Automatic feeding method, system, equipment, storage medium and product

Abstract

The present application discloses an automatic feeding method, system, equipment, storage medium and product, which belongs to the field of automated processing technology. The present application identifies the characteristic information of the raw material to be transported, and sends the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the local area; determine the points to be clamped on the raw material to be transported according to the processing parameters; adjust the spatial posture of the raw material to be transported according to the points to be clamped, and transport the raw material to be transported after the posture adjustment to the processing equipment, by identifying the characteristic information of the raw material to be transported, and adjusting the posture of transporting the raw material based on the characteristic information, it is ensured that the raw material to be transported to the processing equipment can be directly processed in accordance with the processing parameters corresponding to the current raw material, and the reliability of robot handling and feeding is ensured.

Description

Technical Field

[0001] The present application relates to the field of automated processing technology, and in particular to an automatic feeding method, system, equipment, storage medium and product. Background Art

[0002] With the continuous development of the industrial process, more and more factories, in order to increase production and processing efficiency on the processing lines, usually equip the original processing equipment with automated robots. By controlling the robots to automatically load and unload, etc., the efficiency of processing, transportation and production is improved, and labor costs are reduced.

[0003] However, in the process of configuring an automated production line, since the processing equipment will involve the processing requirements of a variety of different products, different processing techniques and different processing parts, when configuring the corresponding automated robots, if only the original parts to be processed are transported to the processing equipment, it cannot meet the initial processing requirements of the processing equipment, thereby affecting the normal processing progress of the processing equipment and may cause the processing equipment to directly process the transported original parts. Poor precision problem.

[0004] That is, the reliability of directly configuring corresponding robots at the current processing equipment to form an automated production line is low. Summary of the invention

[0005] The main purpose of this application is to provide an automatic feeding method, system, equipment, storage medium and product, aiming to solve the technical problem of low reliability of automated production lines composed of processing equipment and robots.

[0006] To achieve the above object, the present application provides an automatic feeding method, which is applied to a robot in an automatic feeding system, wherein the system further includes a processing device, and the robot and the processing device are communicatively connected. The automatic feeding method includes the following steps:

[0007] Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the local area;

[0008] Determining the points to be clamped on the raw material to be transported according to the processing parameters;

[0009] According to the points to be clamped, the spatial posture of the raw materials to be transported is adjusted, and the raw materials to be transported after the adjusted posture are transported to the processing equipment.

[0010] In one embodiment, the step of identifying characteristic information of the raw material to be transported and sending the characteristic information to the processing equipment includes:

[0011] The image information of the raw materials to be transported placed in advance at the target location is collected through the locally mounted image recognition module;

[0012] Extracting pixel information at preset recognition points corresponding to the image information through a preset image recognition model to obtain feature information;

[0013] The characteristic information is sent to the processing equipment.

[0014] In one embodiment, the step of extracting pixel information at a preset recognition point corresponding to the image information through a preset image recognition model to obtain feature information includes:

[0015] Determine the structural features of the raw material to be transported according to the image information through a preset image recognition model;

[0016] Determine, according to a preset structure mapping table, a preset identification point position matching the structural feature;

[0017] The image recognition model is used to extract pixel information at preset recognition points corresponding to the image information to obtain feature information.

[0018] In one embodiment, the step of determining the points to be clamped on the material to be transported according to the processing parameters includes:

[0019] Determine the processing positioning requirements of the raw material to be transported and the surface to be processed of the raw material to be transported according to the processing parameters, wherein the processing positioning requirements include the placement position requirements of the raw material to be transported and the processing posture position requirements of the raw material to be transported;

[0020] Determining, according to the placement position requirement and the processing posture requirement, expected posture change information when the raw material to be transported is moved to the processing equipment;

[0021] According to the predicted posture change information and the surface to be processed, the points to be clamped on the material to be transported are determined.

[0022] In one embodiment, the step of determining the points to be clamped on the material to be transported according to the predicted posture change information and the surface to be processed includes:

[0023] Determine the bottom surface of the raw material to be transported when it is moved to the processing equipment according to the posture change information and the surface to be processed, wherein the bottom surface is the surface expected to be in contact with the upper surface of the processing table of the processing equipment;

[0024] Other clampable surfaces other than the bottom surface on the material to be transported are determined, and points to be clamped on the material to be transported are determined based on the other clampable surfaces.

[0025] In one embodiment, after the step of identifying characteristic information of the raw material to be transported and sending the characteristic information to the processing equipment, the method further includes:

[0026] Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters matching the characteristic information according to a preset process parameter table, wherein the preset process parameter table is a mapping table consisting of the information of the workpiece to be processed and the processing parameters corresponding to the raw material to be transported, and the information of the workpiece to be processed is the information of the position to be processed corresponding to the preset identification point.

[0027] In addition, to achieve the above purpose, the present application also provides an automatic loading device, the automatic loading device comprising:

[0028] An identification module, used for identifying characteristic information of the raw material to be transported, and sending the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the local;

[0029] A determination module, used to determine the points to be clamped on the raw material to be transported according to the processing parameters;

[0030] The adjustment module is used to adjust the spatial posture of the raw material to be transported according to the point to be clamped, and transport the raw material to be transported after the posture is adjusted to the processing equipment.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides an automatic feeding system, the automatic feeding system comprising a robot and a processing device, the robot and the processing device are communicatively connected:

[0032] The robot is used to identify characteristic information of the raw material to be transported and send the characteristic information to the processing equipment; determine the points to be clamped on the raw material to be transported according to the processing parameters; adjust the spatial posture of the raw material to be transported according to the points to be clamped, and transport the raw material to be transported after the posture adjustment to the processing equipment;

[0033] The processing equipment is used to determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the robot.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides an automatic loading device, which includes: a memory, a processor, and an automatic loading program stored in the memory and executable on the processor, and the automatic loading program is configured to implement the steps of the automatic loading method as described above.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which an automatic loading program is stored, and when the automatic loading program is executed by a processor, the steps of the automatic loading method as described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes an automatic loading program, and when the automatic loading program is executed by a processor, the steps of the automatic loading method described above are implemented.

[0037] The present application identifies characteristic information of the raw materials to be transported and sends the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw materials to be transported according to the characteristic information and feed back the processing parameters locally; determine the points to be clamped on the raw materials to be transported according to the processing parameters; adjust the spatial posture of the raw materials to be transported according to the points to be clamped, and transport the raw materials to be transported with the adjusted posture to the processing equipment. By identifying the characteristic information of the raw materials to be transported and adjusting the posture of transporting the raw materials based on the characteristic information, it is ensured that the raw materials to be transported to the processing equipment can be directly processed in accordance with the processing parameters corresponding to the current raw materials, thereby ensuring the reliability of the robot's handling and loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the process of the first embodiment of the automatic feeding method of the present application;

[0039] Figure 2 This is a schematic diagram of the flow chart of the second embodiment of the automatic feeding method of the present application;

[0040] Figure 3 This is a structural block diagram of an embodiment of the automatic feeding device of the present application;

[0041] Figure 4 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

[0042] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] Reference Figure 1 , Figure 1 This is a schematic flow chart of the first embodiment of the automatic feeding method of the present application.

[0045] In a first embodiment, the automatic feeding method comprises the following steps:

[0046] S10, identifying characteristic information of the raw material to be transported, and sending the characteristic information to the processing equipment, so that the processing equipment determines processing parameters corresponding to the raw material to be transported according to the characteristic information and feeds back the processing parameters to the local;

[0047] It should be noted that, in this embodiment, in order to improve the production efficiency of the processing production line and reduce the labor cost of the processing production line, a corresponding robot will be set in conjunction with the corresponding processing equipment. By running the corresponding control program, the robot is controlled to realize automatic loading, transportation, adjustment of the placement of the raw materials to be processed and other functions. However, when the robot takes action, there will be a certain deviation in its accuracy, and the same processing equipment may involve multiple production targets with different production processes and different workpieces. Each production target will correspond to different production parameters and different production raw materials. Therefore, if the robot only directly places the production raw materials in the processing equipment according to the same set of transportation standards, the accuracy of the position of the production raw materials cannot be guaranteed, and additional manual adjustment of the raw materials is required.

[0048] In order to solve the above problems, in this embodiment, an automatic loading system composed of a robot and processing equipment is proposed, and the specific placement and transportation positions of the production materials that the robot needs to transport are determined by information interaction between the systems, so as to improve the accuracy of the robot's loading and avoid repetitive manual actions, which not only ensures production efficiency but also reduces labor costs.

[0049] Specifically, in this embodiment, the raw materials to be transported, that is, the production raw materials that are not waiting to be transported to the processing equipment by the robot, will be placed in advance in the raw material storage area on the side of the robot's position, and will be identified and clamped by the robot, and transported to the processing equipment to realize automated loading.

[0050] It should be noted that the raw materials to be transported can be raw materials that meet the corresponding processing operation conditions of the processing equipment. Taking the shell of a water pump as an example of the equipment to be transported, it is necessary to use processing equipment to fine-process a certain surface or a certain channel of the shell to improve its surface accuracy. At the processing equipment, for the shell, the corresponding surface and channel of the shell that need to be processed can be used as feature information, that is, the feature information includes the features of the position to be processed corresponding to the raw material to be transported.

[0051] In addition, the characteristic information also includes characteristic information of the coordinate position of the water pump housing.

[0052] In addition, based on the above-mentioned water pump shell as an example, the cavity position and shell size of the water pump shells of different models are different. Therefore, the structural characteristics of the water pump shell can be used as feature information. In order to ensure the accuracy and efficiency of information extraction, corresponding precise extraction points can be set. The extraction points are based on the above-mentioned positions to be processed and divide certain areas as identification points of structural features.

[0053] For example, the largest surface to be processed of the shell is used as the feature of the position to be processed. The surface to be processed can be the cross-section of the shell (taking the water pump divided into two halves of the shell as an example, each half shell has a cross-section). After the cross-section is determined, the specific shape characteristics of the cross-section can be identified, and the structural characteristics of the internal edge of the cross-section can be determined, so that the characteristics and structural characteristics of the position to be processed are used as the characteristic information of the raw materials to be transported.

[0054] In this embodiment, after the robot recognizes the characteristic information of the raw materials to be transported, the characteristic information can be sent to the processing equipment, and the processing equipment can determine what kind of raw materials to be transported are based on the characteristic information, and determine the processing parameters such as the processing technology required for the raw materials to be transported, the positioning accuracy during processing, and the processing accuracy. The processing equipment is required to feed back the above processing parameters to the robot, so that the robot can determine the processing accuracy of the raw materials to be transported when loading according to the processing parameters, and ensure that the raw materials to be transported can be placed in the processing equipment according to the matching transportation accuracy.

[0055] In this embodiment, the step of identifying characteristic information of the raw material to be transported and sending the characteristic information to the processing equipment includes:

[0056] Through the locally mounted image recognition module, image information of the raw materials to be transported pre-placed at the target position is collected; through the preset image recognition model, pixel information at the preset recognition points corresponding to the image information is extracted to obtain feature information; and the feature information is sent to the processing equipment.

[0057] In this embodiment, the raw materials to be transported will be placed in advance at a position close to the robot. The robot needs to use the locally mounted image recognition model to first perform image recognition on the raw materials to be transported, lock the specific raw materials, identify their location information, structural information and other characteristic information, and use this to determine the raw materials that the robot currently needs to transport and perform the corresponding transport tasks.

[0058] Among them, the image recognition module can be a camera, a gimbal camera or other modules.

[0059] Among them, the image recognition module can be used to collect image information of the raw materials to be transported at the target position. The target position is a specific area pre-demarcated by relevant personnel. For example, an area of ​​a certain range on the ground is the area where raw materials exist, and the area is outlined with a square frame to ensure that the robot can capture the area and use the area as an area of ​​interest to collect image information of objects in the area.

[0060] In addition, the coordinate information of the area can be determined, and the robot can lock the area through motion coordinate transformation, and use the image recognition module to collect corresponding image information.

[0061] It can be understood that in this embodiment, in order to improve the accuracy of identifying the collected image information, a corresponding image recognition model can be used. The image recognition model obtained through iterative training based on the neural network model can be used to extract feature information from the image information, so that after obtaining the feature information, the robot can send the feature information to the processing equipment, and the processing equipment will make a judgment and feedback the processing parameters.

[0062] Among them, when extracting feature information, the image recognition model needs to simultaneously extract the position feature information of the raw material to be transported, the feature information of the position to be processed, and the structural feature information.

[0063] In this embodiment, the step of extracting pixel information at a preset recognition point corresponding to the image information through a preset image recognition model to obtain feature information includes:

[0064] Through a preset image recognition model, the structural features of the material to be transported are determined according to the image information; based on a preset structure mapping table, preset recognition points matching the structural features are determined; through the image recognition model, pixel information at the preset recognition points corresponding to the image information is extracted to obtain feature information.

[0065] It is understandable that the image recognition model will determine the structural features of the raw material to be transported based on the image information, and the structural features include structural feature information and spatial position information of the corresponding structure of the raw material.

[0066] Among them, the spatial position information refers to the position characteristic information of the raw material to be transported, that is, when the structural characteristics of the raw material to be transported are identified, for example, when the raw material to be transported is the shell of a water pump, a plurality of cavities are arranged in the shell, and each cavity has a certain protrusion structure protruding outside the shell. When the physical structural parameters of the protrusion structure are identified by the image recognition model, the spatial coordinates corresponding to the protrusion structure are also synchronously acquired to determine the structural characteristic information and position characteristic information of the shell.

[0067] Among them, on the basis of determining the structural feature information and the position feature information, it is necessary to further extract the feature information of the position to be processed. In this embodiment, the preset identification point matching the structural feature can be determined according to the preset structure mapping table, and the corresponding feature information can be pulled up through the preset identification point to obtain the feature information of the position to be processed.

[0068] Among them, the preset identification points are mainly points corresponding to the positions to be processed. For example, water pump A needs to be bored to improve its tolerance. The diameter of the hole to be processed is 13 mm, and there is a chamfering process at a certain angle above the hole that requires simultaneous deburring. The above-mentioned holes and chamfers can both be used as preset identification points of water pump A. Similarly, water pump A will have certain structural features at the above-mentioned preset identification points, that is, it is necessary to determine the relationship between the structural features, the specific structure of the position to be processed and the preset identification points in this embodiment.

[0069] It should be noted that in this embodiment, the structural features can be first obtained through the image recognition model, and based on the structural features, specific recognition points can be selected to determine the characteristic information of the position to be processed. Similarly, according to the contents recorded in the above embodiments, the characteristic information of the position to be processed can be first determined, and based on the characteristic information of the position to be processed, part of the structural feature information can be extracted.

[0070] Among them, the above two methods can obtain the final feature information, that is, the essence is to extract some specific structures at the position to be processed, and use this part of the specific structure as a basis for judging the expected processing flow corresponding to the current raw material to be transported, so as to further judge the current required processing parameters, wherein this part of the specific structure is a unique identifiable structure corresponding to the expected processing flow, for example, the 30° chamfer of water pump A, or the special structural rib with a width of 2mm of water pump B, etc.

[0071] In this embodiment, after the step of identifying the characteristic information of the raw material to be transported and sending the characteristic information to the processing equipment, the method further includes:

[0072] Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters matching the characteristic information according to a preset process parameter table, wherein the preset process parameter table is a mapping table consisting of the information of the workpiece to be processed and the processing parameters corresponding to the raw material to be transported, and the information of the workpiece to be processed is the information of the position to be processed corresponding to the preset identification point.

[0073] It is understandable that after the characteristic information of the raw materials to be transported is sent to the processing equipment, the processing equipment will search and match from the preset process parameter table based on the characteristic information, so as to determine the processing parameters that match the characteristic information, thereby improving the efficiency of the processing equipment in determining the required processing parameters.

[0074] Among them, it should be noted that since the characteristic information includes position characteristic information, characteristics of the position to be processed, and structural characteristic information, it is possible to pre-match the required processing technology of the raw materials to be transported according to the above-mentioned characteristic information and the characteristic information corresponding to the characteristic information, and construct the preset process parameter table, so that the processing equipment can directly determine the processing parameters that match the characteristic information according to the preset process parameter table.

[0075] Among them, the preset process parameter table in this embodiment can also be simplified into a table composed of the mapping relationship between process parameters and information to be processed, where the information to be processed refers to the characteristic information of the position to be processed of the raw material, and the processing parameters include precision parameters, processing technology, etc.

[0076] S20, determining the points to be clamped on the raw material to be transported according to the processing parameters;

[0077] It is understandable that the processing parameters include processing accuracy and processing technology. The processing accuracy requirements include positioning requirements. The processing technology corresponds to the processing method adopted by the processing equipment when processing the raw materials to be transported. For example, the processing equipment cuts from the left side of the raw materials to be transported and disinfects the processing position. Therefore, in this embodiment, the placement requirements of the current raw materials to be transported in the processing equipment can be determined according to the processing parameters. The placement requirements include the placement position of the raw materials to be transported, the placement posture of the raw materials when placed, etc. Further, according to the placement requirements, the points to be clamped on the raw materials to be transported can be determined.

[0078] S30, adjusting the spatial posture of the raw material to be transported according to the point to be clamped, and transporting the raw material to be transported with the adjusted posture to the processing equipment.

[0079] It can be understood that the spatial posture is the spatial structural position that needs to be adjusted when the robot transports the raw material to be transported. Taking a cube as an example, it includes face A, which is the face to be processed. Face A needs to be kept parallel to the ground, and the point to be clamped determined by the robot may be face A and / or other faces. If the robot directly clamps the raw material and puts it down directly, when the raw material is placed in the processing equipment, face A may face down or to the side, and the processing equipment cannot directly process face A. At this time, when transporting the raw material, adjust the spatial posture of the raw material so that it meets the processing requirements of the processing equipment.

[0080] This embodiment identifies the characteristic information of the raw materials to be transported and sends the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw materials to be transported according to the characteristic information and feed back the processing parameters to the local; determine the points to be clamped on the raw materials to be transported according to the processing parameters; adjust the spatial posture of the raw materials to be transported according to the points to be clamped, and transport the raw materials to be transported with the adjusted posture to the processing equipment. By identifying the characteristic information of the raw materials to be transported and adjusting the posture of transporting the raw materials based on the characteristic information, it is ensured that the raw materials to be transported to the processing equipment can be directly processed in accordance with the processing parameters corresponding to the current raw materials, thereby ensuring the reliability of the robot's handling and loading.

[0081] like Figure 3 As shown, a second embodiment of the automatic feeding method of the present application is proposed based on the first embodiment. In this embodiment, step S20 specifically includes:

[0082] S21, determining the processing positioning requirements of the material to be transported and the surface to be processed of the material to be transported according to the processing parameters, wherein the processing positioning requirements include the placement position requirements of the material to be transported and the processing posture position requirements of the material to be transported;

[0083] It should be noted that the above embodiments involve characteristic information of some positions to be processed, and the characteristic information of the positions to be processed specifically refers to the structural features of the positions to be processed and the coordinate features of the structures corresponding to the spaces. In the present embodiment, the surface to be processed specifically refers to the corresponding plane of the position where the raw materials to be transported need to be processed. It is understandable that the determination of the surface to be processed requires that the irregularly structured raw materials to be transported be abstracted into corresponding cubes first. For example, the shell of the water pump is abstracted into a cuboid with six faces, and based on the above six faces, the corresponding surface to be processed is determined, thereby simplifying the judgment of the surface to be processed of the shell and avoiding the difficulty of structural recognition of complex inclined surfaces.

[0084] It is understandable that the processing parameters include data such as processing technology and process parameters. Therefore, the processing positioning requirements of the raw materials to be transported can be determined. For example, the A side of the shell needs to face up and the B side needs to face down, where the A side and the B side are the opposite sides of the cube abstracted by the shell.

[0085] Among them, the processing positioning requirement includes placement position requirement and processing posture requirement. The placement position requirement mainly lies in the accuracy of the placement position. The raw materials need to be placed correctly in the target position. Since the structures corresponding to some raw materials may have protruding long structures or inclined structures, the placement position requirement not only includes placing the raw materials in the target position of the pre-defined plane, but also needs to ensure that the spatial structure occupied by them is also within the predetermined range; and the processing posture requirement mainly refers to the posture requirement of the processing tool direction of the processing equipment. For example, the initial position of the tool of the processing equipment is on the right side of the target position, and the tool will give priority to processing the rightmost side of the raw material placed in the target position. Therefore, the raw materials need to be placed according to a certain spatial placement posture.

[0086] S22, determining expected posture change information when the raw material to be transported is moved to the processing equipment according to the placement position requirement and the processing posture requirement;

[0087] It is understandable that after determining the placement position requirements and processing posture requirements, the expected posture change information when the raw material to be transported is transported to the processing equipment can be further determined. The expected posture change information is mainly used to compensate and adjust the spatial posture of the raw material currently clamped by the robot. For example, when the raw material to be transported is placed in a pre-storage position, it may be with side A facing down, but when it is placed in the processing equipment for processing, side A needs to face up, and the right side of side A needs to be close to the tool of the processing equipment. Therefore, it is necessary to adjust the position of the raw material during the process of the robot clamping the raw material. By predetermining the expected posture change information, the spatial posture represented by the raw material is adjusted during the transportation process.

[0088] S23, determining a point to be clamped on the material to be transported according to the predicted posture change information and the surface to be processed.

[0089] It can be understood that the spatial posture is the spatial structural position that needs to be adjusted when the robot transports the raw material to be transported. Taking a cube as an example, it includes face A, which is the face to be processed. Face A needs to be kept parallel to the ground, and the point to be clamped determined by the robot may be face A and / or other faces. If the robot directly clamps the raw material and puts it down directly, when the raw material is placed in the processing equipment, face A may face down or to the side, and the processing equipment cannot directly process face A. At this time, when transporting the raw material, adjust the spatial posture of the raw material so that it meets the processing requirements of the processing equipment.

[0090] To summarize, for example, the current raw material to be transported has a general structure of a cube, one side is a processed surface (to be finely processed), and the other side is a flat surface (no processing is required). The above two surfaces are opposite surfaces of the cube, and there is a certain order in the four opposite surfaces. The order refers to the order in which the processing equipment performs processing, and they are named 1, 2, 3, and 4 respectively. The surface to be finely processed is surface 5, and the surface that does not need processing is surface 6. In order to ensure the accuracy of the robot clamping the raw material to be transported, it is necessary to select any two surfaces from surfaces 1, 2, 3, and 4 as the points to be clamped, and it is necessary to determine one of the points to be clamped as the primary adjustment surface, and place surface 1 at the expected processing position for the first entry of the processing equipment.

[0091] Among them, after determining the point to be clamped, it is necessary to adjust the spatial posture of the robot during transportation according to the features corresponding to surfaces 1, 2, 3, and 4 and the order to be processed, and place surface 1 in the position opposite to the first step of processing required by the corresponding processing equipment, which is equivalent to placing surfaces 1, 2, 3, and 4 in positions that meet the processing technology in the processing parameters.

[0092] In this embodiment, the step of determining the points to be clamped on the material to be transported according to the predicted posture change information and the surface to be processed includes:

[0093] Based on the posture change information and the surface to be processed, determine the bottom surface of the raw material to be transported when it is moved to the processing equipment, wherein the bottom surface is the surface expected to contact the upper surface of the processing table of the processing equipment; determine other clampable surfaces other than the bottom surface on the raw material to be transported, and based on the other clampable surfaces, determine the points to be clamped on the raw material to be transported.

[0094] It is understandable that the robot performing the handling work in this embodiment will control the handling robot arm configured to clamp the processing equipment according to the required clamping surface, and during the clamping process, adjust the spatial posture of the raw material and place it in the processing equipment.

[0095] As an example, in this embodiment, the bottom surface of the raw materials to be transported after being moved to the processing equipment and placed therein is mainly used as a reference, and a clampable surface is selected from other positions of the shell, and points to be clamped that meet the clamping conditions are selected from other clampable surfaces. The points to be clamped need to ensure that the raw materials to be transported can move stably when the robot clamps them, and will not fall off or cause other problems.

[0096] Specifically, when selecting the point to be clamped, the image information of the raw material to be transported can be combined, and a suitable point can be selected according to the image information.

[0097] This embodiment determines the processing positioning requirements of the raw material to be transported and the surface to be processed of the raw material to be transported according to the processing parameters, wherein the processing positioning requirements include the placement position requirements of the raw material to be transported and the processing posture position requirements of the raw material to be transported; based on the placement position requirements and the processing posture requirements, the expected posture change information when the raw material to be transported is moved to the processing equipment is determined; based on the expected posture change information and the surface to be processed, the points to be clamped on the raw material to be transported are determined.

[0098] In addition, the present application also provides an automatic feeding device, referring to Figure 3 , the automatic feeding device comprises:

[0099] The identification module 10 is used to identify the characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the local area;

[0100] A determination module 20, for determining a point to be clamped on the raw material to be transported according to the processing parameters;

[0101] The adjustment module 30 is used to adjust the spatial posture of the raw material to be transported according to the point to be clamped, and transport the raw material to be transported with the adjusted posture to the processing equipment.

[0102] The recognition module also includes:

[0103] A collection submodule is used to collect image information of the raw materials to be transported pre-placed at the target location through a locally mounted image recognition module;

[0104] An extraction submodule, used to extract pixel information at a preset recognition point corresponding to the image information through a preset image recognition model to obtain feature information;

[0105] The sending submodule is used to send the characteristic information to the processing equipment.

[0106] The extraction submodule also includes:

[0107] A first determining unit, configured to determine the structural features of the raw material to be transported according to the image information by using a preset image recognition model;

[0108] A second determining unit, configured to determine a preset identification point matching the structural feature according to a preset structure mapping table;

[0109] The extraction unit is used to extract pixel information at a preset recognition point corresponding to the image information through the image recognition model to obtain feature information.

[0110] The determination module also includes:

[0111] A first determination submodule is used to determine the processing positioning requirements of the material to be transported and the surface to be processed of the material to be transported according to the processing parameters, wherein the processing positioning requirements include the placement position requirements of the material to be transported and the processing posture position requirements of the material to be transported;

[0112] A second determination submodule is used to determine the expected posture change information when the raw material to be transported is moved to the processing equipment according to the placement position requirement and the processing posture requirement;

[0113] The third determination submodule is used to determine the points to be clamped on the material to be transported according to the expected posture change information and the surface to be processed.

[0114] The third determination submodule further includes:

[0115] A third determining unit is used to determine the bottom surface of the raw material to be transported when it is moved to the processing equipment according to the posture change information and the surface to be processed, wherein the bottom surface is a surface that is expected to contact with the upper surface of the processing table of the processing equipment;

[0116] The fourth determining unit is used to determine other clampable surfaces other than the bottom surface on the material to be transported, and determine the points to be clamped on the material to be transported based on the other clampable surfaces.

[0117] The device also includes:

[0118] A matching module is used to identify characteristic information of the raw material to be transported and send the characteristic information to the processing equipment so that the processing equipment can determine the processing parameters matching the characteristic information according to a preset process parameter table, wherein the preset process parameter table is a mapping table composed of the information of the workpiece to be processed and the processing parameters corresponding to the raw material to be transported, and the information of the workpiece to be processed is the information of the position to be processed corresponding to the preset identification point.

[0119] This embodiment identifies the characteristic information of the raw materials to be transported and sends the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw materials to be transported according to the characteristic information and feed back the processing parameters to the local; determine the points to be clamped on the raw materials to be transported according to the processing parameters; adjust the spatial posture of the raw materials to be transported according to the points to be clamped, and transport the raw materials to be transported with the adjusted posture to the processing equipment. By identifying the characteristic information of the raw materials to be transported and adjusting the posture of transporting the raw materials based on the characteristic information, it is ensured that the raw materials to be transported to the processing equipment can be directly processed in accordance with the processing parameters corresponding to the current raw materials, thereby ensuring the reliability of the robot's handling and loading.

[0120] It should be noted that each module in the above-mentioned device can be used to implement each step in the above-mentioned method and achieve corresponding technical effects, which will not be described in detail in this embodiment.

[0121] Reference Figure 4 , Figure 4 A schematic diagram of the structure of the device of the hardware operating environment involved in the embodiment of the present application.

[0122] like Figure 4 As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0123] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0124] like Figure 4 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module and an automatic loading program.

[0125] exist Figure 4In the device shown, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving user input instructions; the device calls the automatic loading program stored in the memory 1005 through the processor 1001, and performs the following operations:

[0126] Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the local area;

[0127] Determining the points to be clamped on the raw material to be transported according to the processing parameters;

[0128] According to the points to be clamped, the spatial posture of the raw materials to be transported is adjusted, and the raw materials to be transported after the adjusted posture are transported to the processing equipment.

[0129] Further, the processor 1001 may call the automatic loading program stored in the memory 1005, and also perform the following operations:

[0130] The image information of the raw materials to be transported placed in advance at the target location is collected through the locally mounted image recognition module;

[0131] Extracting pixel information at preset recognition points corresponding to the image information through a preset image recognition model to obtain feature information;

[0132] The characteristic information is sent to the processing equipment.

[0133] Further, the processor 1001 may call the automatic loading program stored in the memory 1005, and also perform the following operations:

[0134] Determine the structural features of the raw material to be transported according to the image information through a preset image recognition model;

[0135] Determine, according to a preset structure mapping table, a preset identification point position matching the structural feature;

[0136] The image recognition model is used to extract pixel information at preset recognition points corresponding to the image information to obtain feature information.

[0137] Further, the processor 1001 may call the automatic loading program stored in the memory 1005, and also perform the following operations:

[0138] Determine the processing positioning requirements of the raw material to be transported and the surface to be processed of the raw material to be transported according to the processing parameters, wherein the processing positioning requirements include the placement position requirements of the raw material to be transported and the processing posture position requirements of the raw material to be transported;

[0139] Determining, according to the placement position requirement and the processing posture requirement, expected posture change information when the raw material to be transported is moved to the processing equipment;

[0140] According to the predicted posture change information and the surface to be processed, the points to be clamped on the material to be transported are determined.

[0141] Further, the processor 1001 may call the automatic loading program stored in the memory 1005, and also perform the following operations:

[0142] Determine the bottom surface of the raw material to be transported when it is moved to the processing equipment according to the posture change information and the surface to be processed, wherein the bottom surface is the surface expected to be in contact with the upper surface of the processing table of the processing equipment;

[0143] Other clampable surfaces other than the bottom surface on the material to be transported are determined, and points to be clamped on the material to be transported are determined based on the other clampable surfaces.

[0144] Further, the processor 1001 may call the automatic loading program stored in the memory 1005, and also perform the following operations:

[0145] Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters matching the characteristic information according to a preset process parameter table, wherein the preset process parameter table is a mapping table consisting of the information of the workpiece to be processed and the processing parameters corresponding to the raw material to be transported, and the information of the workpiece to be processed is the information of the position to be processed corresponding to the preset identification point.

[0146] This embodiment identifies the characteristic information of the raw materials to be transported and sends the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw materials to be transported according to the characteristic information and feed back the processing parameters to the local; determine the points to be clamped on the raw materials to be transported according to the processing parameters; adjust the spatial posture of the raw materials to be transported according to the points to be clamped, and transport the raw materials to be transported with the adjusted posture to the processing equipment. By identifying the characteristic information of the raw materials to be transported and adjusting the posture of transporting the raw materials based on the characteristic information, it is ensured that the raw materials to be transported to the processing equipment can be directly processed in accordance with the processing parameters corresponding to the current raw materials, thereby ensuring the reliability of the robot's handling and loading.

[0147] In addition, the embodiment of the present application further provides a computer-readable storage medium, on which an automatic loading program is stored, and when the automatic loading program is executed by a processor, the following operations are implemented:

[0148] Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the local area;

[0149] Determining the points to be clamped on the raw material to be transported according to the processing parameters;

[0150] According to the points to be clamped, the spatial posture of the raw materials to be transported is adjusted, and the raw materials to be transported after the adjusted posture are transported to the processing equipment.

[0151] This embodiment identifies the characteristic information of the raw materials to be transported and sends the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw materials to be transported according to the characteristic information and feed back the processing parameters to the local; determine the points to be clamped on the raw materials to be transported according to the processing parameters; adjust the spatial posture of the raw materials to be transported according to the points to be clamped, and transport the raw materials to be transported with the adjusted posture to the processing equipment. By identifying the characteristic information of the raw materials to be transported and adjusting the posture of transporting the raw materials based on the characteristic information, it is ensured that the raw materials to be transported to the processing equipment can be directly processed in accordance with the processing parameters corresponding to the current raw materials, thereby ensuring the reliability of the robot's handling and loading.

[0152] It should be noted that when the above-mentioned computer-readable storage medium is executed by a processor, it can also implement the various steps in the above-mentioned method and achieve the corresponding technical effects, which will not be described in detail in this embodiment.

[0153] In addition, an embodiment of the present invention further provides a computer program product, including an automatic loading program, which implements the steps of the automatic loading method described above when executed by a processor.

[0154] The specific implementation of the computer program product of the present invention is basically the same as the above-mentioned embodiments of the automatic feeding method, and will not be repeated here.

[0155] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0156] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0157] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0158] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An automatic feeding method, characterized in that: A robot used in an automatic feeding system, wherein the system further comprises a processing device, wherein the robot and the processing device are in communication connection with each other, and the automatic feeding method comprises the following steps: Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the local area; Determining the points to be clamped on the raw material to be transported according to the processing parameters; The step of determining the points to be clamped on the raw material to be transported according to the processing parameters comprises: Determine the processing positioning requirements of the raw material to be transported and the surface to be processed of the raw material to be transported according to the processing parameters, wherein the processing positioning requirements include the placement position requirements of the raw material to be transported and the processing posture position requirements of the raw material to be transported; Determining, according to the placement position requirement and the processing posture requirement, expected posture change information when the raw material to be transported is moved to the processing equipment; Determining a point to be clamped on the material to be transported according to the predicted posture change information and the surface to be processed; According to the points to be clamped, the spatial posture of the raw materials to be transported is adjusted, and the raw materials to be transported with the adjusted posture are transported to the processing equipment.

2. The automatic feeding method according to claim 1, characterized in that: The step of identifying characteristic information of the raw material to be transported and sending the characteristic information to the processing equipment includes: The image information of the raw materials to be transported placed in advance at the target location is collected through the locally mounted image recognition module; Extracting pixel information at preset recognition points corresponding to the image information through a preset image recognition model to obtain feature information; The characteristic information is sent to the processing equipment.

3. The automatic feeding method according to claim 2, characterized in that: The step of extracting pixel information at a preset recognition point corresponding to the image information through a preset image recognition model to obtain feature information includes: Determine the structural features of the raw material to be transported according to the image information through a preset image recognition model; Determine, according to a preset structure mapping table, a preset identification point position matching the structural feature; The pixel information at the preset recognition point corresponding to the image information is extracted through the preset image recognition model to obtain feature information.

4. The automatic feeding method according to claim 1, characterized in that: The step of determining the points to be clamped on the material to be transported according to the estimated posture change information and the surface to be processed comprises: Determine the bottom surface of the raw material to be transported when it is moved to the processing equipment according to the expected posture change information and the surface to be processed, wherein the bottom surface is the surface expected to be in contact with the upper surface of the processing table of the processing equipment; Other clampable surfaces other than the bottom surface on the material to be transported are determined, and points to be clamped on the material to be transported are determined based on the other clampable surfaces.

5. The automatic feeding method according to claim 2, characterized in that: After the step of identifying the characteristic information of the raw material to be transported and sending the characteristic information to the processing equipment, the method further includes: Identify characteristic information of the raw material to be transported, and send the characteristic information to the processing equipment, so that the processing equipment can determine the processing parameters matching the characteristic information according to a preset process parameter table, wherein the preset process parameter table is a mapping table consisting of the information of the workpiece to be processed and the processing parameters corresponding to the raw material to be transported, and the information of the workpiece to be processed is the information of the position to be processed corresponding to the preset identification point.

6. An automatic feeding system, characterized in that: The automatic feeding system includes a robot and a processing device, and the robot and the processing device are connected in communication: The robot is used to identify characteristic information of the raw material to be transported and send the characteristic information to the processing equipment; determine the processing positioning requirements of the raw material to be transported and the surface to be processed of the raw material to be transported according to the processing parameters, wherein the processing positioning requirements include the placement position requirements of the raw material to be transported and the processing posture position requirements of the raw material to be transported; determine the expected posture change information when the raw material to be transported is moved to the processing equipment according to the placement position requirements and the processing posture requirements; determine the points to be clamped on the raw material to be transported according to the expected posture change information and the surface to be processed; adjust the spatial posture of the raw material to be transported according to the points to be clamped, and transport the raw material to be transported with the adjusted posture to the processing equipment; The processing equipment is used to determine the processing parameters corresponding to the raw material to be transported according to the characteristic information and feed back the processing parameters to the robot.

7. An automatic feeding device, characterized in that: The automatic loading device comprises: a memory, a processor, and an automatic loading program stored in the memory and executable on the processor, wherein the automatic loading program is configured to implement the steps of the automatic loading method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a program for implementing the automatic loading method, and the program for implementing the automatic loading method is executed by the processor to implement the steps of the automatic loading method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that The computer program product comprises an automatic loading program, and when the automatic loading program is executed by a processor, the steps of the automatic loading method according to any one of claims 1 to 5 are implemented.

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