acquiring the two position information and thus obtaining the accurate position information of the workpiece relative to the lathe. On the other hand, based on hardware improvements to the vision detector, it can receive the electrical signal information sent by the motor driver in real time. This ensures that the vision detector can read the electrical signal information sent by the motor driver while capturing images, thereby binding the first position information and the second position information in time and eliminating the time difference in acquiring the two position information, providing a foundation for the accurate positioning of the workpiece to be processed. Furthermore, based on the first and second position information, the controller fully considers the movement process of the carrier to eliminate the deviation between coordinate systems and maps the position of the workpiece to the lathe coordinate system, thereby enabling accurate positioning of the processing position on the workpiece and improving the processing accuracy of the moving processing.

[0111] To more clearly illustrate the motion processing method provided in the embodiments of this application, the following specific embodiment will be used to describe the motion processing method in detail. In an exemplary embodiment, this application also provides a motion processing method for adding visual position markers to an automated motion system, specifically including the following steps:

[0112] Step 1: Add a vehicle coordinate display to the vehicle; wherein, the vehicle coordinate display is used to display the position information of the vehicle in the lathe coordinate system in real time, that is, the first position information; the position information of the vehicle in the lathe coordinate system is obtained from the motor driver that drives the vehicle to move; the vehicle is in a moving state.

[0113] Step 2: Based on the visualization characteristics of the carrier coordinate display, the controller synchronously acquires the first position information of the carrier in the lathe coordinate system and the position information of the workpiece to be processed in the carrier coordinate system, i.e., the second position information, through the information collected by the vision detector.

[0114] Step 3: The controller confirms the target position information of the workpiece to be processed in the lathe coordinate system based on the first position information and the second position information.

[0115] Step 4: The controller confirms the processing position information on the workpiece based on the target position information of the workpiece.

[0116] Step 5: The controller processes the workpiece on the moving carrier according to the position information to be processed.

[0117] In this embodiment, the images captured by the vision detector during the vision inspection process include both the position of the workpiece in the carrier coordinate system and the position of the carrier in the lathe coordinate system. This anchors the workpiece coordinate system, carrier coordinate system, and lathe coordinate system in the same overall coordinate system, effectively eliminating the accuracy loss caused by the uncertainty of the shooting time, and thus improving the accuracy of the moving machining.

[0118] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0119] In one exemplary embodiment, reference is made to Figure 1 This application also provides a mobile processing system, which includes a vision detector 102 and a controller 104.

[0120] The visual detector 102 is used to collect information and send the collected information to the controller.

[0121] The controller 104 is used to acquire first position information and second position information based on the information collected by the vision detector 102; to confirm the target position information of the workpiece 112 to be processed in the lathe coordinate system based on the first position information and the second position information; and to process the workpiece 112 to be processed on the carrier 110 based on the target position information.

[0122] The information collected by the visual detector 102 includes at least image information and electrical signal information.

[0123] The first position information and the second position information are, respectively, the position information of the carrier 110 in the lathe coordinate system at the same time, and the position information of the workpiece 112 to be processed on the carrier 110 in the carrier coordinate system corresponding to the carrier 110; the carrier 110 is in a moving state.

[0124] It should be noted that the mobile processing system provided in this embodiment also includes a workpiece processor 106 and a carrier coordinate display 114.

[0125] The workpiece processor 106 is used to process the workpiece 112 on the carrier 110 according to the processing position information sent by the controller 104; the processing position information is obtained by the controller 104 based on the processing information and target position information of the workpiece 112.

[0126] The vehicle coordinate display 114 is used to display the position information of the vehicle 110 in the lathe coordinate system corresponding to the lathe 108.

[0127] It should also be noted that the specific limitations of the aforementioned mobile processing system can be found in the specific limitations of the mobile processing method, and will not be repeated here.

[0128] Specifically, refer to Figure 1When the carrier 110, on which the workpiece 112 is placed, moves on the lathe 108 into the detection range of the vision detector 102, the vision detector 102 collects information about the carrier 110 and sends the collected information to the controller 104. Based on the information collected by the vision detector 102, the controller 104 confirms the first position information of the carrier 110 in the lathe coordinate system at the same moment, and the second position information of the workpiece 112 on the carrier 110 in the carrier coordinate system corresponding to the carrier 110. For example, the controller 104 confirms the first position information based on the information displayed on the carrier coordinate display 110; then, based on the first and second position information, the controller 104 confirms the target position information of the workpiece 112 in the lathe coordinate system, and processes the workpiece 112 on the carrier 110 according to the target position information. For example, the controller 104 confirms the processing position information based on the target position information and the processing information of the workpiece 112 to be processed, and sends the processing position information to the workpiece processor 114; the workpiece processor 114 processes the workpiece 112 on the carrier based on the processing position information.

[0129] In this embodiment, the controller, through a vision detector, simultaneously acquires the position information of the moving carrier in the lathe coordinate system and the position information of the workpiece to be processed on the carrier in the carrier coordinate system. This allows the controller to confirm the position of the moving workpiece in the lathe coordinate system, thereby enabling the movement and processing of the workpiece on the carrier. This moving machining method, based on the above process, does not simply equate the workpiece coordinate system, carrier coordinate system, and lathe coordinate system. Instead, it fully considers the movement of the carrier and maps the position information of the workpiece in the carrier coordinate system to the lathe coordinate system. This eliminates the deviation between coordinate systems, enabling precise positioning of the machining position on the workpiece and improving the machining accuracy of the moving machining process.

[0130] Based on the same inventive concept, this application also provides a mobile processing apparatus for implementing the mobile processing method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more mobile processing apparatus embodiments provided below can be found in the limitations of the mobile processing method described above, and will not be repeated here.

[0131] In one exemplary embodiment, such as Figure 6 As shown, a mobile processing device is provided, including: a position information acquisition module 602, a target position confirmation module 604, and a workpiece moving processing module 606, wherein:

[0132] The position information acquisition module 602 is used to acquire first position information and second position information based on the information collected by the vision detector; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same time, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state.

[0133] The target position confirmation module 604 is used to confirm the target position information of the workpiece to be processed in the lathe coordinate system based on the first position information and the second position information.

[0134] The workpiece moving and processing module 606 is used to process the workpiece to be processed on the carrier according to the target position information.

[0135] In one exemplary embodiment, the information acquired by the vision detector includes at least image information; the position information acquisition module 602 is further configured to identify, through an image recognition model, a carrier coordinate display on the carrier, a carrier identifier on the carrier, and a workpiece identifier on the workpiece to be processed from the image information acquired by the vision detector; the coordinate image information of the carrier coordinate display is obtained based on a motor driver that drives the carrier to move; the first position information is confirmed based on the coordinate image information of the carrier coordinate display; and the second position information is confirmed based on the carrier identifier and the workpiece identifier.

[0136] In an exemplary embodiment, there are multiple image information, each of which corresponds to a coordinate image information of the vehicle coordinate display; the position information acquisition module 602 is further configured to perform binarization processing on each coordinate image information of the vehicle coordinate display; and to perform fusion processing on each binarized coordinate image information through an attention mechanism network to obtain target coordinate image information as the first position information.

[0137] In an exemplary embodiment, the information acquired by the vision detector includes at least image information and electrical signal information; the position information acquisition module 602 is further configured to confirm the position information of the carrier in the lathe coordinate system based on the electrical signal information acquired by the vision detector, as the first position information; the electrical signal information is the electrical signal information sent by the motor driver that drives the carrier to move, received by the vision detector at the same time as acquiring the image information; and the position information of the workpiece to be processed in the carrier coordinate system is identified from the image information acquired by the vision detector, as the second position information.

[0138] In an exemplary embodiment, the workpiece moving processing module 606 is further configured to acquire processing information of the workpiece to be processed; confirm the processing position information in the workpiece to be processed based on the processing information and the target position information; send the processing position information to the workpiece processor; and the workpiece processor is configured to process the workpiece on the carrier based on the processing position information.

[0139] Each module in the aforementioned mobile processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0140] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data such as processing information for the workpiece to be processed. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a mobile processing method.

[0141] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0142] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0143] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above-described method embodiments.

[0144] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0145] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0146] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A mobile processing method, characterized in that, The method includes: Based on the information collected by the vision detector, first position information and second position information are obtained; the information collected by the vision detector includes at least image information; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same moment, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state on the lathe; Based on the first position information and the second position information, the target position information of the workpiece to be processed in the lathe coordinate system is confirmed; The workpiece to be processed on the carrier is processed according to the target location information; The step of obtaining first and second position information based on information collected by the vision detector includes: identifying, through an image recognition model, the vehicle coordinate display on the vehicle, the vehicle identifier of the vehicle, and the workpiece identifier of the workpiece to be processed from the image information collected by the vision detector; confirming the first position information based on the coordinate image information of the vehicle coordinate display; confirming the second position information based on the vehicle identifier and the workpiece identifier; the coordinate image information of the vehicle coordinate display is obtained from the motor driver that drives the vehicle to move.

2. The method according to claim 1, characterized in that, The image information is multiple, and each image information corresponds to a coordinate image information of the vehicle coordinate display; The step of confirming the first position information based on the coordinate image information of the vehicle coordinate display includes: The coordinate image information of each vehicle coordinate display is binarized; An attention mechanism network is used to fuse the coordinate image information after binarization to obtain the target coordinate image information, which is used as the first position information.

3. The method according to claim 1 or 2, characterized in that, The step of processing the workpiece on the carrier according to the target position information includes: Obtain the processing information of the workpiece to be processed; Based on the processing information and the target position information, the processing position information is confirmed on the workpiece to be processed; The processing position information is sent to the workpiece processor; the workpiece processor is used to process the workpiece on the carrier according to the processing position information.

4. A mobile processing system, characterized in that, The system includes: a visual detector and a controller; The visual detector is used to collect information and send the collected information to the controller; The controller is configured to perform the method according to any one of claims 1 to 3.

5. A mobile processing device, characterized in that, The device includes: The position information acquisition module is used to acquire first position information and second position information based on the information collected by the vision detector; the information collected by the vision detector includes at least image information; the first position information and the second position information are respectively the position information of the carrier in the lathe coordinate system at the same time, and the position information of the workpiece to be processed on the carrier in the carrier coordinate system corresponding to the carrier; the carrier is in a moving state on the lathe; The target position confirmation module is used to confirm the target position information of the workpiece to be processed in the lathe coordinate system based on the first position information and the second position information. The workpiece moving and processing module is used to process the workpiece to be processed on the carrier according to the target position information; The position information acquisition module is further configured to identify, through an image recognition model, the vehicle coordinate display on the vehicle, the vehicle identifier of the vehicle, and the workpiece identifier of the workpiece to be processed from the image information acquired by the vision detector; confirm the first position information based on the coordinate image information of the vehicle coordinate display; confirm the second position information based on the vehicle identifier and the workpiece identifier; the coordinate image information of the vehicle coordinate display is obtained from the motor driver that drives the vehicle to move.

6. The apparatus according to claim 5, characterized in that, The image information is multiple, and each image information corresponds to a coordinate image information of the vehicle coordinate display; the position information acquisition module is also used to perform binarization processing on each coordinate image information of the vehicle coordinate display. An attention mechanism network is used to fuse the coordinate image information after binarization to obtain the target coordinate image information, which is used as the first position information.

7. The apparatus according to claim 5 or 6, characterized in that, The workpiece moving processing module is further configured to acquire processing information of the workpiece to be processed; confirm the processing position information on the workpiece to be processed based on the processing information and the target position information; send the processing position information to the workpiece processor; and the workpiece processor is configured to process the workpiece on the carrier based on the processing position information.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

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

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