Control equipment positioning method and device, computer equipment and storage medium

Abstract

The invention relates to a control equipment positioning method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a pixel coordinate of a target object point in a binocular camera, wherein the binocular camera is fixed on a control device; determining a corresponding first motion parameter when the target object point is imaged to the pixel coordinate of a reference point according to the pixel coordinate of the target object point and the pixel coordinate of the reference point in the field of view of the binocular camera; and controlling the control device to move based on the first motion parameter. By adopting the method, the positioning precision can be improved.

Description

Technical Field

[0001] The present application relates to the field of control equipment control technology, and in particular to a control equipment positioning method, device, computer equipment and storage medium. Background Art

[0002] In applications such as multi-axis machine tool calibration, 3C processing part trajectory teaching, 3C processing part trajectory guidance, and correction, a monocular camera and a ranging sensor are usually required to be used together for machine tool positioning.

[0003] In these applications, a monocular camera is required to obtain XY coordinates and a ranging sensor to obtain Z coordinates to locate the machine tool. On the one hand, there is a time difference between the 3D coordinate information obtained by the monocular camera and the ranging sensor, so there is a certain error. On the other hand, the position of the camera and the ranging sensor need to be calibrated, which results in calibration errors. Therefore, the accuracy of machine tool positioning is low. Summary of the invention

[0004] Based on this, it is necessary to provide a control device positioning method, device, computer equipment, computer-readable storage medium and computer program product that can improve positioning accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for controlling device positioning, comprising:

[0006] Obtaining pixel coordinates of a target object point in a binocular camera, wherein the binocular camera is fixed on a control device;

[0007] Determine, according to the pixel coordinates of the target object point and the pixel coordinates of a reference point within the field of view of the binocular camera, a first motion parameter corresponding to when imaging the target object point to the pixel coordinates of the reference point;

[0008] The control device is controlled to move based on the first motion parameter.

[0009] In a second aspect, the present application also provides a device for controlling device positioning, including:

[0010] An acquisition module, used for acquiring pixel coordinates of target object points in a binocular camera, wherein the binocular camera is fixed on a control device;

[0011] A determination module, configured to determine, according to the pixel coordinates of the target object point and the pixel coordinates of the reference point within the field of view of the binocular camera, a first motion parameter corresponding to when imaging the target object point to the pixel coordinates of the reference point;

[0012] A positioning module is used to control the movement of the control device based on the first motion parameter.

[0013] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in the first aspect.

[0015] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in the first aspect.

[0016] The above-mentioned control device positioning method, device, computer device, storage medium and computer program product can obtain the pixel coordinates of the target object point in the binocular camera. The binocular camera is fixed on the control device, and according to the pixel coordinates of the target object point and the pixel coordinates of the reference point within the field of view of the binocular camera, the first motion parameter corresponding to the pixel coordinates of the reference point when the target object point is imaged, can be determined, and then the control device can be controlled to move based on the first motion parameter. Through this scheme, the binocular camera is fixed on the control device and can move with the movement of the control device. The first motion parameter is determined according to the pixel coordinates of the target object point and the reference point within the field of view of the binocular camera. This motion parameter can be considered as a motion parameter for the binocular camera, and the binocular camera moves with the movement of the control device. Therefore, the control device is controlled to move based on the first motion parameter, and the target object point can be accurately imaged to the pixel coordinates of the reference point. In this positioning method, there is no need to calibrate the binocular camera, and there will be no time difference between the two cameras in the binocular camera when acquiring data. Therefore, there will be no calibration error and error caused by the time difference, which can improve the positioning accuracy of the control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are 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.

[0018] Figure 1 A flow chart of a method for controlling device positioning Figure 1 ;

[0019] Figure 2 is a schematic diagram in which a reference point is the intersection of the optical axes of the binocular cameras;

[0020] Figure 3A schematic diagram showing that a reference point is not the intersection of the optical axes of the binocular cameras;

[0021] Figure 4 It is a schematic diagram of each axis of a control device;

[0022] Figure 5 It is a schematic diagram of a calibration plate image and target object points;

[0023] Figure 6 A flow chart of a method for controlling device positioning Figure 2 ;

[0024] Figure 7 A flow chart of a method for controlling device positioning Figure 3 ;

[0025] Figure 8 It is a structural block diagram of a positioning device for a control device;

[0026] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] In applications such as multi-axis machine tool calibration, 3C processing part trajectory teaching, 3C processing part trajectory guidance, and correction, a monocular camera and a ranging sensor are usually required to be used together for machine tool positioning.

[0029] In these applications, a monocular camera is required to obtain XY coordinates and a ranging sensor to obtain Z coordinates to locate the machine tool. On the one hand, there is a time difference between the 3D coordinate information obtained by the monocular camera and the ranging sensor, so there is a certain error. On the other hand, the position of the camera and the ranging sensor need to be calibrated, which results in calibration errors. Therefore, the accuracy of machine tool positioning is low.

[0030] In order to solve the above problems, an embodiment of the present application provides a control device positioning method. The method is implemented based on a binocular camera, and during the implementation process, it is not necessary to calibrate the internal and external parameters of the binocular camera. There is no calibration error in use, which can improve the positioning accuracy of the control device.

[0031] The control device may be a machine tool or a robot. The method can be applied to multi-axis machine tool or robot calibration, 3C machining part trajectory teaching, 3C machining part trajectory guidance, deviation correction and other applications to ensure high precision. For example, specific applications may include but are not limited to: multi-axis machine tool dispensing, multi-axis machine tool industrial quality inspection, robot processing, robot handling, etc.

[0032] The above control device positioning method can be applied to a control device positioning apparatus or a computer device, wherein the control device positioning apparatus can be a functional module or functional entity in a computer device for implementing the control device positioning method.

[0033] In some embodiments, the computer device may be any of the following devices:

[0034] (1) Industrial control computers

[0035] In the field of industrial automation, industrial control computers have high stability and reliability and can adapt to complex industrial environments. For application scenarios such as multi-axis machine tool calibration, workpiece trajectory teaching and guidance, industrial control computers can be installed with specific control software to receive data transmitted by binocular cameras and perform real-time processing and analysis to determine the motion parameters of control equipment (such as machine tools or robots) and achieve precise control.

[0036] For example, in the application of multi-axis machine tool dispensing, the industrial control computer can quickly calculate the first motion parameter of the machine tool based on the pixel coordinates of the target object point and the reference point obtained by the binocular camera, and control the machine tool to accurately apply glue to a specific position. In the industrial quality inspection link, the industrial control computer can use the image information collected by the binocular camera to perform three-dimensional inspection of the workpiece, detect product defects in time, and adjust production parameters.

[0037] (2) High-performance servers

[0038] For large-scale production workshops or complex automation systems, a high-performance server may be required to process large amounts of data and control multiple control devices. The server can connect to multiple binocular cameras and control devices at the same time to achieve centralized management and control.

[0039] In the application of 3C workpiece trajectory guidance, high-performance servers can receive data from binocular cameras at different locations, comprehensively analyze the position and status of the workpiece, and then send precise control instructions to multiple machine tools or robots to improve production efficiency and accuracy. At the same time, the server can also store a large amount of production data for subsequent quality analysis and process optimization.

[0040] (3) Embedded system equipment

[0041] In some small control devices or specific application scenarios, embedded system devices may be more suitable. For example, in robot handling applications, the robot itself can be equipped with a small embedded computer device that is directly connected to the binocular camera to process image data in real time and control the movement of the robot.

[0042] Embedded system devices have the advantages of small size, low power consumption, and low cost. They can be easily integrated into control devices to achieve highly automated operations. At the same time, embedded system devices can also communicate with other devices through the network to achieve remote monitoring and management.

[0043] For example, Figure 1 A flow chart of a method for controlling device positioning Figure 1 .like Figure 1 As shown, the method may include but is not limited to:

[0044] 101. Obtain the pixel coordinates of the target object point in the binocular camera.

[0045] The binocular camera is fixed on the control device. The binocular camera is a device that uses two cameras to simultaneously shoot the same scene from different angles and obtains the depth information and three-dimensional coordinates of the object through the principle of parallax.

[0046] In the embodiment of the present application, the binocular camera is fixed on the control device to ensure that the position of the camera is relatively stable during the measurement process. When the binocular camera shoots a scene, the target object point will appear as a specific pixel position on the imaging plane of the camera. The pixel coordinates of the target object point in the camera image can be determined through the internal parameters of the camera (such as focal length, optical center position, etc.) and image recognition and processing algorithms. This pixel coordinate reflects the position information of the target object point in the camera's two-dimensional image.

[0047] In some embodiments, the reference point may be the intersection of the optical axes of the binocular cameras.

[0048] like Figure 2 As shown in FIG. 1 , a schematic diagram is shown in which the reference point is the intersection of the optical axes of the binocular cameras. The two optical axes of the binocular cameras intersect, and the intersection of the two optical axes is the reference point. The reference point is within the depth of field of the two cameras in the binocular camera. Figure 2 The intersection point in the image coincides with the target point, which can realize high-precision fixed-distance point sampling for the control equipment.

[0049] In some embodiments, the reference point is any point within the field of view of the binocular camera.

[0050] like Figure 3The figure shows a schematic diagram of a reference point that is not the intersection of the optical axes of the binocular cameras. The reference point is within the depth of field of the binocular field of view, and the reference point is imaged on each camera to ensure that the pixel coordinates of the reference point on the image are determined. Figure 3 The reference point in the image coincides with the target point, which can realize high-precision fixed-distance point sampling for the control equipment.

[0051] 102. Determine, according to the pixel coordinates of the target object point and the pixel coordinates of a reference point within the field of view of the binocular camera, a first motion parameter corresponding to when imaging the target object point to the pixel coordinates of the reference point.

[0052] In the embodiment of the present application, in addition to the target object point, there is also a known reference point within the field of view of the binocular camera. The pixel coordinates of this reference point can also be determined through the camera image.

[0053] In order to image the target object point to the pixel coordinates of the reference point, it is necessary to calculate the motion parameters that the control device needs to perform. This process includes: calculating the pixel offset between the target object point and the reference point. By comparing the pixel coordinates of the target object point and the reference point, the relative position difference between them in the image can be determined. According to the internal parameters of the binocular camera and the depth information of the target object point and the reference point, the pixel offset is converted into the actual spatial displacement. Since the binocular camera can obtain depth information, the distance and direction that the target object point needs to move in three-dimensional space can be calculated based on the difference in pixel coordinates. Determine the motion parameters of the control device. According to the distance and direction that the target object point needs to move, as well as the installation relationship between the control device and the binocular camera, the motion parameters that the control device needs to perform, such as translation, rotation angle, etc., can be calculated.

[0054] Exemplarily, the process of determining the first motion parameter corresponding to imaging the target object point to the pixel coordinates of the reference point within the field of view of the binocular camera according to the pixel coordinates of the target object point and the pixel coordinates of the reference point can be understood as a process of determining the movement amount of the machine tool in three axes. The process may include:

[0055] 1021. Obtain the pixel coordinates of the target object point in the left camera of the binocular camera, i.e., leftPoint, and the pixel coordinates of the target object point in the right camera of the binocular camera, i.e., rightPoint, respectively.

[0056] 1022. The pixel coordinates of the reference point in the left camera are targetPoint1, and the pixel coordinates of the reference point in the right camera are targetPoint2.

[0057] The pixel coordinate values ​​of targetPoint1 and targetPoint2 may be the same or different. Here, the same target pixel coordinate is used, which is recorded as centerPoint.

[0058] 1023. Determine the amount of movement of the Y axis.

[0059] The calculation formula for the moving distance of the Y axis is:

[0060] yDis=(centerPoint.y - leftPoint.y)*pixelEquivalent; where pixelEquivalent is pixel equivalent.

[0061] 1024. Determine the amount of movement of the Z axis.

[0062] The calculation formula for the moving distance of the Z axis is:

[0063] zDis = (leftPoint.x - rightPoint.x) / 2 * pixelEquivalent; where pixelEquivalent is pixel equivalent.

[0064] 1025. Determine the movement amount of the X axis.

[0065] The calculation formula for the movement distance of the X axis is:

[0066] xDis=((leftPoint.x + rightPoint.x) / 2- centerPoint.x) *pixelEquivalent;wherein, pixelEquivalent is pixel equivalent.

[0067] 103. Control the movement of the control device based on the first motion parameter.

[0068] Specifically, controlling the movement of the control device based on the first motion parameter can be to convert the first motion parameter into an instruction that the control device can understand and execute, and drive the control device to move a corresponding distance in the corresponding direction. For example, after obtaining the above-mentioned Y-axis movement, Z-axis movement, and X-axis movement, they can be converted into instructions that the control device can understand and execute, and drive the control device to move a corresponding distance in the corresponding direction. The purpose of this is to adjust the position of the control device so that the target object point can be imaged to the pixel coordinates of the reference point, thereby achieving high-precision fixed-distance point sampling for the control device.

[0069] For example, Figure 4 As shown in FIG. 1 , it is a schematic diagram of each axis of a control device. Figure 4 As shown, the figure shows a machine tool 41, a binocular camera 42 fixed on the machine tool 41, and the XYZ three axes along which the machine tool 41 moves.

[0070] For example, taking the reference point as the intersection of the two optical axes of the binocular camera, the target object point can be simultaneously placed in the center of the field of view of the two cameras by moving the XYZ axes of the machine tool, which means that the intersection of the optical axes of the cameras coincides with the target object point. In this process, the Z axis of the machine tool can be moved first so that the pixel coordinates of the object point in the two cameras are roughly the same, and then the XY axis of the machine tool can be moved. Repeating this operation can make the intersection of the optical axes coincide with the target object point.

[0071] The above control device positioning method can obtain the pixel coordinates of the target object point in the binocular camera. The binocular camera is fixed on the control device, and according to the pixel coordinates of the target object point and the pixel coordinates of the reference point within the field of view of the binocular camera, the first motion parameter corresponding to the pixel coordinates of the reference point when the target object point is imaged is determined, and then the control device can be controlled to move based on the first motion parameter. Through this scheme, the binocular camera is fixed on the control device and can move with the movement of the control device. The first motion parameter is determined according to the pixel coordinates of the target object point and the reference point within the field of view of the binocular camera. This motion parameter can be considered as a motion parameter for the binocular camera, and the binocular camera moves with the movement of the control device. Therefore, the control device is controlled to move based on the first motion parameter, and the target object point can be accurately controlled to be imaged to the pixel coordinates of the reference point. In this positioning method, there is no need to calibrate the binocular camera, and there will be no time difference between the two cameras in the binocular camera when acquiring data. Therefore, there will be no calibration error and error caused by the time difference, which can improve the positioning accuracy of the control device.

[0072] In some embodiments, the above-mentioned controlling the movement of the control device based on the first motion parameter may include but is not limited to: after controlling the control device to move once based on the first motion parameter, obtaining the pixel distance between the target object point and the reference point; if the pixel distance between the target object point and the reference point is less than a preset value, the physical coordinates of the control device after the movement are used as the positioning coordinates of the control device corresponding to the target object point; if the pixel distance between the target object point and the reference point is greater than or equal to the preset value, the steps of determining the first motion parameter and controlling the movement of the control device are repeatedly executed until the pixel distance between the target object point and the reference point is less than the preset value, and the physical coordinates of the control device after the movement are used as the positioning coordinates of the control device corresponding to the target object point.

[0073] That is to say, after executing the above steps 101 to 103 once, the pixel distance between the target object point and the reference point is obtained. If the pixel distance between the target object point and the reference point is greater than or equal to the preset value, it means that the target object point has not been imaged to the pixel coordinates of the reference point. At this time, the above steps 101 to 103 can be executed repeatedly until the pixel distance between the target object point and the reference point is less than the preset value. The target object point is considered to be the pixel coordinates imaged to the reference point. At this time, the physical coordinates of the control device after movement can be considered to be the positioning coordinates of the control device corresponding to the target object point.

[0074] In the above embodiment, the movement of the control device is adjusted in a continuous cycle to ensure that the pixel distance between the target object point and the reference point is less than a preset value, thereby achieving high-precision positioning of the control device. This step-by-step approach can effectively improve the accuracy of positioning, so that the control device can accurately reach the target position. The entire process does not require human intervention. The system can automatically determine whether further adjustment is required based on the pixel distance between the target object point and the reference point, and automatically execute the steps of determining the first motion parameter and the movement of the control device. This greatly improves work efficiency and reduces human errors. For different scenes and target points, the solution can find the appropriate control device position through a cyclic adjustment method, and has strong adaptability. Whether it is in a complex environment or for positioning targets of different shapes and sizes, relatively accurate results can be achieved.

[0075] In some embodiments, when the target object point is an object point on a calibration plate, the above control device positioning method can be applied to calibrate the control device.

[0076] After calibrating the control device, the motion relationship between the control device and the object point on the calibration board can be further determined. The motion relationship is the relative position relationship between the multi-axis coordinates of the control device and the physical coordinates of the object point on the calibration board.

[0077] like Figure 5 The figure shows a schematic diagram of a calibration plate image and target object points. Figure 5 As shown, the calibration plate can include multiple groups Figure 5 The calibration plate pattern 51 shown in FIG. 5 can select a target object point 52 in any of the calibration plate patterns 51 .

[0078] The target point can be a corner point in the calibration plate. In the calibration plate, a corner point is a point with specific characteristics. The calibration plate is usually a flat plate with known geometric shape and characteristics, with regularly distributed patterns on it. The corner point is generally the intersection of the pattern on the calibration plate or a point with obvious feature changes.

[0079] For example, Figure 6 A flow chart of a method for controlling device positioning Figure 2 .like Figure 6 As shown, the method may include but is not limited to:

[0080] 601. Obtain pixel coordinates of object points on a calibration plate in a binocular camera.

[0081] Among them, the binocular camera is fixed on the control device.

[0082] 602. Determine, according to the pixel coordinates of the object point on the calibration plate and the pixel coordinates of the reference point within the field of view of the binocular camera, a first motion parameter corresponding to imaging the object point on the calibration plate to the pixel coordinates of the reference point.

[0083] 603. Control the device to move based on the first motion parameter.

[0084] For the relevant descriptions of the above steps 601 to 603, reference may be made to the relevant descriptions of the above steps 101 to 103, which will not be repeated here.

[0085] 604. Obtain positioning coordinates of a control device corresponding to a plurality of object points on the calibration plate.

[0086] In the embodiment of the present application, multiple object points on the calibration plate can be selected and respectively performed to perform the above steps 601 to 603, and the physical coordinates of the control device after movement for the multiple object points can be obtained to obtain the positioning coordinates of the control device corresponding to the multiple object points on the calibration plate.

[0087] The multiple object points may be corner points in the calibration plate.

[0088] 605. Determine the motion relationship between the control device and the object points on the calibration plate according to the physical coordinates of the multiple object points and the positioning coordinates of the control device corresponding to the multiple object points.

[0089] It should be noted that the calibration plate can be rotated during the execution of the above steps, that is, the physical coordinates of the multiple object points may include the physical coordinates of different object points, and may also include the physical coordinates of the same object point in different postures of the calibration plate.

[0090] In the above embodiment, by determining the motion relationship, the relative position relationship between the multi-axis coordinates of the control device and the physical coordinates of the object point on the calibration plate can be accurately understood. This enables more precise control of the motion of the control device in practical applications, ensuring that it can accurately reach the target position, especially for scenarios that require high-precision operations, such as precision machining, robot navigation, etc.

[0091] The determination of the above kinematic relationship provides a basis for the conversion between different coordinate systems. For example, when it is necessary to convert the coordinates of the object point on the calibration board to the coordinates of the control device, or to convert the coordinates of the control device to the coordinates of the object point on the calibration board, this kinematic relationship can be used for fast and accurate conversion.

[0092] In the embodiment of the present application, for calibration plates of different shapes and sizes and different object point selections, determining the motion relationship can make the system more adaptable. No matter how the calibration plate changes, as long as the motion relationship can be determined, accurate control of the control device can be achieved. At the same time, in different postures such as the rotation of the calibration plate, the movement of the control device can also be adjusted in real time according to the motion relationship to adapt to different work requirements.

[0093] The above-determined motion relationship can provide a basis for subsequent operations and analysis. For example, when performing complex task planning, path planning or error analysis, this motion relationship can be used to perform more accurate and efficient calculations. At the same time, the system performance can be continuously optimized and the work efficiency and accuracy can be improved by monitoring and adjusting the motion relationship.

[0094] In some embodiments, when the target object point is a trajectory point on a processing trajectory for a workpiece, the above control device positioning method can be applied to path planning of the control device during the processing.

[0095] For example, Figure 7 A flow chart of a method for controlling device positioning Figure 3 .like Figure 7 As shown, the method may include but is not limited to:

[0096] 701. Obtain pixel coordinates of object points on a calibration plate in a binocular camera.

[0097] Among them, the binocular camera is fixed on the control device.

[0098] 702. Determine, according to the pixel coordinates of the object point on the calibration plate and the pixel coordinates of the reference point within the field of view of the binocular camera, the motion parameters corresponding to imaging the object point on the calibration plate to the pixel coordinates of the reference point.

[0099] 703. Control the movement of the control device based on the motion parameters corresponding to the pixel coordinates of the object point on the calibration plate when the object point is imaged to the reference point.

[0100] 704. Obtain positioning coordinates of a control device corresponding to a plurality of object points on the calibration plate.

[0101] 705. Determine the motion relationship between the control device and the object points on the calibration plate according to the physical coordinates of the multiple object points and the positioning coordinates of the control device corresponding to the multiple object points.

[0102] For the above steps 701 to 705 , reference may be made to the relevant descriptions for the above steps 501 to 505 .

[0103] 706. Obtain pixel coordinates of the trajectory point in the binocular camera.

[0104] The binocular camera is fixed on the control device, and the trajectory points are points on the processing trajectory of the workpiece.

[0105] 707. Determine, according to the pixel coordinates of the trajectory point and the pixel coordinates of the reference point within the field of view of the binocular camera, the motion parameters corresponding to imaging the trajectory point to the pixel coordinates of the reference point.

[0106] It should be noted that the reference points within the field of view of the binocular camera in step 707 and step 702 may be the same or different, and this embodiment of the present application does not limit this.

[0107] 708. Control the movement of the control device based on the motion parameters corresponding to imaging the trajectory point to the pixel coordinates of the reference point.

[0108] For the description of the above steps 706 to 708 , reference may be made to the relevant description of steps 101 to 103 when the target object point is a trajectory point on a machining trajectory for the workpiece, and will not be repeated here.

[0109] 709. Determine a second motion parameter of the control device for the processing trajectory based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship between the control device and the object points on the calibration plate.

[0110] In some embodiments, based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship between the control device and the object points on the calibration plate, the second motion parameter of the control device for the processing trajectory is determined, which may include but is not limited to:

[0111] 7091. Based on the positioning coordinates of the control device corresponding to the trajectory point on the processing trajectory and the motion relationship, determine the calibration plate coordinates of the trajectory point on the processing trajectory.

[0112] The coordinates of the trajectory points on the machining trajectory corresponding to the positioning coordinates of the control device are used, combined with the previously determined motion relationship between the control device and the object point on the calibration board, to reversely infer the coordinates of the trajectory points on the machining trajectory in the calibration board coordinate system. The purpose of this is to convert the description of the machining trajectory from the control device coordinate system to the calibration board coordinate system, so as to perform unified analysis and planning between different coordinate systems.

[0113] 7092. Based on the calibration plate coordinates of the trajectory points on the processing trajectory, determine the motion planning information in the calibration plate coordinate system.

[0114] In the calibration plate coordinate system, more convenient motion planning can be performed based on the coordinates of each track point on the processing track. For example, the length, direction, curvature and other information of the processing track can be determined, thereby providing more detailed planning guidance for the movement of the control device.

[0115] 7093. Determine a second motion parameter of the control device based on the motion planning information and the motion relationship.

[0116] Combined with the motion planning information and the motion relationship between the control device and the calibration plate, the motion planning in the calibration plate coordinate system is converted back to the control device coordinate system to determine the second motion parameters required by the control device for the processing trajectory. These parameters include the movement amount and rotation angle of the control device in each axis, which are used to guide the control device to process the workpiece according to the processing trajectory.

[0117] 710. Control the movement of the control device based on the second motion parameter to process the workpiece according to the processing trajectory.

[0118] According to the second motion parameters determined previously, the control device can accurately process the workpiece according to the processing trajectory. For example, in machine tool processing applications, the machine tool can perform precise cutting, drilling, dispensing and other operations according to these parameters; in robot processing applications, the robot can perform welding, assembly and other tasks according to the planned trajectory. In this way, a high-precision processing process can be achieved, and processing quality and efficiency can be improved.

[0119] The control device positioning method in the above embodiment, first, by obtaining the pixel coordinates of the object point on the calibration plate in the binocular camera and the pixel coordinates of the track point on the processing track, and combining the pixel coordinates of the reference point within the field of view of the binocular camera to determine the corresponding motion parameters, can achieve high-precision positioning and motion control. Secondly, by using the motion relationship between the control device and the object point on the calibration plate, the processing track is converted from the control device coordinate system to the calibration plate coordinate system for planning, and then converted back to the control device coordinate system to determine the second motion parameter, so that the control device can accurately process the workpiece according to the processing track, such as cutting, drilling, dispensing operations of machine tools and welding and assembly tasks of robots. This method does not require calibration of the binocular camera, there is no calibration error, and there is no time difference in the acquisition of data by the two cameras of the binocular camera, which improves the positioning accuracy of the control device. At the same time, the whole process is carried out automatically without manual intervention, which improves work efficiency and reduces human errors. For calibration plates of different shapes and sizes and different processing tracks and workpieces, this method has strong adaptability and can achieve more accurate processing results, thereby improving processing quality and efficiency.

[0120] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0121] Based on the same inventive concept, the embodiment of the present application also provides a control device positioning device for implementing the control device positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more control device positioning device embodiments provided below can refer to the limitations of the control device positioning method above, and will not be repeated here.

[0122] In an exemplary embodiment, Figure 8 As shown, a structural block diagram of a control device positioning device is provided, including:

[0123] An acquisition module 801 is used to acquire pixel coordinates of a target object point in a binocular camera, wherein the binocular camera is fixed on a control device;

[0124] A determination module 802 is used to determine, according to the pixel coordinates of the target object point and the pixel coordinates of the reference point within the field of view of the binocular camera, a first motion parameter corresponding to when imaging the target object point to the pixel coordinates of the reference point;

[0125] The positioning module 803 is used to control the movement of the control device based on the first motion parameter.

[0126] In some embodiments, the positioning module 803 is specifically used to:

[0127] The controlling the control device to move based on the first motion parameter comprises:

[0128] After controlling the control device to move once based on the first motion parameter, obtaining a pixel distance between the target object point and the reference point;

[0129] If the pixel distance between the target object point and the reference point is less than a preset value, the physical coordinates of the control device after the movement are used as the positioning coordinates of the control device corresponding to the target object point;

[0130] If the pixel distance between the target object point and the reference point is greater than or equal to a preset value, the steps of determining the first motion parameter and controlling the movement of the control device are executed repeatedly until the pixel distance between the target object point and the reference point is less than a preset value, and the physical coordinates of the control device after movement are used as the positioning coordinates of the control device corresponding to the target object point.

[0131] In some embodiments, the target object point is an object point on a calibration plate, and the positioning module 803 is further used to:

[0132] Obtaining the positioning coordinates of the control device corresponding to the plurality of object points on the calibration plate;

[0133] According to the physical coordinates of the multiple object points and the positioning coordinates of the control device corresponding to the multiple object points, the motion relationship between the control device and the object points on the calibration plate is determined.

[0134] In some embodiments, the target object point is a track point on a processing track of the workpiece, and the positioning module 803 is further used to:

[0135] Determine a second motion parameter of the control device for the processing trajectory based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship between the control device and the object points on the calibration plate;

[0136] The control device is controlled to move based on the second motion parameter to process the workpiece according to the processing trajectory.

[0137] In some embodiments, the positioning module 803 is specifically used to:

[0138] The determining of the second motion parameter of the control device for the processing trajectory based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship between the control device and the object points on the calibration plate comprises:

[0139] Determine the calibration plate coordinates of the trajectory points on the processing trajectory based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship;

[0140] Based on the calibration plate coordinates of the trajectory points on the processing trajectory, determining the motion planning information in the calibration plate coordinate system;

[0141] Based on the motion planning information and the motion relationship, a second motion parameter of the control device is determined.

[0142] In some embodiments, the reference point is the intersection of the optical axes of the binocular cameras, or the reference point is any point within the field of view of the binocular cameras.

[0143] Each module in the above-mentioned control device positioning device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0144] In an exemplary embodiment, a computer device is provided. The computer device may be an industrial control computer, a high-performance server, an embedded system device, etc., and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling device positioning is implemented.

[0145] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0146] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method for controlling device positioning in the above method embodiment is implemented.

[0147] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for controlling device positioning in the above method embodiment is implemented.

[0148] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the method for controlling device positioning in the above method embodiment.

[0149] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0150] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for positioning a control device, characterized in that: The method comprises: Obtaining pixel coordinates of a target object point in a binocular camera, wherein the binocular camera is fixed on a control device; Determine, according to the pixel coordinates of the target object point and the pixel coordinates of a reference point within the field of view of the binocular camera, a first motion parameter corresponding to when imaging the target object point to the pixel coordinates of the reference point; The control device is controlled to move based on the first motion parameter.

2. The method according to claim 1, characterized in that: The controlling the control device to move based on the first motion parameter comprises: After controlling the control device to move once based on the first motion parameter, obtaining a pixel distance between the target object point and the reference point; If the pixel distance between the target object point and the reference point is less than a preset value, the physical coordinates of the control device after the movement are used as the positioning coordinates of the control device corresponding to the target object point; If the pixel distance between the target object point and the reference point is greater than or equal to a preset value, the steps of determining the first motion parameter and controlling the movement of the control device are executed repeatedly until the pixel distance between the target object point and the reference point is less than a preset value, and the physical coordinates of the control device after movement are used as the positioning coordinates of the control device corresponding to the target object point.

3. The method according to claim 1 or 2, characterized in that: The target object point is an object point on the calibration plate, and the method further includes: Obtaining the positioning coordinates of the control device corresponding to the plurality of object points on the calibration plate; According to the physical coordinates of the multiple object points and the positioning coordinates of the control device corresponding to the multiple object points, the motion relationship between the control device and the object points on the calibration plate is determined.

4. The method according to claim 1 or 2, characterized in that: The target object point is a track point on a processing track for the workpiece, and the method further includes: Determine a second motion parameter of the control device for the processing trajectory based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship between the control device and the object points on the calibration plate; The control device is controlled to move based on the second motion parameter to process the workpiece according to the processing trajectory.

5. The method according to claim 4, characterized in that The determining of the second motion parameter of the control device for the processing trajectory based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship between the control device and the object points on the calibration plate comprises: Determine the calibration plate coordinates of the trajectory points on the processing trajectory based on the positioning coordinates of the control device corresponding to the trajectory points on the processing trajectory and the motion relationship; Based on the calibration plate coordinates of the trajectory points on the processing trajectory, determining the motion planning information in the calibration plate coordinate system; Based on the motion planning information and the motion relationship, a second motion parameter of the control device is determined.

6. The method according to claim 1, characterized in that The reference point is the intersection of the optical axes of the binocular cameras, or the reference point is any point within the field of view of the binocular cameras.

7. A control device positioning device, characterized in that: The device comprises: An acquisition module, used for acquiring pixel coordinates of target object points in a binocular camera, wherein the binocular camera is fixed on a control device; A determination module, configured to determine, according to the pixel coordinates of the target object point and the pixel coordinates of the reference point within the field of view of the binocular camera, a first motion parameter corresponding to when imaging the target object point to the pixel coordinates of the reference point; A positioning module is used to control the movement of the control device based on the first motion parameter.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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