Power control method and related system of ultrasonic positioning system

Abstract

The present application provides a power control method and a related system for an ultrasonic positioning system, the method comprising: determining the coordinate position of the geometric center of an object to be positioned; the contour of the object to be positioned includes a preset contour area; determining the target distance between the ultrasonic sensor and the coordinate position; determining a first transmission power of the ultrasonic sensor corresponding to the target distance; obtaining the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance; determining a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtaining a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; determining a first overlapping area between the preset contour area and the annular area; determining a first ratio between the first overlapping area and the target area; determining a first power compensation parameter corresponding to the first ratio; compensating the first transmission power according to the first power compensation parameter to obtain a second transmission power.

Description

Technical Field

[0001] The present application relates to the field of automobile parts processing technology or intelligent manufacturing technology, and specifically to a power control method and related system of an ultrasonic positioning system. Background Art

[0002] In practical applications, ultrasound can be used for positioning, especially in the processing of automotive parts. For example, ultrasonic sensors are usually used for positioning in drilling and spot welding. However, ultrasonic sensor positioning usually has a certain positioning accuracy. Therefore, there is also a certain error in positioning, which leads to poor processing accuracy, especially high-precision processing, resulting in too low a yield rate of automotive parts. Therefore, how to improve the accuracy of ultrasonic positioning for automotive parts processing equipment needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a power control method and related system of an ultrasonic positioning system, which can improve the ultrasonic positioning accuracy for automobile parts processing equipment.

[0004] In a first aspect, an embodiment of the present application provides a power control method of an ultrasonic positioning system, which is applied to automobile parts processing equipment, wherein the automobile parts processing equipment includes an ultrasonic sensor, and the method includes:

[0005] Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area;

[0006] determining a target distance between the ultrasonic sensor and the coordinate position;

[0007] determining a first transmission power of the ultrasonic sensor corresponding to the target distance;

[0008] Acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0009] Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle;

[0010] Determining a first overlapping area between the preset contour area and the annular area;

[0011] determining a first ratio between the first overlapping area and the target area;

[0012] determining a first power compensation parameter corresponding to the first ratio;

[0013] The first transmit power is compensated according to the first power compensation parameter to obtain a second transmit power.

[0014] In a second aspect, an embodiment of the present application provides an ultrasonic positioning system, which is applied to automobile parts processing equipment, wherein the automobile parts processing equipment includes an ultrasonic sensor, and the system includes: a determination unit, an acquisition unit, and a compensation unit, wherein:

[0015] The determination unit is used to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area; determine the target distance between the ultrasonic sensor and the coordinate position; determine the first transmission power of the ultrasonic sensor corresponding to the target distance;

[0016] The acquisition unit is used to acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0017] The determination unit is further used to determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle; determine a first overlapping area between the preset contour area and the annular area; determine a first ratio between the first overlapping area and the target area; and determine a first power compensation parameter corresponding to the first ratio;

[0018] The compensation unit is used to compensate the first transmit power according to the first power compensation parameter to obtain a second transmit power.

[0019] In the third aspect, an embodiment of the present application provides an automobile parts processing equipment, including a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0021] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0022] The implementation of the embodiments of the present application has the following beneficial effects:

[0023] It can be seen that the power control method and related system of the ultrasonic positioning system described in the embodiments of the present application are applied to automobile parts processing equipment, which includes an ultrasonic sensor to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area, the target distance between the ultrasonic sensor and the coordinate position is determined, the first transmission power of the ultrasonic sensor corresponding to the target distance is determined, and the target positioning accuracy of the ultrasonic sensor is obtained; the target positioning accuracy is related to the target distance, and the first calibration circle and the second calibration circle are determined according to the target positioning accuracy and the coordinate position, and the annular area between the first calibration circle and the second calibration circle is used to obtain the target area of ​​the annular area; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle, and the distance between the preset contour area and the annular area is determined A first overlapping area is determined, a first ratio between the first overlapping area and the target area is determined, a first power compensation parameter corresponding to the first ratio is determined, and the first transmission power is compensated according to the first power compensation parameter to obtain a second transmission power. In this way, the first transmission power can be preliminarily determined by using the distance between the geometric center of the object to be located and the ultrasonic sensor, and the positioning accuracy itself is used, and the one-dimensional positioning accuracy is two-dimensionalized (planarized) to represent it, and the relationship between the object to be located and the two-dimensional representation is used to accurately calibrate the specific impact of the positioning accuracy on the object to be located, and then accurate compensation is performed based on the specific impact, so that the transmission power is accurately compensated, and the positioning accuracy near the target distance is further improved, which helps to ensure that the ultrasonic positioning accuracy is improved for automotive parts processing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a flow chart of a power control method of an ultrasonic positioning system provided in an embodiment of the present application;

[0026] Figure 2 It is a structural schematic diagram of an automobile parts processing equipment provided in an embodiment of the present application;

[0027] Figure 3 This is a block diagram of the functional units of an ultrasonic positioning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0029] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The automobile parts processing equipment involved in the embodiments of the present application may include but is not limited to: automobile parts processing machine tools, ultrasonic welding guns, etc., which are not limited here.

[0032] For example, taking an ultrasonic welding gun as an example, in actual applications, ultrasonic imaging is often required for welding spot detection. For example, when a certain position needs to be spot welded, the spot welding position needs to be calibrated in advance. The spot welding position needs to be calibrated, and the spot welding position needs to be accurately positioned. The positioning accuracy of the spot welding position determines the processing accuracy of automobile parts. The embodiment of the present application provides a power control method of an ultrasonic positioning system, which is applied to automobile parts processing equipment. The automobile parts processing equipment includes an ultrasonic sensor. The method includes:

[0033] Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area;

[0034] determining a target distance between the ultrasonic sensor and the coordinate position;

[0035] determining a first transmission power of the ultrasonic sensor corresponding to the target distance;

[0036] Acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0037] Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle;

[0038] Determining a first overlapping area between the preset contour area and the annular area;

[0039] determining a first ratio between the first overlapping area and the target area;

[0040] determining a first power compensation parameter corresponding to the first ratio;

[0041] The first transmit power is compensated according to the first power compensation parameter to obtain a second transmit power.

[0042] In this way, based on the embodiment of the present application, the first transmission power can be preliminarily determined by utilizing the distance between the geometric center of the object to be positioned and the ultrasonic sensor, as well as utilizing its own positioning accuracy, and the one-dimensional positioning accuracy can be two-dimensionalized (planarized) to represent it. The relationship between the object to be positioned and the two-dimensional representation can be used to accurately calibrate the specific degree of influence of the positioning accuracy on the object to be positioned, and then accurate compensation is performed based on the specific degree of influence. Thus, the transmission power can be accurately compensated, further improving the positioning accuracy near the target distance, which helps to ensure that the ultrasonic positioning accuracy is improved for automotive parts processing equipment, for example, the welding point position can be accurately located. Based on the spot welding requirements, different spot welding patterns can correspond to different power adjustment mechanisms, which helps to ensure the ultrasonic spot welding positioning accuracy.

[0043] See also Figure 1 , Figure 1 The figure is a flow chart of a power control method of an ultrasonic positioning system provided in an embodiment of the present application. As shown in the figure, the method is applied to automobile parts processing equipment, wherein the automobile parts processing equipment includes an ultrasonic sensor. The power control method of the ultrasonic positioning system includes:

[0044] 101. Determine the coordinate position of the geometric center of an object to be located; the contour of the object to be located includes a preset contour area.

[0045] In the embodiment of the present application, the preset contour area can be preset or set by system default.

[0046] In a specific implementation, an image of the object to be located can be obtained through a camera, and the contour of the object to be located can be extracted using the image to obtain a preset contour area, and then the coordinate position of the geometric center of the object to be located, that is, the geometric center of the preset contour area, can be determined.

[0047] Among them, the object to be located can be preset or system default. For example, the object to be located can be preset by the user. For example, the object to be located can include at least one of the following: drilling area or drilling position, spot welding area or spot welding position, etc., which are not limited here.

[0048] 102. Determine a target distance between the ultrasonic sensor and the coordinate position.

[0049] In the embodiment of the present application, an ultrasonic sensor may be used to determine a target distance between the ultrasonic sensor and the coordinate position, or the target distance between the ultrasonic sensor and the coordinate position may be an actual distance, which may be measured in advance.

[0050] 103. Determine a first transmission power of the ultrasonic sensor corresponding to the target distance.

[0051] In a specific implementation, a mapping relationship between a preset distance and the transmission power of the ultrasonic sensor may be pre-stored, and then the first transmission power of the ultrasonic sensor corresponding to the target distance may be determined based on the mapping relationship.

[0052] In some possible examples, the above step 103, determining the first transmission power of the ultrasonic sensor corresponding to the target distance, may include the following steps:

[0053] 31. Obtain multiple historical transmission powers corresponding to the target distance, each transmission power corresponding to a time point;

[0054] 32. Perform a fitting operation according to the multiple historical transmit powers and corresponding time points to obtain a target fitting line and a target fitting curve; the horizontal axis coordinate of the target fitting line is time and the vertical axis coordinate is transmit power, and the horizontal axis coordinate of the target fitting curve is time and the vertical axis coordinate is transmit power;

[0055] 33. Obtaining a target slope of the target fitting straight line;

[0056] 34. According to the target fitting curve, a target fitting curve segment of a preset time period is intercepted, and a maximum value and a minimum value of the target fitting curve segment are obtained to obtain a plurality of maximum values ​​and a plurality of minimum values;

[0057] 35. Obtain a first predicted transmit power at the current moment through the target fitting straight line, and obtain a second predicted transmit power at the current moment through the target fitting curve;

[0058] 36. Determine a target mean square error according to the multiple maximum values ​​and the multiple minimum values;

[0059] 37. According to the target weight pair corresponding to the target mean square error;

[0060] 38. Determine a reference predicted transmit power according to the target weight pair, the first predicted transmit power, and the second predicted transmit power;

[0061] 39. Determine a target fine-tuning parameter corresponding to the target slope;

[0062] 310. Fine-tune the reference predicted transmit power according to the target fine-tuning parameter to obtain the first transmit power.

[0063] In a specific implementation, multiple historical transmission powers corresponding to the target distance may be obtained, each transmission power corresponding to a time point. Specifically, historical transmission powers corresponding to other distances within a certain distance range near the target distance may be obtained.

[0064] Next, a fitting operation can be performed based on multiple historical transmission powers and corresponding time points to obtain a target fitting line and a target fitting curve. The horizontal axis coordinate of the target fitting line is time and the vertical axis coordinate is transmission power. The horizontal axis coordinate of the target fitting curve is time and the vertical axis coordinate is transmission power. That is, each historical transmission power and the corresponding time point can be regarded as a coordinate point, which is mapped to a coordinate system. The horizontal axis coordinate of the coordinate system is time and the vertical axis coordinate is transmission power. Then, multiple coordinate points are obtained, and then a fitting operation is performed to obtain a target fitting line and a target fitting curve.

[0065] Specifically, the target slope of the target fitting line can be obtained. The slope reflects the hardware properties of the ultrasonic sensor, which also has a certain attenuation due to equipment wear during use.

[0066] In addition, the target fitting curve segment of the preset time period can be intercepted according to the target fitting curve to obtain the maximum and minimum values ​​of the target fitting curve segment, and multiple maximum values ​​and multiple minimum values ​​can be obtained. The preset time period can be preset or the system defaults. For example, the preset time period can be a time period before the current moment. The maximum and minimum values ​​reflect the fluctuation and performance stability of the ultrasonic sensor.

[0067] Furthermore, the first predicted transmission power at the current moment can be obtained through the target fitting straight line, and the second predicted transmission power at the current moment can be obtained through the target fitting curve, and then the target mean square error can be determined according to multiple maximum values ​​and multiple minimum values, that is, the target mean square error also reflects the fluctuation and performance stability of the ultrasonic sensor. The mapping relationship between the preset mean square error and the weight pair can be pre-stored. The weight pair can include the first weight and the second weight, and the first weight + the second weight = 1. Then, the target weight pair corresponding to the target mean square error can be determined based on the mapping relationship, and the target weight pair can include the target first weight and the target second weight. In this way, the appropriate weight pair can be dynamically adapted according to the attenuation degree of the ultrasonic sensor, the fluctuation and performance stability of the ultrasonic sensor. Next, the reference predicted transmission power is determined according to the target weight pair, the first predicted transmission power, and the second predicted transmission power, as follows:

[0068] Reference predicted transmit power = target first weight * first predicted transmit power + target second weight * second predicted transmit power

[0069] Next, the mapping relationship between the preset slope and the fine-tuning parameter can be pre-stored, and then, the target fine-tuning parameter corresponding to the target slope can be determined based on the mapping relationship. Finally, the reference predicted transmit power is fine-tuned according to the target fine-tuning parameter to obtain the first transmit power, that is, the first transmit power = (1 + target fine-tuning parameter) * reference predicted transmit power. In this way, on the one hand, the appropriate weight pair can be dynamically adapted according to the attenuation degree of the ultrasonic sensor, the fluctuation of the ultrasonic sensor, and the performance stability, so as to preliminarily obtain a fairly accurate transmit power at the current moment. On the other hand, combined with the equipment wear of the ultrasonic sensor, the preliminarily obtained fairly accurate transmit power at the current moment is preliminarily compensated to make up for the error caused by the equipment wear, so as to further obtain a more accurate first transmit power.

[0070] 104. Obtain a target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance.

[0071] In the embodiment of the present application, the target positioning accuracy can be pre-calibrated, and then the target positioning accuracy of the ultrasonic sensor can be obtained, and the target positioning accuracy is related to the target distance.

[0072] In a specific implementation, the target positioning accuracy of the ultrasonic sensor can be ±(a (cm) + b% × target distance), where a and b are both constants, for example, ±(1cm + 0.5% × target distance), where 1cm + 0.5% × target distance is the first positioning accuracy.

[0073] 105. Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle.

[0074] In the embodiment of the present application, different positioning accuracies can correspond to different calibration circles. Since the target positioning accuracy has offsets in two directions, either too large or too small, the first calibration circle and the second calibration circle can be determined according to the target positioning accuracy and the coordinate position, and then the annular area between the first calibration circle and the second calibration circle can be used to obtain the target area of ​​the annular area. The area of ​​the first calibration circle is greater than the area of ​​the second calibration circle.

[0075] In some possible examples, the target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; the above step 105, determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, may include the following steps:

[0076] 51. Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius;

[0077] 52. Determine the second calibration circle with the coordinate position as the center and the second positioning accuracy as the radius.

[0078] Among them, the target positioning accuracy includes the first positioning accuracy and the second positioning accuracy. For example, if the target positioning accuracy is ±(a(cm)+b%×target distance), the first positioning accuracy is (a(cm)+b%×target distance), and the second positioning accuracy is a(cm)-b%×target distance. In this way, the one-dimensional positioning accuracy can be expressed in two dimensions (planar form).

[0079] Next, a circle may be drawn with the coordinate position as the center and the first positioning accuracy as the radius to obtain a first calibration circle. Similarly, a circle may be drawn with the coordinate position as the center and the second positioning accuracy as the radius to obtain a second calibration circle.

[0080] 106. Determine a first overlapping area between the preset contour area and the annular area.

[0081] In a specific implementation, since the preset contour area overlaps with the center of the annular area, a first overlapping area between the preset contour area and the annular area may be determined.

[0082] 107. Determine a first ratio between the first overlapping area and the target area.

[0083] In a specific implementation, a first ratio between the first overlapping area and the target area may be determined, that is, the first ratio=first overlapping area / target area. The first ratio accurately reflects the degree of deviation of the positioning error of the ultrasonic sensor to a certain extent.

[0084] 108. Determine a first power compensation parameter corresponding to the first ratio.

[0085] In a specific implementation, a first mapping relationship between a preset ratio and a power compensation parameter can be pre-stored, and then, a first power compensation parameter corresponding to the first ratio can be determined based on the first mapping relationship. In this way, since the first ratio accurately reflects the degree of deviation of the positioning error of the ultrasonic sensor to a certain extent, accurate compensation can be achieved, which helps to improve the performance of the ultrasonic sensor. Of course, the power consumption of the ultrasonic sensor can also be effectively controlled.

[0086] 109. Compensate the first transmit power according to the first power compensation parameter to obtain a second transmit power.

[0087] In the embodiment of the present application, the first transmission power can be compensated according to the first power compensation parameter to obtain the second transmission power, that is, the second transmission power = the first transmission power + the first power compensation parameter. In this way, since the first ratio accurately reflects the degree of deviation of the positioning error of the ultrasonic sensor to a certain extent, accurate compensation can be achieved, which helps to improve the performance of the ultrasonic sensor. Of course, the power consumption of the ultrasonic sensor can also be effectively controlled.

[0088] In some possible examples, the above step 109, compensating the first transmit power according to the first power compensation parameter to obtain the second transmit power, may include the following steps:

[0089] 91. Compensate the first transmit power according to the first power compensation parameter to obtain a reference transmit power;

[0090] 92. Obtain target material parameters corresponding to the object to be located;

[0091] 93. Determine a target energy loss parameter corresponding to the target material parameter;

[0092] 94. Determine target environmental parameters;

[0093] 95. Determine a first influence coefficient corresponding to the target energy loss parameter;

[0094] 96. Determine a second influence coefficient corresponding to the target environmental parameter;

[0095] 97. Optimize the reference transmit power according to the first influence coefficient and the second influence coefficient to obtain the second transmit power.

[0096] In the embodiment of the present application, the first transmit power can be compensated according to the first power compensation parameter to obtain a reference transmit power. Specifically, the reference transmit power=first transmit power+first power compensation parameter.

[0097] Next, the target material parameters corresponding to the object to be located can also be obtained. The target material parameters can include at least one of the following: material type, material composition, material color, material thickness, etc., which are not limited here. In a specific implementation, a mapping relationship between preset material parameters and energy loss parameters can be pre-stored, and then the target energy loss parameters corresponding to the target material parameters can be determined based on the mapping relationship. Since different materials have different corresponding absorption (ultrasonic) capabilities and reflection (ultrasonic) capabilities, the corresponding power compensation will also be different.

[0098] In a specific implementation, target environmental parameters may also be determined, and the target environmental parameters may include at least one of the following: ambient temperature, ambient humidity, ambient noise, magnetic field interference intensity, etc., which are not limited here.

[0099] In a specific implementation, a mapping relationship between a preset energy loss parameter and an influence coefficient can be pre-stored, and then, a first influence coefficient corresponding to the target energy loss parameter can be determined based on the mapping relationship. A mapping relationship between a preset environmental parameter and an influence coefficient can also be pre-stored, and then, a second influence coefficient corresponding to the target environmental parameter can be determined based on the mapping relationship. Therefore, the reference transmit power can be optimized according to the first influence coefficient and the second influence coefficient to obtain the second transmit power, that is, the second transmit power = (1 + first influence coefficient) * (1 + second influence coefficient) * reference transmit power. In this way, the power compensation can be dynamically optimized in combination with the physical properties of the material itself and the environmental properties, so that the depth of the compensation effect conforms to the actual environment, which helps to ensure the accuracy of subsequent ultrasonic positioning.

[0100] Next, the ultrasonic sensor can be controlled to locate the object to be located with the second transmission power. Since the first ratio accurately reflects the degree of deviation of the positioning error of the ultrasonic sensor to a certain extent, accurate compensation can be achieved, which helps to improve the performance of the ultrasonic sensor.

[0101] In a specific implementation, the ultrasonic sensor may also be controlled to locate other objects to be located within a certain range near the target distance at the second transmission power. The certain range may be preset or set by the system by default.

[0102] In some possible examples, the following steps may also be included:

[0103] S1, obtaining a first area of ​​the first calibration circle, and obtaining a second area of ​​the second calibration circle;

[0104] S2. Determine a third area of ​​the preset contour area;

[0105] S3. When the third area is larger than the second area and smaller than the first area, executing the step of determining a first overlapping area between the preset contour area and the annular area.

[0106] In the embodiment of the present application, the first area of ​​the first calibration circle can be obtained, the second area of ​​the second calibration circle can be obtained, and the third area of ​​the preset contour area can be determined. When the third area is larger than the second area and smaller than the first area, it indicates that positioning is performed for a larger area. On the basis of two-dimensional (planar) representation of the one-dimensional positioning accuracy, the step of determining the first overlapping area between the preset contour area and the annular area is performed. In this way, the annular area between the two calibration circles is used as the compensation judgment condition. On the basis of power compensation, the ultrasonic positioning can be more focused and the compensation accuracy can be grasped, thereby avoiding under-compensation and over-compensation.

[0107] In a specific implementation, the ultrasonic sensor can also be controlled to locate other objects to be located within a certain range near the target distance at the second transmission power. The certain range can be preset or the system defaults, and the area of ​​the object to be located can be larger than the second area and smaller than the first area.

[0108] Furthermore, in some possible examples, the following steps may also be included:

[0109] S4, when the third area is less than or equal to the second area, determining a second overlapping area between the preset contour area and the second calibration circle;

[0110] S5. determining a second ratio between the second overlapping area and the second area;

[0111] S6. Determine a second power compensation parameter corresponding to the second ratio;

[0112] S7. Compensate the first transmit power according to the second power compensation parameter to obtain a third transmit power.

[0113] In a specific implementation, when the third area is less than or equal to the second area, it means that positioning is performed on a smaller area. The second overlapping area between the preset contour area and the second calibration circle can be determined, and then the second ratio between the second overlapping area and the second area can be determined, that is, the second ratio = second overlapping area / second area. The second mapping relationship between the preset ratio and the power compensation parameter can also be pre-stored. Then, the second power compensation parameter corresponding to the second ratio can be determined based on the second mapping relationship, and then the first transmission power is compensated according to the second power compensation parameter to obtain the third transmission power, that is, the third transmission power = the first transmission power + the second power compensation parameter. The ultrasonic sensor is controlled to locate the object to be located with the third transmission power. In this way, the smaller calibration circle of the two calibration circles is used as the compensation judgment condition. On the basis of power compensation, the ultrasonic positioning can be more focused and the compensation accuracy can be grasped, that is, under-compensation and over-compensation can be avoided.

[0114] In a specific implementation, the ultrasonic sensor may be controlled to locate other objects to be located within a certain range near the target distance at the third transmission power. The certain range may be preset or set by the system by default, and the area of ​​the object to be located may be less than or equal to the second area.

[0115] Furthermore, in some possible examples, the following steps may also be included:

[0116] S8. When the third area is greater than or equal to the first area, determining a third overlapping area between the preset contour area and the first calibration circle;

[0117] S9, determining a third ratio between the third overlapping area and the first area;

[0118] S10, determining a third power compensation parameter corresponding to the third ratio;

[0119] S11. Compensate the first transmit power according to the third power compensation parameter to obtain a fourth transmit power.

[0120] In an embodiment of the present application, when the third area is greater than or equal to the first area, it means that positioning is performed for a large area, and the third overlapping area between the preset contour area and the first calibration circle can be determined, and then the third ratio between the third overlapping area and the first area can be determined, the third ratio = third overlapping area / first area, and then the third mapping relationship between the preset ratio and the power compensation parameter is pre-stored, and then, based on the third mapping relationship, a third power compensation parameter corresponding to the third ratio can be determined, and the first transmission power is compensated according to the third power compensation parameter to obtain a fourth transmission power. Specifically, the fourth transmission power = first transmission power + third power compensation parameter, and the ultrasonic sensor is controlled to locate the object to be positioned with the fourth transmission power. In this way, the larger calibration circle of the two calibration circles is used as the compensation judgment condition, which can make the ultrasonic positioning more focused on the basis of power compensation, and grasp the compensation accuracy, that is, avoid under-compensation and over-compensation.

[0121] In a specific implementation, the ultrasonic sensor may be controlled to locate other objects to be located within a certain range near the target distance at the fourth transmission power. The certain range may be preset or set by system default, and the area of ​​the object to be located may be greater than or equal to the first area.

[0122] It can be seen that the power control method of the ultrasonic positioning system described in the embodiment of the present application is applied to automobile parts processing equipment, which includes an ultrasonic sensor to determine the coordinate position of the geometric center of the object to be positioned; the contour of the object to be positioned includes a preset contour area, the target distance between the ultrasonic sensor and the coordinate position is determined, the first transmission power of the ultrasonic sensor corresponding to the target distance is determined, and the target positioning accuracy of the ultrasonic sensor is obtained; the target positioning accuracy is related to the target distance, and the first calibration circle and the second calibration circle are determined according to the target positioning accuracy and the coordinate position, and the target area of ​​the annular area is obtained according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle, and the first calibration circle between the preset contour area and the annular area is determined. An overlapping area is determined, a first ratio between the first overlapping area and the target area is determined, a first power compensation parameter corresponding to the first ratio is determined, and the first transmission power is compensated according to the first power compensation parameter to obtain a second transmission power. In this way, the first transmission power can be preliminarily determined by using the distance between the geometric center of the object to be located and the ultrasonic sensor, and the positioning accuracy itself is used, and the one-dimensional positioning accuracy is two-dimensionalized (planarized) to represent it, and the relationship between the object to be located and the two-dimensional representation is used to accurately calibrate the specific degree of influence of the positioning accuracy on the object to be located, and then accurate compensation is performed based on the specific degree of influence, so that the transmission power is accurately compensated, and the positioning accuracy near the target distance is further improved, which is helpful to ensure that the ultrasonic positioning accuracy is improved for automotive parts processing equipment.

[0123] In accordance with the above embodiment, please refer to Figure 2 , Figure 2 : is a structural schematic diagram of an automobile parts processing equipment provided by an embodiment of the present application. As shown in the figure, the equipment includes a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor. In the embodiment of the present application, the automobile parts processing equipment further includes an ultrasonic sensor, and the program includes instructions for executing the following steps:

[0124] Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area;

[0125] determining a target distance between the ultrasonic sensor and the coordinate position;

[0126] determining a first transmission power of the ultrasonic sensor corresponding to the target distance;

[0127] Acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0128] Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle;

[0129] Determining a first overlapping area between the preset contour area and the annular area;

[0130] determining a first ratio between the first overlapping area and the target area;

[0131] determining a first power compensation parameter corresponding to the first ratio;

[0132] The first transmit power is compensated according to the first power compensation parameter to obtain a second transmit power.

[0133] In some possible examples, the target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; in determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, the program includes instructions for performing the following steps:

[0134] Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius;

[0135] The second calibration circle is determined with the coordinate position as the center and the second positioning accuracy as the radius.

[0136] In some possible examples, the above program also includes instructions for performing the following steps:

[0137] Obtaining a first area of ​​the first calibration circle, and obtaining a second area of ​​the second calibration circle;

[0138] Determining a third area of ​​the preset contour area;

[0139] When the third area is larger than the second area and smaller than the first area, the step of determining a first overlapping area between the preset contour area and the annular area is performed.

[0140] In some possible examples, the above program also includes instructions for performing the following steps:

[0141] When the third area is less than or equal to the second area, determining a second overlapping area between the preset contour area and the second calibration circle;

[0142] determining a second ratio between the second overlapping area and the second area;

[0143] determining a second power compensation parameter corresponding to the second ratio;

[0144] The first transmit power is compensated according to the second power compensation parameter to obtain a third transmit power.

[0145] In some possible examples, the above program also includes instructions for performing the following steps:

[0146] When the third area is greater than or equal to the first area, determining a third overlapping area between the preset contour area and the first calibration circle;

[0147] determining a third ratio between the third overlapping area and the first area;

[0148] determining a third power compensation parameter corresponding to the third ratio;

[0149] The first transmit power is compensated according to the third power compensation parameter to obtain a fourth transmit power.

[0150] In some possible examples, in the aspect of compensating the first transmit power according to the first power compensation parameter to obtain the second transmit power, the program includes instructions for performing the following steps:

[0151] Compensating the first transmit power according to the first power compensation parameter to obtain a reference transmit power;

[0152] Obtaining target material parameters corresponding to the object to be located;

[0153] Determining a target energy loss parameter corresponding to the target material parameter;

[0154] Determine target environmental parameters;

[0155] determining a first influence coefficient corresponding to the target energy loss parameter;

[0156] determining a second influence coefficient corresponding to the target environmental parameter;

[0157] The reference transmit power is optimized according to the first influence coefficient and the second influence coefficient to obtain the second transmit power.

[0158] It can be seen that the automobile parts processing equipment described in the embodiment of the present application includes an ultrasonic sensor to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area, the target distance between the ultrasonic sensor and the coordinate position is determined, the first transmission power of the ultrasonic sensor corresponding to the target distance is determined, and the target positioning accuracy of the ultrasonic sensor is obtained; the target positioning accuracy is related to the target distance, and the first calibration circle and the second calibration circle are determined according to the target positioning accuracy and the coordinate position, and the target area of ​​the annular area is obtained according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle, and the first overlapping area between the preset contour area and the annular area is determined, and the first calibration circle is determined. A first ratio between an overlapping area and a target area is determined, and a first power compensation parameter corresponding to the first ratio is determined. The first transmission power is compensated according to the first power compensation parameter to obtain a second transmission power. In this way, the first transmission power can be preliminarily determined by using the distance between the geometric center of the object to be located and the ultrasonic sensor, and the positioning accuracy itself is used, and the one-dimensional positioning accuracy is two-dimensionalized (planarized) to represent it. The relationship between the object to be located and the two-dimensional representation is used to accurately calibrate the specific degree of influence of the positioning accuracy on the object to be located, and then accurate compensation is performed based on the specific degree of influence, so that the transmission power is accurately compensated, and the positioning accuracy near the target distance is further improved, which helps to ensure that the ultrasonic positioning accuracy is improved for automotive parts processing equipment.

[0159] Figure 3300 is a functional unit block diagram of an ultrasonic positioning system 300 involved in an embodiment of the present application, which is applied to automobile parts processing equipment. The automobile parts processing equipment includes an ultrasonic sensor. The ultrasonic positioning system 300 includes: a determination unit 301, an acquisition unit 302 and a compensation unit 303, wherein:

[0160] The determination unit 301 is used to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area; determine the target distance between the ultrasonic sensor and the coordinate position; determine the first transmission power of the ultrasonic sensor corresponding to the target distance;

[0161] The acquisition unit 302 is used to acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0162] The determination unit 301 is further used to determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle; determine a first overlapping area between the preset contour area and the annular area; determine a first ratio between the first overlapping area and the target area; and determine a first power compensation parameter corresponding to the first ratio;

[0163] The compensation unit 303 is used to compensate the first transmit power according to the first power compensation parameter to obtain a second transmit power.

[0164] In some possible examples, the target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; in determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, the determining unit 301 is specifically used to:

[0165] Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius;

[0166] The second calibration circle is determined with the coordinate position as the center and the second positioning accuracy as the radius.

[0167] In some possible examples, the ultrasonic positioning system 300 is further specifically used for:

[0168] Obtaining a first area of ​​the first calibration circle, and obtaining a second area of ​​the second calibration circle;

[0169] Determining a third area of ​​the preset contour area;

[0170] When the third area is larger than the second area and smaller than the first area, the step of determining a first overlapping area between the preset contour area and the annular area is performed.

[0171] In some possible examples, the ultrasonic positioning system 300 is further specifically used for:

[0172] When the third area is less than or equal to the second area, determining a second overlapping area between the preset contour area and the second calibration circle;

[0173] determining a second ratio between the second overlapping area and the second area;

[0174] determining a second power compensation parameter corresponding to the second ratio;

[0175] The first transmit power is compensated according to the second power compensation parameter to obtain a third transmit power.

[0176] In some possible examples, the ultrasonic positioning system 300 is further specifically used for:

[0177] When the third area is greater than or equal to the first area, determining a third overlapping area between the preset contour area and the first calibration circle;

[0178] determining a third ratio between the third overlapping area and the first area;

[0179] determining a third power compensation parameter corresponding to the third ratio;

[0180] The first transmit power is compensated according to the third power compensation parameter to obtain a fourth transmit power.

[0181] In some possible examples, in the aspect of compensating the first transmit power according to the first power compensation parameter to obtain the second transmit power, the compensation unit 303 is specifically used to:

[0182] Compensating the first transmit power according to the first power compensation parameter to obtain a reference transmit power;

[0183] Obtaining target material parameters corresponding to the object to be located;

[0184] Determining a target energy loss parameter corresponding to the target material parameter;

[0185] Determine target environmental parameters;

[0186] determining a first influence coefficient corresponding to the target energy loss parameter;

[0187] determining a second influence coefficient corresponding to the target environmental parameter;

[0188] The reference transmit power is optimized according to the first influence coefficient and the second influence coefficient to obtain the second transmit power.

[0189] It can be seen that the ultrasonic positioning system described in the embodiment of the present application is applied to automobile parts processing equipment, which includes an ultrasonic sensor to determine the coordinate position of the geometric center of the object to be positioned; the contour of the object to be positioned includes a preset contour area, the target distance between the ultrasonic sensor and the coordinate position is determined, the first transmission power of the ultrasonic sensor corresponding to the target distance is determined, and the target positioning accuracy of the ultrasonic sensor is obtained; the target positioning accuracy is related to the target distance, and the first calibration circle and the second calibration circle are determined according to the target positioning accuracy and the coordinate position, and the target area of ​​the annular area is obtained according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle, and the first overlapping surface between the preset contour area and the annular area is determined The first ratio between the first overlapping area and the target area is determined, and a first power compensation parameter corresponding to the first ratio is determined. The first transmission power is compensated according to the first power compensation parameter to obtain the second transmission power. In this way, the first transmission power can be preliminarily determined by using the distance between the geometric center of the object to be located and the ultrasonic sensor, and the positioning accuracy itself is used, and the one-dimensional positioning accuracy is two-dimensionalized (planarized) to represent it. The relationship between the object to be located and the two-dimensional representation is used to accurately calibrate the specific degree of influence of the positioning accuracy on the object to be located, and then accurate compensation is performed based on the specific degree of influence, so that the transmission power is accurately compensated, and the positioning accuracy near the target distance is further improved, which is helpful to ensure that the ultrasonic positioning accuracy is improved for automotive parts processing equipment.

[0190] It can be understood that the functions of each program module of the ultrasonic positioning system of this embodiment can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0191] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments, and the above computer includes automobile parts processing equipment.

[0192] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an automotive parts processing device.

[0193] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0194] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0195] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0196] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0198] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0199] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0200] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A power control method for an ultrasonic positioning system, characterized in that: Applied to automobile parts processing equipment, the automobile parts processing equipment includes an ultrasonic sensor, and the method includes: Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area; determining a target distance between the ultrasonic sensor and the coordinate position; determining a first transmission power of the ultrasonic sensor corresponding to the target distance; Acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance; Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle; Determining a first overlapping area between the preset contour area and the annular area; determining a first ratio between the first overlapping area and the target area; determining a first power compensation parameter corresponding to the first ratio; Compensating the first transmit power according to the first power compensation parameter to obtain a second transmit power; The target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; and determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position includes: Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius; The second calibration circle is determined with the coordinate position as the center and the second positioning accuracy as the radius.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining a first area of ​​the first calibration circle, and obtaining a second area of ​​the second calibration circle; Determining a third area of ​​the preset contour area; When the third area is larger than the second area and smaller than the first area, the step of determining a first overlapping area between the preset contour area and the annular area is performed.

3. The method according to claim 2, characterized in that The method further comprises: When the third area is less than or equal to the second area, determining a second overlapping area between the preset contour area and the second calibration circle; determining a second ratio between the second overlapping area and the second area; determining a second power compensation parameter corresponding to the second ratio; The first transmit power is compensated according to the second power compensation parameter to obtain a third transmit power.

4. The method according to claim 3, characterized in that The method further comprises: When the third area is greater than or equal to the first area, determining a third overlapping area between the preset contour area and the first calibration circle; determining a third ratio between the third overlapping area and the first area; determining a third power compensation parameter corresponding to the third ratio; The first transmit power is compensated according to the third power compensation parameter to obtain a fourth transmit power.

5. The method according to claim 1 or 2, characterized in that: The compensating the first transmit power according to the first power compensation parameter to obtain a second transmit power includes: Compensating the first transmit power according to the first power compensation parameter to obtain a reference transmit power; Obtaining target material parameters corresponding to the object to be located; Determining a target energy loss parameter corresponding to the target material parameter; Determine target environmental parameters; determining a first influence coefficient corresponding to the target energy loss parameter; determining a second influence coefficient corresponding to the target environmental parameter; The reference transmit power is optimized according to the first influence coefficient and the second influence coefficient to obtain the second transmit power.

6. An ultrasonic positioning system, characterized in that: Applied to automobile parts processing equipment, the automobile parts processing equipment includes an ultrasonic sensor, the system includes: a determination unit, an acquisition unit and a compensation unit, wherein: The determination unit is used to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area; determine the target distance between the ultrasonic sensor and the coordinate position; determine the first transmission power of the ultrasonic sensor corresponding to the target distance; The acquisition unit is used to acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance; The determination unit is further used to determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle; determine a first overlapping area between the preset contour area and the annular area; determine a first ratio between the first overlapping area and the target area; and determine a first power compensation parameter corresponding to the first ratio; The compensation unit is used to compensate the first transmit power according to the first power compensation parameter to obtain a second transmit power; The target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; in determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, the determining unit is specifically used to: Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius; The second calibration circle is determined with the coordinate position as the center and the second positioning accuracy as the radius.

7. The system according to claim 6, characterized in that The system is also specifically used for: Obtaining a first area of ​​the first calibration circle, and obtaining a second area of ​​the second calibration circle; Determining a third area of ​​the preset contour area; When the third area is larger than the second area and smaller than the first area, the step of determining a first overlapping area between the preset contour area and the annular area is performed.

8. The system according to claim 7, characterized in that The system is also specifically used for: When the third area is less than or equal to the second area, determining a second overlapping area between the preset contour area and the second calibration circle; determining a second ratio between the second overlapping area and the second area; determining a second power compensation parameter corresponding to the second ratio; The first transmit power is compensated according to the second power compensation parameter to obtain a third transmit power.

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