A method for adjusting angle of delivery according to a recognition frame

Abstract

The application provides a kind of according to the angle adjustment of identification frame delivery method, and the delivery method comprises the following steps: S1 identifies the four corners of material frame by visual mechanism;S2 confirms whether the second identification frame is only 1, and determines the largest frame edge in the second identification frame as the second identification frame;S3 determines the first identification frame located at the top by the distance between the second identification frame and the top first identification frame;S4 then determines the position of the other two first identification frames according to the distance between the two first identification frames, and finally obtains the position information of the first identification frame and the second identification frame;S5 calculates the slope according to the three first identification frames and one second identification frame, and obtains the angle value of the first rotation axis and the second rotation axis;S6 controls the pipe to be turned over by the first motor according to the angle value of the first rotation axis, controls the suction cup assembly to be rotated by the second motor according to the angle value of the second rotation axis, and controls the suction cup assembly to be relaxed after alignment to realize delivery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a method for adjusting angle and placing according to a recognition frame. BACKGROUND

[0002] With the development of robot technology, robots have been widely used in various fields, such as carrying, etc. The existing carrying robot can only clamp the object and then place it into the storage frame, and then take out the carried object after reaching the destination. It cannot realize placing the object into the specified frame after carrying to the destination, and such application has wide demand in placing robots.

[0003] For example, a material transfer and storage multifunctional robot is disclosed in Chinese patent application No. 202211564389.3, published on December 7, 2022. The robot includes a vehicle body, a moving mechanism for driving the vehicle body to move, a lifting device, a storage mechanism, a clamping device, and a pulling mechanism. The lifting device is installed on the moving mechanism, and the storage mechanism is arranged in the lifting device. The clamping device is arranged on the lifting device. The lifting device can drive the storage mechanism and the clamping device to lift respectively. The pulling mechanism is arranged on one side of the moving mechanism. The above method can clamp the yaw axis offset box-shaped material, so that the material is not easy to fall or damage.

[0004] In this method, the box-shaped material can only be clamped and placed into the storage mechanism for turning over and lifting. The material in the storage mechanism cannot be clamped and placed into the placing frame according to the specified angle. SUMMARY

[0005] The present application provides a method for adjusting angle and placing according to a recognition frame, which can adjust the placing angle according to the angle of the placing frame, has high placing accuracy and is easy to operate.

[0006] To achieve the above purpose, a method for adjusting angle and placing according to a recognition frame is provided, which places the material placed on the storage mechanism into the material frame through an angle adjusting structure. The angle adjusting structure includes a control mechanism, a picking mechanism, and a vision mechanism. The control mechanism is arranged on both sides of the storage mechanism. The picking mechanism is arranged on the control mechanism at the front end of the storage mechanism. The vision mechanism is arranged at the rear end of the storage mechanism. The picking mechanism includes a suction cup assembly, a first motor, and a turning pipe. The first motor is arranged on the control structure through a first motor mounting bracket. A first driving gear is arranged on the driving shaft of the first motor. A first driven gear meshing with the first driving gear is arranged on the first motor mounting bracket. The turning pipe is arranged on the first driven gear. A second motor is arranged on the turning pipe. A suction cup assembly is arranged on the driving shaft of the second motor. The suction cup assembly is arranged to grasp the material. The first motor drives the turning pipe to swing towards the storage mechanism.

[0007] The control mechanism comprises a lifting structure arranged on both sides of the storage mechanism and an extension structure mounted on the lifting structure, and a picking mechanism is arranged on the extension structure; the lifting structure drives the extension structure to ascend and descend, and the extension structure drives the picking mechanism to move.

[0008] Three first identification frames and one second identification frame are arranged on the four corners of the material frame respectively, and the three first identification frames and the second identification frame form a frame structure.

[0009] The method comprises the following steps:

[0010] S1, the four corners of the material frame are identified by the visual mechanism.

[0011] S2, it is confirmed whether the second identification frame has only one, and the largest frame edge in the second identification frame is determined as the second identification frame.

[0012] S3, the first identification frame located at the top is determined by the distance between the second identification frame and the top first identification frame.

[0013] S4, the positions of the other two first identification frames are determined according to the distance between the two first identification frames, and finally the position information of the first identification frame and the second identification frame is obtained.

[0014] S5, the slope is calculated according to the three first identification frames and the second identification frame, and the angle value of the first rotation axis and the second rotation axis is obtained.

[0015] S6, the first motor controls the turnover of the turnover pipe according to the angle value of the first rotation axis, the second motor controls the rotation of the suction disc assembly according to the angle value of the second rotation axis, and the suction disc assembly is controlled to relax the adsorption after alignment, so as to realize the delivery.

[0016] The above arrangement drives the picking mechanism to move to the position of the material by the lifting structure and the extension structure, so that the material is sucked by the suction disc assembly, and then the first motor drives the first driving gear to rotate, so that the first driven gear rotates, thereby making the turnover pipe swing the suction disc assembly in the direction of the storage mechanism, so that the suction disc assembly can suck the material, thereby transferring the material out of the storage mechanism, so that the material can be transported. In the process of transporting the material, the material frame is photographed and positioned by the visual mechanism, so that the material can be accurately stored in the material frame. The identification frame of the four corner positions of the material frame is identified, and the corresponding angle value of the rotation is calculated according to the slope of the identification frame, and then the turnover pipe and the suction disc assembly are controlled to rotate to the corresponding position of the material frame, so as to realize the identification of the delivery position, so that the accuracy of the delivery is high.

[0017] Further, the storage mechanism comprises a storage rack, a first storage adjusting component, a second storage adjusting component and a storage lifting module, the storage lifting module is arranged on the storage rack, an adjusting mounting rack is arranged on the lifting module, the first storage adjusting component is arranged at one end of the adjusting mounting rack and slides along the length direction of the adjusting mounting rack, the second storage adjusting component is arranged at the other end of the adjusting mounting rack and slides along the length direction of the adjusting mounting rack, a storage interval for storing materials is formed between the first storage adjusting component and the second storage adjusting component, and the materials are lifted or lowered by the first storage adjusting component and the second storage adjusting component.

[0018] The above arrangement drives the materials to move upwards by the first storage adjusting component and the second storage adjusting component, so that the materials are transferred out of the storage interval, thereby facilitating the suction cup assembly to suck the materials.

[0019] Further, the suction cup assembly comprises a suction cup fixing plate, a suction cup mounting plate and a suction cup, the second motor is mounted on the pipe turning device through the suction cup fixing plate, the suction cup mounting plate is arranged on the driving shaft of the second motor, and the suction cup is arranged on the suction cup mounting plate.

[0020] The above arrangement drives the suction cup mounting plate to rotate by the second motor, so that the second rotation angle of the materials can be adjusted.

[0021] Further, the first storage adjusting component and the second storage adjusting component are respectively connected to the adjusting mounting rack through the storage adjusting moving module, and the moving directions of the first storage adjusting component and the second storage adjusting component are opposite.

[0022] Therefore, the first storage adjusting component and the second storage adjusting component can move along the length direction of the adjusting mounting rack, and since the moving directions of the first storage adjusting component and the second storage adjusting component are opposite, the materials can be clamped by the first storage adjusting component and the second storage adjusting component moving close to each other, and the materials can be loosened by the first storage adjusting component and the second storage adjusting component moving away from each other, which is simple and effective.

[0023] Further, the vision mechanism comprises a camera, a camera rotating rudder and a camera lifting module, the camera lifting module is arranged on the rear end of the base, the camera rotating rudder is arranged on the camera lifting module, and the camera is arranged on the driving shaft of the camera rotating rudder.

[0024] The above arrangement enables the camera to rotate horizontally by the arrangement of the camera rotating rudder, thereby realizing multi-directional shooting.

[0025] Further, the camera lifting module comprises a camera lifting rack, a camera lifting gear, a camera lifting motor and a camera mounting rack, the camera mounting rack is arranged on the base, the camera lifting motor is arranged on the camera mounting rack, the camera lifting gear is arranged on the driving shaft of the camera lifting motor, the camera lifting sliding block is arranged on the camera mounting rack, the camera lifting rack is arranged on the camera lifting sliding block and is in engagement with the camera lifting gear, and the first camera rotating rudder is arranged on the camera lifting rack.

[0026] The above arrangement drives the camera lifting gear to rotate through the camera lifting motor, thereby driving the camera lifting rack to move up and down, so as to drive the camera to lift, thereby making the shooting range of the camera wider and making the observation of the camera more sensitive.

[0027] Further, the camera rotating rack is arranged on the driving shaft of the camera rotating rudder, the second camera rotating rudder is arranged on the camera rotating rack, and the camera is arranged on the second camera rotating rudder and is driven to swing up and down by the second camera rotating rudder.

[0028] The above arrangement enables the camera to be adjusted in a vertical angle through the second camera rotating rudder, thereby facilitating the camera to shoot in all directions.

[0029] Further, the first storage adjusting component comprises a first storage adjusting motor and a first storage adjusting roller, the first storage adjusting motor is arranged on the storage adjusting moving module, and the first storage adjusting roller is arranged on the driving shaft of the first storage adjusting motor; the second storage adjusting component comprises a second storage adjusting motor and a second storage adjusting roller, the second storage adjusting motor is arranged on the storage adjusting moving module, and the second storage adjusting roller is arranged on the driving shaft of the second storage adjusting motor, and the storage interval is formed between the first storage adjusting roller and the second storage adjusting roller.

[0030] The above arrangement drives the first storage adjusting roller to rotate through the first storage adjusting motor and drives the second storage adjusting roller to rotate through the second storage adjusting motor, when the first storage adjusting roller and the second storage adjusting roller rotate towards the storage interval, the materials can be moved downwards and stored in the storage interval, when the first storage adjusting roller and the second storage adjusting roller rotate away from the storage interval, the materials can be moved upwards and transferred out of the storage interval, thereby facilitating the picking mechanism to pick and transfer the materials.

[0031] Further, the step S5 specifically comprises:

[0032] S51, the calculation method of the first rotating shaft.

[0033] S511 calculates the distance D between the recognition frame at the left upper corner of the material frame and the recognition frame at the right upper corner of the material frame, the distance A between the recognition frame at the left lower corner of the material frame and the recognition frame at the right lower corner of the material frame, the distance B between the recognition frame at the right upper corner of the material frame and the recognition frame at the right lower corner of the material frame, and the distance C between the recognition frame at the left upper corner of the material frame and the recognition frame at the left lower corner of the material frame.

[0034] S512 calculates the radian value of each angle of the material frame according to the distance calculated in step S511.

[0035] The radian value of the angle between the distance D and the distance C is calculated by the formula arcsin(C / D).

[0036] The radian value of the angle between the distance B and the distance D is calculated by the formula arcsin(B / D).

[0037] The radian value of the angle between the distance C and the distance A is calculated by the formula arcsin(C / A).

[0038] The radian value of the angle between the distance B and the distance A is calculated by the formula arcsin(B / A).

[0039] S513 calculates the average value of the radian values in step S512.

[0040] S514 converts the average radian value into the average angle value by the radian-to-angle conversion formula.

[0041] The radian-to-angle conversion formula is rad*180 / π, where rad is radian, 180 is angle, and π is the ratio of a circle's circumference to its diameter.

[0042] S515 calculates the angle value of the first rotation axis: 90-angle average value-first rotation axis current angle.

[0043] S52 calculates the second rotation axis as follows:

[0044] S521 calculates the slopes of the straight lines between the recognition frame at the left upper corner of the material frame and the recognition frame at the right upper corner of the material frame, and the straight lines α and β between the recognition frame at the left lower corner of the material frame and the recognition frame at the right lower corner of the material frame, by the slope calculation formula K=Δy / Δx.

[0045] S522 calculates the radian values of α and β by the arctangent function (arctan), respectively.

[0046] S523 calculates the radian average value of α and β.

[0047] S524 converts the average radian value calculated in step S523 into an angle value using the radian-to-angle calculation formula to obtain the angle value of the second rotation axis.

[0048] This setup allows for better calculation of the angle values ​​of the first and second rotation axes by calculating the distance between the recognition frames at the four corners of the material frame. Attached Figure Description

[0049] Figure 1 This is a schematic diagram showing the structural breakdown of the present invention.

[0050] Figure 2 This is a schematic diagram of the picking mechanism of the present invention.

[0051] Figure 3 This is a schematic diagram of the pickup mechanism of the present invention from another perspective.

[0052] Figure 4 This is a schematic diagram of the storage mechanism of the present invention.

[0053] Figure 5 This is a schematic diagram of the vision mechanism of the present invention.

[0054] Figure 6 This is a schematic diagram of the delivery frame of the present invention.

[0055] Figure 7 This is a flowchart of the process of the present invention. Detailed Implementation

[0056] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0057] like Figures 1-6 As shown, a method for adjusting the angle of a material delivery based on a recognition frame is described. The method involves using an angle adjustment structure to deliver material placed on a storage mechanism into a material box. The angle adjustment structure includes a control mechanism 32, a pickup mechanism 31, and a vision mechanism 1. The control mechanism 32 is located on both sides of the storage mechanism 4. The pickup mechanism 31 is located on the control mechanism 32 at the front end of the storage mechanism 4. The vision mechanism 1 is located at the rear end of the storage mechanism 4. The pickup mechanism 31 includes a suction cup assembly 311, a first motor 312, and a flipping tube 313. The first motor 312 is mounted on the control structure 32 via a first motor mounting bracket 314. A first driving gear 315 is located on the drive shaft of the first motor 312. A first driven gear 316 meshes with the first driving gear 315 on the first motor mounting bracket 314. The flipping tube 313 is located on the first driven gear 316. A second motor is located on the flipping tube 313. The suction cup assembly 311 is located on the drive shaft of the second motor. The first motor drives the flipping tube to swing towards the storage mechanism.

[0058] The control mechanism 32 comprises a lifting structure 321 arranged on both sides of the storage mechanism and an extension structure 322 mounted on the lifting structure, and a picking mechanism is arranged on the extension structure; the lifting structure drives the extension structure to be arranged in a lifting manner, and the extension structure drives the picking mechanism to be arranged in a moving manner. In the embodiment, the lifting structure and the extension structure are common devices that drive the equipment arranged on the lead screw or the rack to move in an up-down or front-back manner through a motor, and the specific devices are prior art, which will not be described here.

[0059] As shown in Figure 4 The storage mechanism 4 comprises a storage rack 41, a first storage adjusting component 42, a second storage adjusting component 43 and a storage lifting module 44, the storage rack 41 is arranged on the moving mechanism 2, the storage lifting module 44 is arranged on the storage rack 41, an adjusting mounting rack 45 is arranged on the lifting module 44, the first storage adjusting component 42 is arranged at one end of the adjusting mounting rack 45 and slides along the length direction of the adjusting mounting rack 45, the second storage adjusting component 43 is arranged at the other end of the adjusting mounting rack 45 and slides along the length direction of the adjusting mounting rack 45, and the storage interval 40 for storing goods is formed between the first storage adjusting component 42 and the second storage adjusting component 43, the goods are lifted or lowered by the first storage adjusting component 42 and the second storage adjusting component 43. In the embodiment, the storage lifting module is a device for driving the equipment to lift, and the specific device is prior art, which will not be described here.

[0060] As shown in Figure 4 The first storage adjusting component 43 and the second storage adjusting component 44 are connected to the adjusting mounting rack through a storage adjusting moving module (not shown in the figure) respectively, and the moving directions of the first storage adjusting component and the second storage adjusting component are opposite. In the embodiment, the storage adjusting moving module is prior art for driving the equipment to move, which will not be described here.

[0061] Therefore, the first storage adjusting component and the second storage adjusting component can move along the length direction of the adjusting mounting rack, and the goods can be clamped by the first storage adjusting component and the second storage adjusting component moving close to each other and can be loosened by the first storage adjusting component and the second storage adjusting component moving away from each other, so that the structure is simple and effective.

[0062] As shown in Figure 4As shown, the first storage adjusting component 42 comprises a first storage adjusting motor 421 and a first storage adjusting roller 422, the first storage adjusting motor 421 is arranged on the storage adjusting moving module, and the first storage adjusting roller 422 is arranged on the driving shaft of the first storage adjusting motor 421; the second storage adjusting component 43 comprises a second storage adjusting motor 431 and a second storage adjusting roller 432, the second storage adjusting motor 431 is arranged on the storage adjusting moving module, and the second storage adjusting roller 432 is arranged on the driving shaft of the second storage adjusting motor 431, and the storage interval 40 is formed between the first storage adjusting roller 422 and the second storage adjusting roller 432.

[0063] By the above arrangement, the first storage adjusting motor drives the first storage adjusting roller to rotate, and the second storage adjusting motor drives the second storage adjusting roller to rotate, when the first storage adjusting roller and the second storage adjusting roller rotate towards the storage interval, the goods can be moved downwards and stored in the storage interval; when the first storage adjusting roller and the second storage adjusting roller rotate away from the storage interval, the goods can be moved upwards and transferred out of the storage interval, thereby the pickup mechanism can pick up and transfer the goods.

[0064] As shown in the figure, Figure 3 The suction cup assembly 311 comprises a suction cup fixing plate 3111, a suction cup mounting plate 3113 and a suction cup 3114, the second motor 3112 is installed on the pipe turning mechanism 313 through the suction cup fixing plate 3111, the suction cup mounting plate 3113 is arranged on the driving shaft of the second motor 3112, and the suction cup 3114 is arranged on the suction cup mounting plate 3113.

[0065] By the above arrangement, the second motor drives the suction cup mounting plate to rotate, so that the second rotation angle of the material can be adjusted.

[0066] As shown in the figure, Figure 5 The vision mechanism 1 comprises a camera 11, a camera rotating rudder 12 and a camera lifting module 13, the camera lifting module 13 is arranged on the base 21, the camera rotating rudder 12 is arranged on the camera lifting module 13, and the camera 11 is arranged on the driving shaft of the camera rotating rudder 12, and the camera rotating rudder drives the camera to swing horizontally.

[0067] By the above arrangement, the camera can rotate horizontally by the arrangement of the camera rotating rudder, so that multi-directional shooting can be realized.

[0068] A camera rotating frame 121 is further arranged on the driving shaft of the camera rotating rudder engine, a second camera rotating rudder engine (not shown in the figure) is arranged on the camera rotating frame 121, and the camera 11 is arranged on the second camera rotating rudder engine, and the second camera rotating rudder engine drives the camera 11 to swing up and down.

[0069] The second camera rotating rudder engine enables the camera to adjust the vertical angle, thereby facilitating the camera to take pictures in all directions.

[0070] The camera lifting module 13 comprises a camera lifting rack 132, a camera lifting gear 133, a camera lifting motor 134 and a camera mounting frame 135. The camera mounting frame 135 is arranged on the base 21, the camera lifting motor 134 is arranged on the camera mounting frame 135, the camera lifting gear 133 is arranged on the driving shaft of the camera lifting motor 134, the camera lifting sliding block 136 is arranged on the camera mounting frame 135, the camera lifting rack 132 is slidably arranged on the camera lifting sliding block 136 and is engaged with the camera lifting gear 133, and the first camera rotating rudder engine 12 is arranged on the camera lifting rack 132.

[0071] The above arrangement enables the camera lifting motor to drive the camera lifting gear to rotate, thereby driving the camera lifting rack to move up and down, and driving the camera to lift, thereby enabling the camera to have a wider shooting range and enabling the camera to observe more sensitively.

[0072] In the embodiment, as shown in Figure 6 three first identification frames 011 and one second identification frame 012 are arranged on the four corners of the material frame 01, and the three first identification frames 011 and the second identification frame 012 form a frame structure.

[0073] As shown in Figure 7 the feeding method comprises the following steps:

[0074] S1 identifies the four corners of the material frame through a visual mechanism.

[0075] S2 confirms whether there is only one second identification frame, determines the largest frame edge in the second identification frame, and determines the second identification frame.

[0076] S3 determines the first identification frame located at the top through the distance between the second identification frame and the top first identification frame.

[0077] S4 determines the positions of the other two first identification frames according to the distance between the two first identification frames, and finally obtains the position information of the first identification frame and the second identification frame.

[0078] S5 calculates the slope according to the three first identified boxes and the second identified box, and obtains the angle value of the first rotation axis and the second rotation axis.

[0079] S51 the calculation method of the first rotation axis.

[0080] S511 calculates the distance D between the identified box at the left upper corner of the material frame and the identified box at the right upper corner of the material frame, the distance A between the identified box at the left lower corner of the material frame and the identified box at the right lower corner of the material frame, the distance B between the identified box at the right upper corner of the material frame and the identified box at the right lower corner of the material frame, and the distance C between the identified box at the left upper corner of the material frame and the identified box at the left lower corner of the material frame.

[0081] S512 calculates the radian value of each included angle of the material frame according to the distance calculated in step S511.

[0082] The radian value calculation formula of the included angle between the distance D and the distance C is arcsin(C / D).

[0083] The radian value calculation formula of the included angle between the distance B and the distance D is arcsin(B / D).

[0084] The radian value calculation formula of the included angle between the distance C and the distance A is arcsin(C / A).

[0085] The radian value calculation formula of the included angle between the distance B and the distance A is arcsin(B / A).

[0086] S513 calculates the average value of the radian values in step S512.

[0087] S514 converts the radian average value into an angle average value by using the radian-to-angle conversion formula.

[0088] The radian-to-angle conversion formula is rad*180 / π, where rad is radian, 180 is angle, and π is the ratio of a circle.

[0089] S515 calculates the angle value of the first rotation axis: 90-angle average value-first rotation axis current angle.

[0090] S52 the calculation method of the second rotation axis:

[0091] S521 calculates the slope of the straight line between the identified box at the left upper corner of the material frame and the identified box at the right upper corner of the material frame, and the slope of the straight line α between the identified box at the left lower corner of the material frame and the identified box at the right lower corner of the material frame, and the slope of the straight line β between the identified box at the right lower corner of the material frame by using the slope calculation formula K=Δy / Δx.

[0092] S522 calculates the radian values of α and β respectively by using the arctangent function (arctan).

[0093] S523 calculates the radian average value of a and β.

[0094] S524 converts the radian average value calculated in step S523 into an angle value by the radian-to-angle conversion formula to obtain the angle value of the second rotation axis.

[0095] S6 controls the turnover of the turnover tube according to the angle value of the first rotation axis by the first motor, controls the rotation of the suction cup assembly according to the angle value of the second rotation axis by the second motor, and controls the suction cup assembly to relax the adsorption after alignment to realize the release.

[0096] The working principle of the present application is as follows: the lifting structure and the extension structure drive the pickup structure to move to the position of the material, so that the material is sucked by the suction cup assembly, then the first motor drives the first driving gear to rotate, so that the first driven gear rotates, thereby making the turnover tube swing the suction cup assembly in the direction of the storage mechanism, so that the suction cup assembly can suck the material, thereby transferring the material out of the storage mechanism, so that the material can be carried. In the process of carrying the material, the visual mechanism photographs and positions the material frame, so that the material can be accurately stored in the material frame. The recognition frame of the four corner positions of the material frame is recognized, and the corresponding angle value of the rotation required is calculated according to the slope of the recognition frame, then the turnover tube and the suction cup assembly are rotated to the corresponding position of the material frame to realize the recognition of the release position, so that the accuracy of release is high.

Claims

1. An angle-adjusting placement method according to an identification frame, which places a material placed on a storage mechanism into a material frame through an angle-adjusting structure, characterized in that: The angle adjusting structure comprises a control mechanism, a picking mechanism and a visual mechanism, the control mechanism is arranged on both sides of the storage mechanism, the picking mechanism is arranged on the control mechanism at the front end of the storage mechanism, and the visual mechanism is arranged at the rear end of the storage mechanism, the picking mechanism comprises a suction disc assembly, a first motor and a pipe turning device, the first motor is arranged on the control structure through a first motor mounting frame, a first driving gear is arranged on the driving shaft of the first motor, a first driven gear meshing with the first driving gear is arranged on the first motor mounting frame, the pipe turning device is arranged on the first driven gear, a second motor is arranged on the pipe turning device, and a suction disc assembly is arranged on the driving shaft of the second motor, the suction disc assembly is arranged to grasp the material, and the first motor drives the pipe turning device to swing towards the direction of the storage mechanism; The control mechanism comprises a lifting structure and an extension structure, the lifting structure is arranged on both sides of the storage mechanism, the extension structure is mounted on the lifting structure, and the picking mechanism is arranged on the extension structure; the lifting structure drives the extension structure to ascend and descend, and the extension structure drives the picking mechanism to move; Three first identification frames and one second identification frame are arranged on the four corners of the material frame respectively, and the three first identification frames and the second identification frame form a frame structure. The feeding method comprises the following steps: S1, identifying the four corners of the material frame through the visual mechanism; S2, confirming whether the second identification frame has only one, and determining the largest frame edge in the second identification frame as the second identification frame; S3, determining the first identification frame located at the top through the distance between the second identification frame and the top first identification frame; S4, then determining the positions of the other two first identification frames according to the distance between the two first identification frames, and finally obtaining the position information of the first identification frame and the second identification frame; S5, calculating the slope of the three first identification frames and the second identification frame to obtain the angle values of the first rotation axis and the second rotation axis; S6, the first motor controls the pipe turning device to turn over according to the angle value of the first rotation axis, the second motor controls the suction disc assembly to rotate according to the angle value of the second rotation axis, and the suction disc assembly is controlled to relax the adsorption after alignment, so as to realize feeding.

2. The method of claim 1, wherein: The storage mechanism comprises a storage rack, a first storage adjusting component, a second storage adjusting component and a storage lifting module, the storage lifting module is arranged on the storage rack, an adjusting mounting frame is arranged on the lifting module, the first storage adjusting component is arranged at one end of the adjusting mounting frame and slides along the length direction of the adjusting mounting frame, the second storage adjusting component is arranged at the other end of the adjusting mounting frame and slides along the length direction of the adjusting mounting frame, a storage interval for storing materials is formed between the first storage adjusting component and the second storage adjusting component, and the materials are lifted or lowered by the first storage adjusting component and the second storage adjusting component. 3.The method of claim 1, wherein: The suction disc assembly comprises a suction disc fixing plate, a suction disc mounting plate and a suction disc, the second motor is mounted on the pipe turning device through the suction disc fixing plate, the suction disc mounting plate is arranged on the driving shaft of the second motor, and the suction disc is arranged on the suction disc mounting plate.

4. The method of claim 2, wherein the method further comprises: The first storage adjusting component and the second storage adjusting component are connected to the adjusting mounting frame through the storage adjusting moving module, and the moving directions of the first storage adjusting component and the second storage adjusting component are opposite.

5. The method of claim 1, wherein: The visual mechanism comprises a camera, a camera rotating rudder and a camera lifting module, the camera lifting module is arranged on the rear end of the base, the camera rotating rudder is arranged on the camera lifting module, and the camera is arranged on the driving shaft of the camera rotating rudder.

6. The method of claim 5, wherein the method further comprises: The camera lifting module comprises a camera lifting rack, a camera lifting gear, a camera lifting motor and a camera mounting frame, the camera mounting frame is arranged on the base, the camera lifting motor is arranged on the camera mounting frame, the camera lifting gear is arranged on the driving shaft of the camera lifting motor, the camera lifting sliding block is arranged on the camera mounting frame, the camera lifting rack is arranged on the camera lifting sliding block and is in engagement with the camera lifting gear, and the first camera rotating rudder is arranged on the camera lifting rack.

7. The method of claim 5, wherein the method further comprises: A camera rotating frame is further arranged on the driving shaft of the camera rotating rudder, the second camera rotating rudder is arranged on the camera rotating frame, the camera is arranged on the second camera rotating rudder, and the second camera rotating rudder drives the camera to swing up and down.

8. The method of claim 4, wherein the method further comprises: The first storage adjusting component comprises a first storage adjusting motor and a first storage adjusting roller, the first storage adjusting motor is arranged on the storage adjusting moving module, and the first storage adjusting roller is arranged on the driving shaft of the first storage adjusting motor. The second storage adjusting component comprises a second storage adjusting motor and a second storage adjusting roller, the second storage adjusting motor is arranged on the storage adjusting moving module, the second storage adjusting roller is arranged on the driving shaft of the second storage adjusting motor, and a storage interval is formed between the first storage adjusting roller and the second storage adjusting roller.

9. The method of claim 1, wherein the method further comprises: adjusting the angle of the delivery based on the bounding box. Step S5 specifically comprises: S51 calculation of the first rotating shaft; S511 calculating the distance D between the recognition frame at the left upper corner of the material frame and the recognition frame at the right upper corner of the material frame, the distance A between the recognition frame at the left lower corner of the material frame and the recognition frame at the right lower corner of the material frame, the distance B between the recognition frame at the right upper corner of the material frame and the recognition frame at the right lower corner of the material frame, and the distance C between the recognition frame at the left upper corner of the material frame and the recognition frame at the left lower corner of the material frame; S512 calculating the radian value of each included angle of the material frame according to the distances calculated in step S511; The radian value calculation formula of the included angle between the distance D and the distance C is arcsin(C / D); The radian value calculation formula of the included angle between the distance B and the distance D is arcsin(B / D); The radian value calculation formula of the included angle between the distance C and the distance A is arcsin(C / A); The radian value calculation formula of the included angle between the distance B and the distance A is arcsin(B / A); S513 calculating the average value of the radian values in step S512; S514 converting the radian average value into an angle average value through the radian-to-angle conversion formula; The radian rotation angle formula is rad*180 / π, wherein rad is radian, 180 is angle, and π is a constant of circular. S515: Calculate the angle value of the first rotation axis: 90-angle average-current angle of the first rotation axis; S52: The calculation method of the second rotation axis is as follows: S521: Calculate the slope of the straight line between the recognition frame at the left upper corner of the material frame and the recognition frame at the right upper corner of the material frame, and the slope of the straight line between the recognition frame at the left lower corner of the material frame and the recognition frame at the right lower corner of the material frame through the slope calculation formula K=Δy / Δx. S522: Calculate the radian values of α and β through the arctangent function (arctan) respectively. S523: Calculate the radian average values of α and β. S524: Convert the radian average value calculated in step S523 into an angle value through the radian-to-angle conversion formula to obtain the angle value of the second rotation axis.

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