A screw locking assisting robot, control method and related system

Abstract

The present application provides a screw locking assisting robot, a control method and a related system, the method comprising: obtaining n screws from an automatic feeding system through a nail feeder; obtaining first attribute information of a first screw through a visual component, the first screw being any one of the n screws; determining a target tightening tool corresponding to the first attribute information; controlling a replaceable end tool component to replace a tightening module with a target tightening tool; determining a first position of a first screw hole of an automotive workpiece corresponding to the first screw according to the first attribute information; locating the first position through a visual component and obtaining second attribute information of the first screw hole; obtaining target environmental parameters through an environmental sensor; determining a first working parameter of a target tightening tool according to the first attribute information, the second attribute information and the target environmental parameters; and controlling the target tightening tool to work with the first working parameter. The embodiments of the present application can improve the efficiency of screw locking.

Description

Technical Field

[0001] The present application relates to the field of motor vehicle technology, and in particular to a screw-fastening assisting robot, a control method and a related system. Background Art

[0002] In the automotive processing industry, thousands of different parts, from large parts like floors to small parts like screws, are eventually assembled into complete vehicles. In the automotive processing, screw locking is a very important part.

[0003] In the production process of the automotive parts industry, screw locking is a very important process. Manual screw locking is inefficient and difficult to ensure product consistency, resulting in low screw locking efficiency. Therefore, how to improve the screw locking efficiency needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a screw locking assisting robot, a control method and a related system, which can improve the screw locking efficiency.

[0005] In a first aspect, an embodiment of the present application provides a control method, which is applied to a screw locking assisting robot, wherein the screw locking assisting robot comprises: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, wherein the tightening module comprises m tightening tools, where m is a positive integer, and the method comprises:

[0006] Obtain n screws from the automatic feeding system through the nail feeder, where n is a positive integer;

[0007] Acquire first attribute information of a first screw by the visual component, where the first screw is any one of the n screws;

[0008] Determine a target tightening tool corresponding to the first attribute information, wherein the target tightening tool is one of the m tightening tools;

[0009] Controlling the replaceable end tool assembly to replace the tightening module with the target tightening tool;

[0010] Determine a first position of a first screw hole of an automobile workpiece corresponding to the first screw according to the first attribute information;

[0011] Locating the first position by using the visual component, and acquiring second attribute information of the first screw hole;

[0012] Acquiring target environmental parameters through the environmental sensor;

[0013] Determine a first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter;

[0014] The target tightening tool is controlled to operate with the first operating parameter to fasten the first screw to the first screw hole.

[0015] In a second aspect, an embodiment of the present application provides a control system applied to a screw locking assisting robot, wherein the screw locking assisting robot comprises: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, wherein the tightening module comprises m tightening tools, where m is a positive integer, and the system comprises: an acquiring unit, a determining unit and a control unit, wherein:

[0016] The acquisition unit is used to acquire n screws from the automatic feeding system through the nail feeder, where n is a positive integer; and acquire first attribute information of a first screw through the visual component, where the first screw is any one of the n screws;

[0017] The determining unit is used to determine a target tightening tool corresponding to the first attribute information, wherein the target tightening tool is one of the m tightening tools;

[0018] The control unit is used to control the replaceable end tool assembly to replace the tightening module with the target tightening tool;

[0019] The determining unit is further configured to determine a first position of a first screw hole of an automobile workpiece corresponding to the first screw according to the first attribute information;

[0020] The acquisition unit is further used to locate the first position through the visual component and acquire the second attribute information of the first screw hole; and acquire the target environmental parameters through the environmental sensor;

[0021] The determining unit is further configured to determine a first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter;

[0022] The control unit is further used to control the target tightening tool to work with the first working parameter to fasten the first screw to the first screw hole.

[0023] In a third aspect, an embodiment of the present application provides a screw locking assistance robot, which is used to perform some or all of the steps described in the first aspect of the embodiment of the present application, or the screw locking assistance robot includes a control system as described in the second aspect of the embodiment of the present application.

[0024] 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.

[0025] 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.

[0026] The implementation of the embodiments of the present application has the following beneficial effects:

[0027] It can be seen that the screw locking assistance robot, control method and related system described in the embodiments of the present application are applied to the screw locking assistance robot. The screw locking assistance robot includes: a nail feeder, a replaceable end tool assembly, a tightening module, a visual component and an environmental sensor. The tightening module includes m tightening tools, m is a positive integer, and n screws are obtained from the automatic feeding system through the nail feeder, n is a positive integer. The first attribute information of the first screw is obtained through the visual component, and the first screw is any screw among the n screws. The target tightening tool corresponding to the first attribute information is determined, and the target tightening tool is one of the m tightening tools. The replaceable end tool assembly is controlled to replace the tightening module with the target tightening tool. The first position of the first screw hole of the automotive workpiece corresponding to the first screw is determined according to the first attribute information. The first position is located through the visual component, and the second attribute information of the first screw hole is obtained. The target environmental parameters are obtained through the environmental sensor. , determine the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter, control the target tightening tool to work with the first working parameter to lock the first screw to the first screw hole, first, it is possible to adapt a suitable tightening tool based on the characteristics of the screw itself and smoothly and efficiently complete the configuration of the target tightening tool, second, since the first attribute information reflects the characteristics of the screw, the second attribute information reflects the characteristics of the screw hole, and the target environment parameter reflects the screw locking environment, the first working parameter of the target tightening tool is determined according to the first attribute information, the second attribute information and the target environment parameter, and the working parameter that is deeply adapted to the actual environment can be obtained, and third, the target tightening tool is controlled to work with the first working parameter to lock the first screw to the first screw hole. Since the working parameter suitable for the actual environment is obtained, it is helpful to improve the efficiency and accuracy of screw locking, and also help to improve the intelligence of the screw locking assisting robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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.

[0029] Figure 1 It is a flow chart of a control method provided in an embodiment of the present application;

[0030] Figure 2 It is a structural schematic diagram of a screw locking assistance robot provided in an embodiment of the present application;

[0031] Figure 3 is a structural schematic diagram of another screw locking assistance robot provided in an embodiment of the present application;

[0032] Figure 4 It is a block diagram of the functional units of a control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] 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.

[0036] In the embodiment of the present application, the screw locking assisting robot can be understood as an industrial robot or an automobile processing robot with a screw locking function. Among them, screw locking can be understood as the process of fixing screws or other fasteners on a workpiece.

[0037] See also Figure 1 , Figure 1 : is a flow chart of a control method provided in an embodiment of the present application, which is applied to a screw locking assisting robot, wherein the screw locking assisting robot comprises: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, wherein the tightening module comprises m tightening tools, where m is a positive integer, and the control method comprises:

[0038] 101. Obtain n screws from an automatic feeding system through the nail feeder, where n is a positive integer.

[0039] In an embodiment of the present application, the automatic feeding system can be used to provide various screws related to the automotive parts to be processed. In a specific implementation, n screws can be obtained from the automatic feeding system through a nail feeder, where n is a positive integer.

[0040] Among them, the automatic feeding system can be a screw vibrating plate or a screw conveyor belt.

[0041] Among them, Figure 2 As shown, the screw locking assisting robot may include: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor. The tightening module includes m tightening tools, where m is a positive integer, and the screw locking assisting robot completes the screw locking operation.

[0042] Among them, the nail feeder is used to feed screws into the interior of an object to achieve the fixation and connection of the object.

[0043] The tightening module includes m tightening tools, and each tightening tool is used to tighten at least one screw.

[0044] The replaceable end tool assembly can be understood as replacing a tightening tool so that the current tightening tool is consistent with the screw that currently needs to be tightened.

[0045] Among them, the visual component may include at least one of the following: a laser sensor, an infrared imager, an ultrasonic sensor, a radar sensor, a camera, etc., which are not limited here.

[0046] Among them, the environmental sensor is used to obtain environmental parameters, and the environmental parameters may include at least one of the following: ambient temperature, ambient humidity, atmospheric pressure, magnetic field interference intensity, air composition, PM2.5, etc., which are not limited here.

[0047] Among them, the screw locking assistance robot can also include a robot body and at least one robotic arm, and the robotic arm can be used to connect any of the following components: a nail feeder, a replaceable end tool assembly, a tightening module, a visual component and an environmental sensor.

[0048] Among them, the robot body can be connected to the robotic arm, and the robot body can also realize moving functions, fixing functions and so on.

[0049] 102. Obtain first attribute information of a first screw through the visual component, where the first screw is any one of the n screws.

[0050] In an embodiment of the present application, the first attribute information of the first screw may include at least one of the following: screw size, screw specification, screw image, screw structure, screw depth, screw direction, screw material, screw surface smoothness, screw surface process, screw texture, etc., which are not limited here.

[0051] In a specific implementation, first attribute information of a first screw may be acquired through a visual component, where the first screw is any one of the n screws, and the first attribute information reflects the characteristics of the first screw to a certain extent.

[0052] 103. Determine a target tightening tool corresponding to the first attribute information, where the target tightening tool is one of the m tightening tools.

[0053] In an embodiment of the present application, a mapping relationship between preset screw attribute information and a tightening tool can be pre-stored, and then a target tightening tool corresponding to the first attribute information can be determined based on the mapping relationship, and the target tightening tool is one of the m tightening tools. In this way, a suitable tightening tool can be adapted based on the characteristics of the screw itself, thereby helping to improve the efficiency and accuracy of screw locking.

[0054] 104. Control the replaceable end tool assembly to replace the tightening module with the target tightening tool.

[0055] In the specific implementation, under the visual guidance of the visual component, the interchangeable end tool component can be controlled to replace the tightening module with the target tightening tool. Not only can the appropriate tightening tool be adapted based on the characteristics of the screw itself, but the target tightening tool configuration can also be completed smoothly and efficiently, thereby helping to improve the efficiency and accuracy of screw locking.

[0056] 105. Determine a first position of a first screw hole of an automobile workpiece corresponding to the first screw according to the first attribute information.

[0057] Among them, the automobile processed parts may include at least one of the following: automobile battery modules, automobile seats, automobile frames, automobile engines, automobile chassis, etc., which are not limited here.

[0058] In the embodiment of the present application, the first attribute information reflects the characteristics of the first screw, and different characteristics are targeted at different screw holes. Therefore, the first position of the first screw hole of the automotive workpiece corresponding to the first screw can be determined according to the first attribute information, that is, based on different screw characteristics, the corresponding screw holes can be allocated, thereby helping to improve the efficiency and accuracy of screw locking.

[0059] 106. Locate the first position by using the visual component, and obtain second attribute information of the first screw hole.

[0060] The second attribute information of the first screw hole may include at least one of the following: the image of the screw hole, the position of the screw hole, the angle of the screw hole, the size of the screw hole, the rule of the screw hole, the model of the screw hole, the manufacturer of the screw hole, the texture of the screw hole, the structure of the screw hole, the length of the screw hole, the direction of the screw hole, the material of the screw hole, the surface smoothness of the screw hole, the surface process of the screw hole, etc., which are not limited here. The second attribute information of the first screw hole reflects the characteristics of the screw hole to a certain extent.

[0061] In the embodiment of the present application, since the first position is known, the first position can be located by the visual component, and the second attribute information of the first screw hole can be obtained, so that the first screw can be locked to the first screw hole.

[0062] 107. Acquire target environmental parameters through the environmental sensor.

[0063] In the embodiment of the present application, the target environmental parameters can be obtained through the environmental sensor, and the target environmental parameters reflect the screw locking environment.

[0064] 108. Determine a first working parameter of the target tightening tool according to the first attribute information, the second attribute information, and the target environment parameter.

[0065] In the embodiment of the present application, since the first attribute information reflects the characteristics of the screw, the second attribute information reflects the characteristics of the screw hole, and the target environmental parameters reflect the screw locking environment, the first working parameters of the target tightening tool can be determined based on the first attribute information, the second attribute information and the target environmental parameters. In this way, working parameters suitable for the actual environment can be obtained, which helps to improve the efficiency and accuracy of screw locking.

[0066] Among them, the first working parameter may include at least one of the following: tightening force, tightening speed, number of tightening turns, tightening degree, torque size, angle size, tightening action, tightening depth, tightening process, installation position point of the first screw, installation angle of the first screw, etc., which are not limited here.

[0067] 109. Control the target tightening tool to operate with the first operating parameter to fasten the first screw to the first screw hole.

[0068] In the embodiment of the present application, the target tightening tool can be controlled to work with the first working parameters to lock the first screw into the first screw hole. Since the working parameters suitable for the actual environment are obtained, it is helpful to improve the efficiency and accuracy of screw locking. Specifically, the robot arm can be used to control the target tightening tool to work with the first working parameters to lock the first screw into the first screw hole.

[0069] Optionally, the following steps may also be included:

[0070] Determine first standard attribute information of a first standard screw corresponding to the first screw according to the first attribute information and the target environment parameter;

[0071] determining a first relative deviation according to the first attribute information and the first standard attribute information;

[0072] determining second standard attribute information of a first standard screw hole corresponding to the first screw hole according to the second attribute information and the target environment parameter;

[0073] determining a second relative deviation according to the second attribute information and the second standard attribute information;

[0074] determining an absolute value of a difference between the first relative deviation and the second relative deviation;

[0075] When the absolute value is within a preset range, the step of determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environmental parameter is performed.

[0076] The preset range may be preset or set by system default.

[0077] Among them, the first standard attribute information may include at least one of the following: screw size, screw specification, screw image, screw structure, screw depth, screw direction, screw material, screw surface smoothness, screw surface process, screw texture, etc., which are not limited here.

[0078] Among them, the second standard attribute information may include at least one of the following: the image of the screw hole, the size of the screw hole, the rule of the screw hole, the model of the screw hole, the manufacturer of the screw hole, the texture of the screw hole, the structure of the screw hole, the length of the screw hole, the direction of the screw hole, the material of the screw hole, the surface smoothness of the screw hole, the surface process of the screw hole, etc., which are not limited here.

[0079] In a specific implementation, different screws can correspond to a standard screw. Due to the influence of the environment, the corresponding standard attribute information of the standard screw in different environments is also different. For example, due to the influence of temperature, thermal expansion and contraction will occur, and the size may also change. Since the first attribute information reflects the characteristics of the first screw, and the target environmental parameter reflects the actual locking environment, the first standard screw corresponding to the first screw can be determined according to the first attribute information, and then the mapping relationship between the environmental parameter corresponding to the first standard screw and the standard attribute information stored in advance is obtained. Based on the mapping relationship, the first standard attribute information of the first standard screw corresponding to the target environmental parameter is determined, and then the first relative deviation is determined according to the first attribute information and the first standard attribute information. Specifically, the first relative deviation = (first attribute information-first standard attribute information) / (first attribute information+first standard attribute information). The first relative deviation reflects the degree of difference between the first screw and the first standard screw to a certain extent. The first relative deviation reflects the deviation size and deviation direction.

[0080] In a specific implementation, different screw holes can correspond to a standard screw hole. Due to environmental influences, the corresponding standard attribute information of the standard screw hole in different environments is also different. For example, due to temperature influences, thermal expansion and contraction will occur, and the size may also change. Since the second attribute information reflects the characteristics of the first screw hole, and the target environmental parameter reflects the actual locking environment, the first standard screw hole corresponding to the first screw hole can be determined according to the second attribute information, and then the mapping relationship between the environmental parameter corresponding to the first standard screw hole and the standard attribute information stored in advance is obtained, and the second standard attribute information of the first standard screw hole corresponding to the target environmental parameter is determined based on the mapping relationship, and then the second relative deviation is determined according to the second attribute information and the second standard attribute information. Specifically, the second relative deviation = (second attribute information-second standard attribute information) / (second attribute information+second standard attribute information), and the second relative deviation reflects the degree of difference between the first screw hole and the first standard screw hole to a certain extent. The second relative deviation reflects the deviation size and deviation direction.

[0081] Next, the absolute value of the difference between the first relative deviation and the second relative deviation can be determined, absolute value = |first relative deviation-second relative deviation|. When the absolute value is within the preset range, it means that the locking condition is met, and the step of determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environmental parameters is executed. Otherwise, an alarm will be issued to remind manual inspection whether it is a screw problem or a screw hole problem, which helps to improve the efficiency and accuracy of screw locking.

[0082] In specific implementation, different lock payment requirements will result in different values ​​for the preset range, which can be determined based on actual conditions.

[0083] Optionally, determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter includes:

[0084] Acquire a first historical operating parameter set corresponding to the first relative deviation, wherein the first historical operating parameter set includes a plurality of first historical operating parameters; each first historical operating parameter corresponds to a first installation precision;

[0085] Acquire a second historical operating parameter set corresponding to the second relative deviation, where the second historical operating parameter set includes a plurality of second historical operating parameters; each second historical operating parameter corresponds to a second installation precision;

[0086] Matching the plurality of first historical operating parameters with the plurality of second historical operating parameters to obtain a plurality of matching values;

[0087] Selecting a target matching value greater than a preset matching value from the multiple matching values ​​to obtain at least one target matching value;

[0088] Acquire an installation precision value pair corresponding to the at least one target matching value to obtain at least one installation precision value pair, each installation precision value pair corresponding to a first installation precision and a second installation precision;

[0089] Determine a product corresponding to each installation precision value pair in the at least one installation precision value pair to obtain at least one product;

[0090] Selecting a target product according to the at least one product, and acquiring a target first historical operating parameter and a target second historical operating parameter corresponding to the target product;

[0091] Obtaining a first weight pair corresponding to the target environmental parameter;

[0092] A weighted operation is performed according to the first weight pair, the target first historical operating parameter, and the target second historical operating parameter to obtain the first operating parameter.

[0093] In an embodiment of the present application, big data can be used to obtain a first historical working parameter set corresponding to a first relative deviation related to the first screw. The first historical working parameter set includes multiple first historical working parameters. Each first historical working parameter corresponds to a first installation accuracy. The first installation accuracy reflects the locking quality. The first installation accuracy can be expressed in percentage. The greater the first installation accuracy, the higher the locking quality.

[0094] In a specific implementation, the relative deviation and the corresponding historical working parameters in the process of tightening each screw may be counted, so that a first historical working parameter set corresponding to a first relative deviation related to the first screw may be obtained.

[0095] Correspondingly, big data can also be used to obtain the second historical working parameter set corresponding to the second relative deviation. The second historical working parameter set includes multiple second historical working parameters. Each second historical working parameter corresponds to a second installation accuracy. The second installation accuracy also reflects the locking quality. The second installation accuracy can be expressed as a percentage. The greater the second installation accuracy, the higher the locking quality.

[0096] Among them, the preset matching value can be pre-set or system default, the preset matching value can be related to the environmental parameters, and the preset matching values ​​corresponding to different environmental parameters can be different, or the preset matching value can be related to the processing technology, and the preset matching values ​​corresponding to different processing technologies can be different.

[0097] In a specific implementation, multiple first historical working parameters can be matched with multiple second historical working parameters to obtain multiple matching values. Specifically, each first historical working parameter in the multiple first historical working parameters can be matched with each second historical working parameter in the multiple second historical working parameters, that is, they can be matched in pairs to obtain multiple matching values, and then a target matching value greater than a preset matching value is selected from the multiple matching values ​​to obtain at least one target matching value. The matching value reflects the degree of matching between the screw and the screw hole to a certain extent, and the target matching value reflects a high degree of matching to a certain extent.

[0098] Of course, each matching value corresponds to an installation precision value pair, and each installation precision value pair corresponds to a first installation precision and a second installation precision. Furthermore, the installation precision value pair corresponding to at least one target matching value can be obtained to obtain at least one installation precision value pair, and then the product corresponding to each installation precision value pair in the at least one installation precision value pair is determined to obtain at least one product, and the larger the product, the higher the locking quality. Therefore, the target product can be selected according to the at least one product, and specifically the maximum value in the at least one product can be selected as the target product, and then the target first historical working parameter and the target second historical working parameter corresponding to the target product can be obtained.

[0099] In a specific implementation, since different environmental parameters will have a certain impact on screws and screw holes, the mapping relationship between preset environmental parameters and weight pairs can be pre-stored. The weight pair may include a first weight and a second weight, the first weight + the second weight = 1, the first weight corresponds to the screw, and the second weight corresponds to the screw hole. Then, the first weight pair corresponding to the target environmental parameter can be obtained based on the mapping relationship.

[0100] Next, a weighted operation can be performed based on the first weight pair, the target first historical working parameter and the target second historical working parameter to obtain the first working parameter. For example, the first weight pair includes the target first weight and the target second weight, and the first working parameter = target first weight * target first historical working parameter + target second weight * target second historical working parameter. First, big data can be used to obtain historical working parameters corresponding to the relative deviation of the screw and the historical working parameters corresponding to the relative deviation of the screw hole, and the historical working parameters of these two dimensions are matched to select historical working parameters that are highly matched with the current screw and the current screw hole. Second, the installation accuracy of the screws and screw holes is also considered to select relevant historical working parameters with the best locking quality from the highly matched historical working parameters. Third, since different environmental parameters will have a certain impact on the screws and screw holes, the relevant historical working parameters are dynamically adjusted based on the actual environment, so that the final working parameters not only meet the actual environment, but also meet the working habits of the robot, thereby helping to improve the efficiency and accuracy of screw locking.

[0101] Optionally, the above step of performing a weighted operation according to the first weight pair, the target first historical operating parameter and the target second historical operating parameter to obtain the first operating parameter may further include the following steps:

[0102] Performing a weighted operation according to the first weight pair, the target first historical operating parameter, and the target second historical operating parameter to obtain a reference operating parameter;

[0103] Acquire a first image of the first screw through the visual component, extract a first high-frequency feature set of the first image, acquire a first reference image of the first standard screw, extract a second high-frequency feature set of the first reference image, and determine a first similarity between the first high-frequency feature set and the second high-frequency feature set;

[0104] Acquire a second image of the first screw hole through the visual component, extract a third high-frequency feature set of the second image, acquire a second reference image corresponding to the first standard screw hole, extract a fourth high-frequency feature set of the second reference image, and determine a second similarity between the third high-frequency feature set and the fourth high-frequency feature set;

[0105] Determine a first interaction influence parameter according to the first similarity and the second similarity;

[0106] The first operating parameter is determined according to the first interaction influence parameter and the reference operating parameter.

[0107] In a specific implementation, the first high-frequency feature set, the second high-frequency feature set, the third high-frequency feature set, and the fourth high-frequency feature set may all include multiple high-frequency features, and each high-frequency feature may include at least one of the following: feature points, feature vectors, feature values, feature profiles, etc., which are not limited here.

[0108] Among them, high-frequency features reflect the deep detail texture features, that is, the deep detail features of the screws or screw holes, that is, the deep characteristics. Different processing technologies have different requirements for deep characteristics.

[0109] In a specific implementation, the image can be first decomposed into multiple scales to extract a high-frequency component image, and then feature extraction can be performed on the high-frequency component image to obtain a corresponding high-frequency feature set. The multi-scale decomposition can include at least one of the following: wavelet transform, pyramid transform, contourlet transform, non-subsampled contour ripple transform, ridgelet transform, shearlet transform, etc., which are not limited here.

[0110] In the embodiment of the present application, since different environmental parameters will have a certain impact on screws and screw holes, the mapping relationship between preset environmental parameters and weight pairs can be pre-stored, and the weight pair can include a first weight and a second weight, the first weight + the second weight = 1, the first weight corresponds to the screw, and the second weight corresponds to the screw hole. Then, the first weight pair corresponding to the target environmental parameter can be obtained based on the mapping relationship. Next, a weighted operation can be performed based on the first weight pair, the target first historical working parameter and the target second historical working parameter to obtain a reference working parameter. For example, the first weight pair includes a target first weight and a target second weight, and the reference working parameter = target first weight * target first historical working parameter + target second weight * target second historical working parameter.

[0111] Furthermore, a first image of the first screw can be acquired through a visual component, a first high-frequency feature set of the first image can be extracted, a first reference image of the first standard screw can be acquired, a second high-frequency feature set of the first reference image can be extracted, and a first similarity between the first high-frequency feature set and the second high-frequency feature set can be determined. The first similarity reflects, to a certain extent, the degree of difference in depth characteristics between the actual screw and the standard screw.

[0112] Correspondingly, the second image of the first screw hole can be obtained through the visual component, the third high-frequency feature set of the second image can be extracted, the second reference image corresponding to the first standard screw hole can be obtained, the fourth high-frequency feature set of the second reference image can be extracted, and the second similarity between the third high-frequency feature set and the fourth high-frequency feature set can be determined. The second similarity reflects, to a certain extent, the degree of difference in depth characteristics between the actual screw hole and the standard screw hole.

[0113] Next, the first interaction parameter can be determined according to the first similarity and the second similarity, that is, the first interaction parameter = (1 + first similarity) / (1 + second similarity), and then the first working parameter can be determined according to the first interaction parameter and the reference working parameter, that is, the first working parameter = the first working parameter * the first interaction parameter. Since the relationship between the screw and the screw hole is mutually matched and mutually restrained, the first interaction parameter deeply reflects the degree of mutual restraint between the screw and the screw hole, so that the final working parameter not only deeply conforms to the characteristics of the first screw and the first screw hole, but also deeply combines the depth detail difference between the screw and the standard screw and the depth detail difference between the screw hole and the standard screw hole, and deeply adapts the corresponding working parameters, thereby helping to improve the efficiency and accuracy of screw locking.

[0114] Optionally, the above step 105, determining the first position of the first screw hole of the automobile workpiece corresponding to the first screw according to the first attribute information, may include the following steps:

[0115] Determine a target screw hole type label corresponding to the first attribute information;

[0116] Allocating a target screw hole number corresponding to the target screw hole type label to the first screw;

[0117] The first position of the first screw hole of the automotive workpiece is located according to the target screw hole number.

[0118] In a specific implementation, the screw hole type label can be used to implement screw classification, and different screw hole type labels can be used to represent different screws, and different screws are adapted to different screw holes.

[0119] Specifically, since the first attribute information reflects the characteristics of the screw, different screw characteristics correspond to different screw hole type labels. For example, the mapping relationship between the preset screw attribute information and the screw hole type label can be pre-stored, and then the target screw hole type label corresponding to the first attribute information can be determined based on the mapping relationship. In addition, the screws required for each screw hole position of the automotive workpiece are also fixed. Therefore, corresponding screw hole numbers can be set for different screw hole positions, and then the first screw can be assigned a target screw hole number corresponding to the target screw hole type label, and then the first position of the first screw hole of the automotive workpiece is located according to the target screw hole number. In this way, after obtaining a certain screw, the corresponding screw hole can be quickly locked based on its characteristics, which helps to improve the efficiency and accuracy of screw locking.

[0120] Optionally, the above step of allocating a target screw hole number corresponding to the target screw hole type label to the first screw may include the following steps:

[0121] Determine p screw holes of the automotive workpiece that are not locked; each screw hole corresponds to a screw hole type label; p is a positive integer;

[0122] Determine the screw holes corresponding to the target screw hole type labels from the p screw holes to obtain q screw holes; q is a positive integer less than or equal to p;

[0123] Acquire the third attribute information of each of the q screw holes through the visual component to obtain q pieces of third attribute information;

[0124] Determine the deviation between the first attribute information and each of the q third attribute information to obtain q deviations;

[0125] Select the minimum value among the q deviations;

[0126] The screw hole number corresponding to the minimum value is determined as the target screw hole number.

[0127] The third attribute information may include at least one of the following: the image of the screw hole, the position of the screw hole, the angle of the screw hole, the size of the screw hole, the rule of the screw hole, the model of the screw hole, the manufacturer of the screw hole, the texture of the screw hole, the structure of the screw hole, the length of the screw hole, the direction of the screw hole, the material of the screw hole, the surface smoothness of the screw hole, the surface process of the screw hole, etc., which are not limited here. The second attribute information of the first screw hole reflects the characteristics of the screw hole to a certain extent.

[0128] In an embodiment of the present application, p unlocked screw holes of an automobile processing part can be determined, and each screw hole corresponds to a screw hole type label; p is a positive integer, and then the screw hole corresponding to the target screw hole type label is determined from the p screw holes to obtain q screw holes, where q is a positive integer less than or equal to p. Furthermore, the screw holes that match the first screw among the unlocked screw holes can be obtained.

[0129] Furthermore, the third attribute information of each of the q screw holes can be obtained through the visual component to obtain q third attribute information, and then the deviation between the first attribute information and each of the q third attribute information can be determined to obtain q deviations, where the deviation = |first attribute information-third attribute information| / first attribute information. The deviation reflects the degree of matching between the screw and the screw hole to a certain extent, and thus, the minimum value of the q deviations can be selected. The minimum value reflects the best match between the screw and the screw hole to a certain extent, and the screw hole number corresponding to the minimum value can be determined as the target screw hole number. In this way, not only can the screw hole that matches the first screw in the unlocked screw holes be obtained, but also the screw hole that best matches the first screw can be selected, which helps to improve the efficiency and accuracy of screw locking.

[0130] It can be seen that the control method described in the embodiment of the present application is applied to a screw locking assisting robot, which includes: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, the tightening module includes m tightening tools, m is a positive integer, n screws are obtained from the automatic feeding system through the nail feeder, n is a positive integer, first attribute information of the first screw is obtained through the visual assembly, the first screw is any one of the n screws, a target tightening tool corresponding to the first attribute information is determined, the target tightening tool is one of the m tightening tools, the replaceable end tool assembly is controlled to replace the tightening module with the target tightening tool, a first position of a first screw hole of an automotive workpiece corresponding to the first screw is determined according to the first attribute information, the first position is located through the visual assembly, and second attribute information of the first screw hole is obtained, the target environmental parameter is obtained through the environmental sensor, and according to the first attribute The first working parameter of the target tightening tool is determined based on the first attribute information, the second attribute information and the target environment parameters, and the target tightening tool is controlled to work with the first working parameter to lock the first screw to the first screw hole. Firstly, the appropriate tightening tool can be adapted based on the characteristics of the screw itself, and the configuration of the target tightening tool can be completed smoothly and efficiently. Secondly, since the first attribute information reflects the characteristics of the screw, the second attribute information reflects the characteristics of the screw hole, and the target environment parameters reflect the screw locking environment, the first working parameter of the target tightening tool is determined according to the first attribute information, the second attribute information and the target environment parameters, and the working parameters that are deeply adapted to the actual environment can be obtained. Thirdly, the target tightening tool is controlled to work with the first working parameter to lock the first screw to the first screw hole. Since the working parameters suitable for the actual environment are obtained, it is helpful to improve the efficiency and accuracy of screw locking, and also help to improve the intelligence of the screw locking assisting robot.

[0131] In accordance with the above embodiment, please refer to Figure 3 , Figure 3 1 is a structural schematic diagram of another screw locking assistance robot provided in an embodiment of the present application, the screw locking assistance robot 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 screw locking assistance robot includes: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, the tightening module includes m tightening tools, m is a positive integer, and the program includes instructions for executing the following steps:

[0132] Obtain n screws from the automatic feeding system through the nail feeder, where n is a positive integer;

[0133] Acquire first attribute information of a first screw by the visual component, where the first screw is any one of the n screws;

[0134] Determine a target tightening tool corresponding to the first attribute information, wherein the target tightening tool is one of the m tightening tools;

[0135] Controlling the replaceable end tool assembly to replace the tightening module with the target tightening tool;

[0136] Determine a first position of a first screw hole of an automobile workpiece corresponding to the first screw according to the first attribute information;

[0137] Locating the first position by using the visual component, and acquiring second attribute information of the first screw hole;

[0138] Acquiring target environmental parameters through the environmental sensor;

[0139] Determine a first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter;

[0140] The target tightening tool is controlled to operate with the first operating parameter to fasten the first screw to the first screw hole.

[0141] Optionally, the program further includes instructions for executing the following steps:

[0142] Determine first standard attribute information of a first standard screw corresponding to the first screw according to the first attribute information and the target environment parameter;

[0143] determining a first relative deviation according to the first attribute information and the first standard attribute information;

[0144] determining second standard attribute information of a first standard screw hole corresponding to the first screw hole according to the second attribute information and the target environment parameter;

[0145] determining a second relative deviation according to the second attribute information and the second standard attribute information;

[0146] determining an absolute value of a difference between the first relative deviation and the second relative deviation;

[0147] When the absolute value is within a preset range, the step of determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environmental parameter is performed.

[0148] Optionally, in determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter, the program includes instructions for executing the following steps:

[0149] Acquire a first historical operating parameter set corresponding to the first relative deviation, wherein the first historical operating parameter set includes a plurality of first historical operating parameters; each first historical operating parameter corresponds to a first installation precision;

[0150] Acquire a second historical operating parameter set corresponding to the second relative deviation, where the second historical operating parameter set includes a plurality of second historical operating parameters; each second historical operating parameter corresponds to a second installation precision;

[0151] Matching the plurality of first historical operating parameters with the plurality of second historical operating parameters to obtain a plurality of matching values;

[0152] Selecting a target matching value greater than a preset matching value from the multiple matching values ​​to obtain at least one target matching value;

[0153] Acquire an installation precision value pair corresponding to the at least one target matching value to obtain at least one installation precision value pair, each installation precision value pair corresponding to a first installation precision and a second installation precision;

[0154] Determine a product corresponding to each installation precision value pair in the at least one installation precision value pair to obtain at least one product;

[0155] Selecting a target product according to the at least one product, and acquiring a target first historical operating parameter and a target second historical operating parameter corresponding to the target product;

[0156] Obtaining a first weight pair corresponding to the target environmental parameter;

[0157] A weighted operation is performed according to the first weight pair, the target first historical operating parameter, and the target second historical operating parameter to obtain the first operating parameter.

[0158] Optionally, in determining the first position of the first screw hole of the automotive workpiece corresponding to the first screw according to the first attribute information, the program includes instructions for executing the following steps:

[0159] Determine a target screw hole type label corresponding to the first attribute information;

[0160] Allocating a target screw hole number corresponding to the target screw hole type label to the first screw;

[0161] The first position of the first screw hole of the automotive workpiece is located according to the target screw hole number.

[0162] Optionally, in terms of assigning a target screw hole number corresponding to the target screw hole type label to the first screw, the program includes instructions for performing the following steps:

[0163] Determine p screw holes of the automotive workpiece that are not locked; each screw hole corresponds to a screw hole type label; p is a positive integer;

[0164] Determine the screw holes corresponding to the target screw hole type labels from the p screw holes to obtain q screw holes; q is a positive integer less than or equal to p;

[0165] Acquire the third attribute information of each of the q screw holes through the visual component to obtain q pieces of third attribute information;

[0166] Determine the deviation between the first attribute information and each of the q third attribute information to obtain q deviations;

[0167] Select the minimum value among the q deviations;

[0168] The screw hole number corresponding to the minimum value is determined as the target screw hole number.

[0169] It can be seen that the screw locking assistance robot described in the embodiment of the present application includes: a nail feeder, a replaceable end tool assembly, a tightening module, a visual component and an environmental sensor, the tightening module includes m tightening tools, m is a positive integer, n screws are obtained from the automatic feeding system through the nail feeder, n is a positive integer, the first attribute information of the first screw is obtained through the visual component, the first screw is any one of the n screws, the target tightening tool corresponding to the first attribute information is determined, the target tightening tool is one of the m tightening tools, the replaceable end tool assembly is controlled to replace the tightening module with the target tightening tool, the first position of the first screw hole of the automotive workpiece corresponding to the first screw is determined according to the first attribute information, the first position is located through the visual component, and the second attribute information of the first screw hole is obtained, the target environmental parameters are obtained through the environmental sensor, and the first attribute information, the second attribute information of the first screw hole is obtained according to the first attribute information, the target environmental parameters are obtained according to the first attribute information, the second attribute information of the first screw hole is obtained, and the target environmental parameters are obtained according to the first attribute information, the first attribute information, the second attribute information of the first screw hole is obtained, and the target environmental parameters are obtained according to the first attribute information. The first working parameter of the target tightening tool is determined based on the second attribute information and the target environment parameter, and the target tightening tool is controlled to work with the first working parameter to lock the first screw to the first screw hole. First, the appropriate tightening tool can be adapted based on the characteristics of the screw itself, and the target tightening tool configuration can be completed smoothly and efficiently. Second, since the first attribute information reflects the characteristics of the screw, the second attribute information reflects the characteristics of the screw hole, and the target environment parameter reflects the screw locking environment, the first working parameter of the target tightening tool is determined according to the first attribute information, the second attribute information and the target environment parameter, and the working parameter that is deeply adapted to the actual environment can be obtained. Third, the target tightening tool is controlled to work with the first working parameter to lock the first screw to the first screw hole. Since the working parameter suitable for the actual environment is obtained, it is helpful to improve the efficiency and accuracy of screw locking, and also help to improve the intelligence of the screw locking assisting robot.

[0170] Figure 4 4 is a functional unit composition block diagram of a control system 400 involved in an embodiment of the present application. The control system 400 is applied to a screw locking assisting robot. The screw locking assisting robot includes: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor. The tightening module includes m tightening tools, where m is a positive integer. The control system 400 includes: an acquisition unit 401, a determination unit 402 and a control unit 403, wherein:

[0171] The acquisition unit 401 is used to acquire n screws from the automatic feeding system through the nail feeder, where n is a positive integer; and acquire first attribute information of a first screw through the visual component, where the first screw is any one of the n screws;

[0172] The determining unit 402 is used to determine a target tightening tool corresponding to the first attribute information, wherein the target tightening tool is one of the m tightening tools;

[0173] The control unit 403 is used to control the replaceable end tool assembly to replace the tightening module with the target tightening tool;

[0174] The determining unit 402 is further configured to determine a first position of a first screw hole of an automobile workpiece corresponding to the first screw according to the first attribute information;

[0175] The acquisition unit 401 is further used to locate the first position through the visual component and acquire the second attribute information of the first screw hole; and acquire the target environment parameter through the environmental sensor;

[0176] The determining unit 402 is further configured to determine a first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter;

[0177] The control unit 403 is further configured to control the target tightening tool to operate with the first operating parameter to fasten the first screw to the first screw hole.

[0178] Optionally, the control system 400 is further specifically used for:

[0179] Determine first standard attribute information of a first standard screw corresponding to the first screw according to the first attribute information and the target environment parameter;

[0180] determining a first relative deviation according to the first attribute information and the first standard attribute information;

[0181] determining second standard attribute information of a first standard screw hole corresponding to the first screw hole according to the second attribute information and the target environment parameter;

[0182] determining a second relative deviation according to the second attribute information and the second standard attribute information;

[0183] determining an absolute value of a difference between the first relative deviation and the second relative deviation;

[0184] When the absolute value is within a preset range, the step of determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environmental parameter is performed.

[0185] Optionally, in determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter, the determining unit 402 is specifically used to:

[0186] Acquire a first historical operating parameter set corresponding to the first relative deviation, wherein the first historical operating parameter set includes a plurality of first historical operating parameters; each first historical operating parameter corresponds to a first installation precision;

[0187] Acquire a second historical operating parameter set corresponding to the second relative deviation, where the second historical operating parameter set includes a plurality of second historical operating parameters; each second historical operating parameter corresponds to a second installation precision;

[0188] Matching the plurality of first historical operating parameters with the plurality of second historical operating parameters to obtain a plurality of matching values;

[0189] Selecting a target matching value greater than a preset matching value from the multiple matching values ​​to obtain at least one target matching value;

[0190] Acquire an installation precision value pair corresponding to the at least one target matching value to obtain at least one installation precision value pair, each installation precision value pair corresponding to a first installation precision and a second installation precision;

[0191] Determine a product corresponding to each installation precision value pair in the at least one installation precision value pair to obtain at least one product;

[0192] Selecting a target product according to the at least one product, and acquiring a target first historical operating parameter and a target second historical operating parameter corresponding to the target product;

[0193] Obtaining a first weight pair corresponding to the target environmental parameter;

[0194] A weighted operation is performed according to the first weight pair, the target first historical operating parameter, and the target second historical operating parameter to obtain the first operating parameter.

[0195] Optionally, in determining the first position of the first screw hole of the automobile workpiece corresponding to the first screw according to the first attribute information, the determining unit 402 is specifically configured to:

[0196] Determine a target screw hole type label corresponding to the first attribute information;

[0197] Allocating a target screw hole number corresponding to the target screw hole type label to the first screw;

[0198] The first position of the first screw hole of the automotive workpiece is located according to the target screw hole number.

[0199] Optionally, in terms of allocating a target screw hole number corresponding to the target screw hole type label to the first screw, the determining unit 402 is specifically configured to:

[0200] Determine p screw holes of the automotive workpiece that are not locked; each screw hole corresponds to a screw hole type label; p is a positive integer;

[0201] Determine the screw holes corresponding to the target screw hole type labels from the p screw holes to obtain q screw holes; q is a positive integer less than or equal to p;

[0202] Acquire the third attribute information of each of the q screw holes through the visual component to obtain q pieces of third attribute information;

[0203] Determine the deviation between the first attribute information and each of the q third attribute information to obtain q deviations;

[0204] Select the minimum value among the q deviations;

[0205] The screw hole number corresponding to the minimum value is determined as the target screw hole number.

[0206] It can be seen that the control system described in the embodiment of the present application is applied to a screw locking assisting robot, which includes: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, the tightening module includes m tightening tools, m is a positive integer, n screws are obtained from the automatic feeding system through the nail feeder, n is a positive integer, first attribute information of the first screw is obtained through the visual assembly, the first screw is any one of the n screws, a target tightening tool corresponding to the first attribute information is determined, the target tightening tool is one of the m tightening tools, the replaceable end tool assembly is controlled to replace the tightening module with the target tightening tool, a first position of a first screw hole of an automotive workpiece corresponding to the first screw is determined according to the first attribute information, the first position is located through the visual assembly, and second attribute information of the first screw hole is obtained, the target environmental parameters are obtained through the environmental sensor, and according to the first attribute The first working parameter of the target tightening tool is determined based on the first attribute information, the second attribute information and the target environment parameters, and the target tightening tool is controlled to work with the first working parameter to lock the first screw to the first screw hole. Firstly, the appropriate tightening tool can be adapted based on the characteristics of the screw itself, and the configuration of the target tightening tool can be completed smoothly and efficiently. Secondly, since the first attribute information reflects the characteristics of the screw, the second attribute information reflects the characteristics of the screw hole, and the target environment parameters reflect the screw locking environment, the first working parameter of the target tightening tool is determined according to the first attribute information, the second attribute information and the target environment parameters, and the working parameters that are deeply adapted to the actual environment can be obtained. Thirdly, the target tightening tool is controlled to work with the first working parameter to lock the first screw to the first screw hole. Since the working parameters suitable for the actual environment are obtained, it is helpful to improve the efficiency and accuracy of screw locking, and also help to improve the intelligence of the screw locking assisting robot.

[0207] 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 a screw locking assistance robot.

[0208] 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 a screw locking assistance robot.

[0209] 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.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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.

[0216] 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 control method, characterized in that: The invention is applied to a screw locking assisting robot, the screw locking assisting robot comprises: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, the tightening module comprises m tightening tools, m is a positive integer, and the method comprises: Obtain n screws from the automatic feeding system through the nail feeder, where n is a positive integer; Acquire first attribute information of a first screw by the visual component, where the first screw is any one of the n screws; Determine a target tightening tool corresponding to the first attribute information, wherein the target tightening tool is one of the m tightening tools; Controlling the replaceable end tool assembly to replace the tightening module with the target tightening tool; Determine a first position of a first screw hole of an automobile workpiece corresponding to the first screw according to the first attribute information; Locating the first position by using the visual component, and acquiring second attribute information of the first screw hole; Acquiring target environmental parameters through the environmental sensor; Determine a first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter; The target tightening tool is controlled to operate with the first operating parameter to fasten the first screw to the first screw hole.

2. The method according to claim 1, characterized in that: The method further comprises: Determine first standard attribute information of a first standard screw corresponding to the first screw according to the first attribute information and the target environment parameter; determining a first relative deviation according to the first attribute information and the first standard attribute information; determining second standard attribute information of a first standard screw hole corresponding to the first screw hole according to the second attribute information and the target environment parameter; determining a second relative deviation according to the second attribute information and the second standard attribute information; determining an absolute value of a difference between the first relative deviation and the second relative deviation; When the absolute value is within a preset range, the step of determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environmental parameter is performed.

3. The method according to claim 2, characterized in that The determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter includes: Acquire a first historical operating parameter set corresponding to the first relative deviation, wherein the first historical operating parameter set includes a plurality of first historical operating parameters; each first historical operating parameter corresponds to a first installation precision; Acquire a second historical operating parameter set corresponding to the second relative deviation, where the second historical operating parameter set includes a plurality of second historical operating parameters; each second historical operating parameter corresponds to a second installation precision; Matching the plurality of first historical operating parameters with the plurality of second historical operating parameters to obtain a plurality of matching values; Selecting a target matching value greater than a preset matching value from the multiple matching values ​​to obtain at least one target matching value; Acquire an installation precision value pair corresponding to the at least one target matching value to obtain at least one installation precision value pair, each installation precision value pair corresponding to a first installation precision and a second installation precision; Determine a product corresponding to each installation precision value pair in the at least one installation precision value pair to obtain at least one product; Selecting a target product according to the at least one product, and acquiring a target first historical operating parameter and a target second historical operating parameter corresponding to the target product; Obtaining a first weight pair corresponding to the target environmental parameter; A weighted operation is performed according to the first weight pair, the target first historical operating parameter, and the target second historical operating parameter to obtain the first operating parameter.

4. The method according to any one of claims 1 to 3, characterized in that: The determining, according to the first attribute information, a first position of a first screw hole of an automobile workpiece corresponding to the first screw comprises: Determine a target screw hole type label corresponding to the first attribute information; Allocating a target screw hole number corresponding to the target screw hole type label to the first screw; The first position of the first screw hole of the automotive workpiece is located according to the target screw hole number.

5. The method according to claim 4, characterized in that The step of allocating a target screw hole number corresponding to the target screw hole type label to the first screw includes: Determine p screw holes of the automotive workpiece that are not locked; each screw hole corresponds to a screw hole type label; p is a positive integer; Determine the screw holes corresponding to the target screw hole type labels from the p screw holes to obtain q screw holes; q is a positive integer less than or equal to p; Acquire the third attribute information of each of the q screw holes through the visual component to obtain q pieces of third attribute information; Determine the deviation between the first attribute information and each of the q third attribute information to obtain q deviations; Select the minimum value among the q deviations; The screw hole number corresponding to the minimum value is determined as the target screw hole number.

6. A control system, characterized in that: The invention is applied to a screw locking assisting robot, wherein the screw locking assisting robot comprises: a nail feeder, a replaceable end tool assembly, a tightening module, a visual assembly and an environmental sensor, wherein the tightening module comprises m tightening tools, where m is a positive integer, and the system comprises: an acquiring unit, a determining unit and a control unit, wherein: The acquisition unit is used to acquire n screws from the automatic feeding system through the nail feeder, where n is a positive integer; and acquire first attribute information of a first screw through the visual component, where the first screw is any one of the n screws; The determining unit is used to determine a target tightening tool corresponding to the first attribute information, wherein the target tightening tool is one of the m tightening tools; The control unit is used to control the replaceable end tool assembly to replace the tightening module with the target tightening tool; The determining unit is further configured to determine a first position of a first screw hole of an automobile workpiece corresponding to the first screw according to the first attribute information; The acquisition unit is further used to locate the first position through the visual component and acquire the second attribute information of the first screw hole; and acquire the target environmental parameters through the environmental sensor; The determining unit is further configured to determine a first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter; The control unit is further used to control the target tightening tool to work with the first working parameter to fasten the first screw to the first screw hole.

7. The system according to claim 6, characterized in that The system is also specifically used for: Determine first standard attribute information of a first standard screw corresponding to the first screw according to the first attribute information and the target environment parameter; determining a first relative deviation according to the first attribute information and the first standard attribute information; determining second standard attribute information of a first standard screw hole corresponding to the first screw hole according to the second attribute information and the target environment parameter; determining a second relative deviation according to the second attribute information and the second standard attribute information; determining an absolute value of a difference between the first relative deviation and the second relative deviation; When the absolute value is within a preset range, the step of determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environmental parameter is performed.

8. The system according to claim 7, characterized in that In determining the first working parameter of the target tightening tool according to the first attribute information, the second attribute information and the target environment parameter, the determining unit is specifically used for: Acquire a first historical operating parameter set corresponding to the first relative deviation, wherein the first historical operating parameter set includes a plurality of first historical operating parameters; each first historical operating parameter corresponds to a first installation precision; Acquire a second historical operating parameter set corresponding to the second relative deviation, where the second historical operating parameter set includes a plurality of second historical operating parameters; each second historical operating parameter corresponds to a second installation precision; Matching the plurality of first historical operating parameters with the plurality of second historical operating parameters to obtain a plurality of matching values; Selecting a target matching value greater than a preset matching value from the multiple matching values ​​to obtain at least one target matching value; Acquire an installation precision value pair corresponding to the at least one target matching value to obtain at least one installation precision value pair, each installation precision value pair corresponding to a first installation precision and a second installation precision; Determine a product corresponding to each installation precision value pair in the at least one installation precision value pair to obtain at least one product; Selecting a target product according to the at least one product, and acquiring a target first historical operating parameter and a target second historical operating parameter corresponding to the target product; Obtaining a first weight pair corresponding to the target environmental parameter; A weighted operation is performed according to the first weight pair, the target first historical operating parameter, and the target second historical operating parameter to obtain the first operating parameter.

9. The system according to any one of claims 6 to 8, characterized in that: In determining the first position of the first screw hole of the automobile workpiece corresponding to the first screw according to the first attribute information, the determining unit is specifically used to: Determine a target screw hole type label corresponding to the first attribute information; Allocating a target screw hole number corresponding to the target screw hole type label to the first screw; The first position of the first screw hole of the automotive workpiece is located according to the target screw hole number.

10. A screw tightening assisting robot, characterized in that: The screw locking assistance robot is used to perform the method described in any one of claims 1-5, or the screw locking assistance robot includes the system described in any one of claims 6-9.

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