Coordinate positioning debugging method and device, equipment, storage medium and program product

Abstract

The invention relates to a coordinate positioning debugging method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring coordinate point data of a target workpiece, and constructing a conversion model according to the coordinate point data to obtain a coordinate conversion model; performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data; performing tool debugging on the to-be-debugged point location of the coordinate point data to obtain a current coordinate value; performing difference value calculation according to the working point location data and the current coordinate value to obtain a difference value; and debugging the to-be-debugged point location according to the difference value to obtain a debugging result. By adopting the method, the coordinate debugging process can be simplified while the coordinate debugging calibration precision is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of coordinate debugging and calibration, and in particular to a coordinate positioning debugging method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of coordinate debugging and calibration technology, in the process of coordinate debugging and calibration, in order to be able to correctly verify the coordinate debugging process, however, in the existing technology, it is usually necessary to establish a workpiece coordinate system to fit the robot coordinates, and the installation requirements for the robot responsible for debugging and the workpiece coordinates are high, and the debugging requirements are relatively high, resulting in the entire coordinate debugging system being more complicated. Summary of the invention

[0003] Based on this, it is necessary to provide a coordinate positioning debugging method, device, computer equipment, computer-readable storage medium and computer program product that can simplify the coordinate debugging process while ensuring the accuracy of coordinate debugging and calibration, in response to the above technical problems.

[0004] In a first aspect, the present application provides a coordinate positioning debugging method, comprising:

[0005] Acquire coordinate point data of the target workpiece, and construct a conversion model based on the coordinate point data to obtain a coordinate conversion model;

[0006] Performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data;

[0007] Perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value;

[0008] Calculate the difference value according to the working point data and the current coordinate value to obtain the difference value;

[0009] The point to be debugged is debugged according to the difference value to obtain a debugging result.

[0010] In one embodiment, the step of constructing a conversion model according to the coordinate point data to obtain a coordinate conversion model includes:

[0011] Determine the theoretical distance between actual coordinate points in different coordinate directions according to the actual coordinate point data of the coordinate point data;

[0012] A conversion model is constructed according to the theoretical distance and the actual coordinate point data to obtain the coordinate conversion model.

[0013] In one embodiment, the coordinate conversion of the working point of the target workpiece according to the coordinate conversion model to obtain the working point data includes:

[0014] Determining offset data according to the working point position;

[0015] Coordinate conversion is performed according to the offset data and the coordinate conversion model to obtain the working point data.

[0016] In one embodiment, the step of performing tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value includes:

[0017] Determine the target debugging tooling according to the point to be debugged;

[0018] Performing point debugging on the point to be debugged according to the target debugging tool to obtain a point debugging result;

[0019] If the point debugging result is that the point is accurate, the coordinate value of the current point is recorded to obtain the current coordinate value.

[0020] In one embodiment, the step of calculating a difference value based on the working point data and the current coordinate value to obtain the difference value includes:

[0021] Performing absolute value calculation according to the working point data and the current coordinate value to obtain an absolute value;

[0022] The transmission ratio is calculated according to the absolute value and the preset transmission ratio data to obtain the difference value.

[0023] In one embodiment, the method further comprises:

[0024] Obtaining the accuracy requirement of the target workpiece;

[0025] If the difference value meets the first preset requirement, the debugging result is set as point debugging success; wherein the first preset requirement is set according to the accuracy requirement;

[0026] If the difference value does not meet the first preset requirement, the debugging result is set as point debugging failure.

[0027] In a second aspect, the present application also provides a coordinate positioning debugging device, comprising:

[0028] A model building module is used to obtain the coordinate point data of the target workpiece, and to build a conversion model according to the coordinate point data to obtain a coordinate conversion model;

[0029] A coordinate conversion module, used for performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data;

[0030] A tooling debugging module is used to perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value;

[0031] A calculation module, used for calculating a difference value according to the working point data and the current coordinate value to obtain a difference value;

[0032] The point debugging module is used to debug the point to be debugged according to the difference value to obtain a debugging result.

[0033] 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 following steps are implemented:

[0034] Acquire coordinate point data of the target workpiece, and construct a conversion model based on the coordinate point data to obtain a coordinate conversion model;

[0035] Performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data;

[0036] Perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value;

[0037] Calculate the difference value according to the working point data and the current coordinate value to obtain the difference value;

[0038] The point to be debugged is debugged according to the difference value to obtain a debugging result.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0040] Acquire coordinate point data of the target workpiece, and construct a conversion model based on the coordinate point data to obtain a coordinate conversion model;

[0041] Performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data;

[0042] Perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value;

[0043] Calculate the difference value according to the working point data and the current coordinate value to obtain the difference value;

[0044] The point to be debugged is debugged according to the difference value to obtain a debugging result.

[0045] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0046] Acquire coordinate point data of the target workpiece, and construct a conversion model based on the coordinate point data to obtain a coordinate conversion model;

[0047] Performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data;

[0048] Perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value;

[0049] Calculate the difference value according to the working point data and the current coordinate value to obtain the difference value;

[0050] The point to be debugged is debugged according to the difference value to obtain a debugging result.

[0051] The coordinate positioning debugging method, device, computer equipment, computer-readable storage medium and computer program product described above obtain the coordinate point data of the target workpiece, and construct a conversion model based on the coordinate point data to obtain a coordinate conversion model; perform coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data; perform tooling debugging on the point to be debugged of the coordinate point data to obtain the current coordinate value; calculate the difference value based on the working point data and the current coordinate value to obtain the difference value; debug the point to be debugged based on the difference value to obtain the debugging result. Therefore, by constructing a coordinate conversion model through the coordinate point data of the target workpiece, it is possible to more simply perform coordinate conversion on the working point of the target workpiece to obtain the working point data, and then the difference value of the point to be debugged can be calculated through the current coordinate value of the point to be debugged and the working point data, so as to accurately debug the point to be debugged, thereby achieving the ability to simplify the coordinate debugging process while ensuring the accuracy of coordinate debugging calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0053] FIG1 is an application environment diagram of a coordinate positioning debugging method in one embodiment;

[0054] FIG2 is a schematic diagram of a flow chart of a coordinate positioning debugging method in one embodiment;

[0055] FIG3 is a schematic diagram of a mechanical tool debugging process of a coordinate positioning debugging method in one embodiment;

[0056] FIG4 is a schematic diagram of a flow chart of a coordinate positioning debugging method in one embodiment;

[0057] FIG5 is a block diagram of a coordinate positioning debugging device in one embodiment;

[0058] FIG. 6 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0059] 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.

[0060] The coordinate positioning debugging method provided in the embodiment of the present application can be applied to the application environment shown in Figure 1. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The server 104 obtains the coordinate point data of the target workpiece, and constructs a conversion model according to the coordinate point data to obtain a coordinate conversion model; the coordinate conversion model is used to convert the working point of the target workpiece to obtain the working point data; the tooling debugging is performed on the point to be debugged of the coordinate point data to obtain the current coordinate value; the difference value is calculated according to the working point data and the current coordinate value to obtain the difference value; the debugging point is debugged according to the difference value to obtain the debugging result. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head mounted device may be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0061] In an exemplary embodiment, as shown in FIG2 , a coordinate positioning debugging method is provided, which is described by taking the method applied to the server 104 in FIG1 as an example, and includes the following steps 202 to 210. Among them:

[0062] Step 202 , obtaining coordinate point data of the target workpiece, and constructing a conversion model according to the coordinate point data to obtain a coordinate conversion model.

[0063] The target workpiece refers to the workpiece to be debugged, which includes multiple working points. The coordinate point data refers to the coordinate point data corresponding to the four key coordinate points on the target workpiece. It should be noted that the closed interval formed by the four key coordinate points needs to include all working points of the target workpiece. For example, the coordinate point data may include P1( , , ); P2( , , ); P3( , , ); P4( , , ), the closed area composed of P1, P2, P3, and P4 can include all working points of the target workpiece, or can include part of the working points of the target workpiece, but is not limited to this.

[0064] In some embodiments, the coordinate point data of the target workpiece may be acquired through a workpiece database, or may be acquired through actual measurement, but the present invention is not limited thereto.

[0065] In some embodiments, a conversion model is constructed based on the coordinate point data to obtain a coordinate conversion model, including: determining the theoretical distance between actual coordinate points in different coordinate directions based on the actual coordinate point data of the coordinate point data; and constructing a conversion model based on the theoretical distance and the actual coordinate point data to obtain a coordinate conversion model.

[0066] The actual coordinate point data refers to any three coordinate point data in the coordinate point data. It should be noted that, in addition to the three selected arbitrary coordinate point data, the remaining coordinate point will be used as a point to be debugged.

[0067] In some embodiments, the theoretical distance between actual coordinate points in different coordinate directions can be determined by distance formulas in different coordinate directions. That is, the theoretical distance from P2 to P3 in the X direction can be solved by the distance formula of the X coordinate. The same is true for other coordinate directions, but it is not limited to this.

[0068] In some embodiments, a conversion model is constructed based on the theoretical distance and coordinate point data to obtain a coordinate conversion model for accurately converting the coordinate point. It should be noted that this embodiment uses a difference compensation method to construct a conversion model for the theoretical distance and coordinate point data. The specific model construction process is as follows:

[0069] It should be noted that since the Y offset microstep value △Y for each microstep in the X direction, the calculation formula of △Y is as follows:

[0070] (1);

[0071] It should be noted that since the X offset microstep value △X for each microstep in the Y direction, the calculation formula of △X is as follows:

[0072] ;

[0073] It should be noted that, in theory, the Y values ​​of P1 and P2 are consistent, and the X values ​​of P2 and P3 are consistent in theory.

[0074] For example, assuming that the theoretical distance from P2 to P3 in the X direction is J=105mm, the theoretical distance from P1 to P2 in the Y direction is K=525mm, and the theoretical distance Z on the same workpiece is 0, then calculate P0( , , ), where P0 is an arbitrary working point on the target workpiece, the theoretical distance of P0 relative to P1 in the X direction is M=105mm, the theoretical distance of P0 relative to P1 in the Y direction is N=0mm, and the theoretical distance of P0 relative to P1 in the Z direction is 0mm.

[0075] In some embodiments, by combining formulas (1) and (2) and example parameters J, K, N, and M, it is possible to determine is the equivalent value in the X direction; The deviation value in the X direction generated by the equivalent value in the Y direction; is the equivalent value in the Y direction; The deviation value in the Y direction generated by the equivalent value in the X direction.

[0076] In some embodiments, the coordinate conversion model corresponding to different directions can be obtained by combining the equivalent value and the deviation value in different directions according to the difference compensation method. The specific coordinate conversion model is as follows:

[0077] In the X-axis direction:

[0078] = + + ( = + + );

[0079] In the Y-axis direction:

[0080] = + + ( = + + );

[0081] In some embodiments, similarly, it should be noted that since each microstep in the X direction is equal to 1 microstep, the Z offset microstep value is ,therefore The calculation formula is as follows:

[0082] ;

[0083] It should be noted that, because each microstep in the Y direction causes the Z offset microstep value to ,therefore The calculation formula is as follows:

[0084] ;

[0085] Similarly, the coordinate conversion model in the Z-axis direction can be derived as follows:

[0086] = + + ( = + + ).

[0087] In this embodiment, by adopting the method of difference compensation to construct a coordinate conversion model, the calculation process of coordinate conversion is greatly simplified, and the accuracy of coordinate debugging and calibration is still guaranteed, thereby solving the problem of difficult coordinate system construction and complicated fitting verification process during coordinate verification and debugging.

[0088] Step 204 , coordinate conversion is performed on the working point of the target workpiece according to the coordinate conversion model to obtain working point data.

[0089] Among them, the work point refers to the coordinate point that can be used as the work point during the use of the target workpiece. It should be noted that the calculated coordinate value of the work point can be determined by coordinate conversion, which is used for more precise coordinate positioning work such as data verification and debugging.

[0090] In some embodiments, coordinate conversion is performed on the working point of the target workpiece according to the coordinate conversion model to obtain working point data, including: determining offset data according to the working point; and performing coordinate conversion according to the offset data and the coordinate conversion model to obtain working point data.

[0091] The offset data refers to the deviation data of the working point position compared with the actual coordinate point data in different directions.

[0092] In some embodiments, the offset data in different directions are input into the corresponding coordinate conversion model for coordinate conversion to obtain the working point data.

[0093] In some embodiments, coordinate conversion is performed on all working points in the target workpiece to obtain working point data of all working points.

[0094] Step 206, performing tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value.

[0095] Among them, tooling debugging can be mechanical tooling debugging or laser tooling debugging.

[0096] In some embodiments, tooling debugging is performed on the point to be debugged of the coordinate point data to obtain the current coordinate value, including: determining the target debugging tooling according to the point to be debugged; performing point debugging on the point to be debugged according to the target debugging tooling to obtain the point debugging result; if the point debugging result is that the point is accurate, the coordinate value of the current point is recorded to obtain the current coordinate value.

[0097] Among them, different types of points require corresponding debugging tooling.

[0098] In some embodiments, the target debugging tooling is determined according to the type of the point to be debugged, and the target debugging tooling is clamped by a manipulator gripper to accurately perform point debugging. Specifically, as shown in FIG3 , when the point debugging is performed at the current point, the Z axis can slide in and out smoothly under manual push and pull to confirm that the point debugging result is accurate, and then the Z axis clamps the target debugging tooling to ensure that the target debugging tooling has bottom contact, and the Z axis coordinate value of the current point is recorded to obtain the current coordinate value.

[0099] Step 208, calculating the difference value according to the working point data and the current coordinate value to obtain the difference value.

[0100] In some embodiments, a difference value is calculated based on the working point data and the current coordinate value to obtain the difference value, including: an absolute value is calculated based on the working point data and the current coordinate value to obtain the absolute value; a transmission ratio is calculated based on the absolute value and preset transmission ratio data to obtain the difference value.

[0101] Among them, absolute value calculation refers to calculating the absolute value difference between two data, and transmission ratio calculation is to calculate the displacement value in different directions corresponding to a single pulse according to the transmission mechanism corresponding to the current point, that is, the transmission ratio coefficient, and the transmission ratio is calculated based on the transmission ratio coefficient.

[0102] For example, suppose that P0 and P4 are the same point, where P0 is the working point data and P4 is the current coordinate value obtained through tooling debugging. Then the difference between P0 and P4 is / / The difference calculation process is as follows:

[0103] ;

[0104] ;

[0105] ;

[0106] Among them, α is the X displacement value corresponding to a single pulse calculated according to the current transmission mechanism, β is the Y displacement value corresponding to a single pulse calculated according to the current transmission mechanism, and γ is the Z displacement value corresponding to a single pulse calculated according to the current transmission mechanism.

[0107] Step 210, debugging the point to be debugged according to the difference value to obtain a debugging result.

[0108] The debugging result can be used to determine whether the parameter data is saved successfully.

[0109] In some embodiments, when any of the difference values ​​is greater than or equal to a preset range, the debugging result is set to invalid for this point debugging; if it is less than the preset range, the debugging result is set to successful for the point debugging. / / .

[0110] In some embodiments, three working points in the target workpiece can be randomly selected by running the robot, and the difference between the coordinate value of the current point to be debugged and the coordinate values ​​calculated by the three working points can be calculated. If the difference is less than 2 microsteps, the parameter data is considered to be saved successfully.

[0111] In the above coordinate positioning debugging method, the coordinate point data of the target workpiece is obtained, and a conversion model is constructed based on the coordinate point data to obtain a coordinate conversion model; the coordinate conversion of the working point of the target workpiece is performed according to the coordinate conversion model to obtain the working point data; the tooling debugging is performed on the point to be debugged of the coordinate point data to obtain the current coordinate value; the difference value is calculated based on the working point data and the current coordinate value to obtain the difference value; the point to be debugged is debugged based on the difference value to obtain the debugging result. Therefore, by constructing a coordinate conversion model through the coordinate point data of the target workpiece, the coordinate conversion of the working point of the target workpiece can be performed more simply to obtain the working point data, and then the difference value of the point to be debugged can be calculated through the current coordinate value of the point to be debugged and the working point data, so as to accurately debug the point to be debugged, thereby achieving the ability to simplify the coordinate debugging process while ensuring the accuracy of coordinate debugging calibration.

[0112] In an exemplary embodiment, as shown in FIG4 , the coordinate positioning debugging method further includes steps 402 to 406. Among them:

[0113] Step 402, obtaining the accuracy requirement of the target workpiece.

[0114] The accuracy requirement may be a specific accuracy value or other accuracy conditions.

[0115] In some embodiments, the accuracy requirement of the target workpiece input by the user may be obtained through a visual interactive interface, or the corresponding accuracy requirement may be obtained from a database according to a default requirement of the target workpiece.

[0116] Step 404: if the difference value meets the first preset requirement, the debugging result is set as successful point debugging; wherein the first preset requirement is set according to the accuracy requirement.

[0117] The first preset requirement may be a specific accuracy range.

[0118] In some embodiments, if the difference value meets the first preset requirement, the debugging result is set as point debugging success, and a prompt message of point debugging success is generated, and the user is prompted according to the prompt message of point debugging success.

[0119] Step 406: If the difference value does not meet the first preset requirement, the debugging result is set as point debugging failure.

[0120] In some embodiments, if the difference value meets the first preset requirement, the debugging result is set as point debugging success, and a prompt message of point debugging failure is generated, and the user is prompted to re-debug the target workpiece according to the prompt message of point debugging failure.

[0121] In this embodiment, by obtaining the accuracy requirement of the target workpiece, setting the first preset requirement according to the accuracy requirement, performing debugging verification based on whether the difference value meets the first preset requirement, and prompting the user based on the debugging result, the debugging accuracy can be effectively improved while improving the user experience.

[0122] 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.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a coordinate positioning debugging device for implementing the coordinate positioning debugging 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 coordinate positioning debugging device embodiments provided below can refer to the limitations of the coordinate positioning debugging method above, and will not be repeated here.

[0124] In an exemplary embodiment, as shown in FIG5 , a coordinate positioning debugging device is provided, comprising: a model building module 501, a coordinate conversion module 502, a tooling debugging module 503, a calculation module 504 and a point debugging module 505, wherein:

[0125] The model building module 501 is used to obtain the coordinate point data of the target workpiece, and to build a conversion model according to the coordinate point data to obtain a coordinate conversion model;

[0126] A coordinate conversion module 502 is used to perform coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data;

[0127] The tooling debugging module 503 is used to perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value;

[0128] A calculation module 504 is used to calculate the difference value according to the working point data and the current coordinate value to obtain the difference value;

[0129] The point debugging module 505 is used to debug the point to be debugged according to the difference value to obtain a debugging result.

[0130] In some embodiments, the model building module 501 is also used to determine the theoretical distance between actual coordinate points in different coordinate directions based on the actual coordinate point data of the coordinate point data; and to build a conversion model based on the theoretical distance and the coordinate point data to obtain a coordinate conversion model.

[0131] In some embodiments, the coordinate conversion module 502 is further used to determine the offset data according to the working point; perform coordinate conversion according to the offset data and the coordinate conversion model to obtain the working point data.

[0132] In some embodiments, the tooling debugging module 503 is also used to determine the target debugging tooling according to the point to be debugged; perform point debugging on the point to be debugged according to the target debugging tooling to obtain the point debugging result; if the point debugging result is that the point is accurate, the coordinate value of the current point is recorded to obtain the current coordinate value.

[0133] In some embodiments, the calculation module 504 is further used to perform absolute value calculation according to the working point data and the current coordinate value to obtain the absolute value; and perform transmission ratio calculation according to the absolute value and the preset transmission ratio data to obtain the difference value.

[0134] In some embodiments, the device also includes: an accuracy setting module, used to obtain the accuracy requirement of the target workpiece; if the difference value meets the first preset requirement, the debugging result is set to point debugging success; wherein the first preset requirement is set according to the accuracy requirement; if the difference value does not meet the first preset requirement, the debugging result is set to point debugging failure.

[0135] In the above-mentioned coordinate positioning and debugging device, the coordinate point data of the target workpiece is obtained, and a conversion model is constructed according to the coordinate point data to obtain a coordinate conversion model; the working point of the target workpiece is converted according to the coordinate conversion model to obtain working point data; the point to be debugged of the coordinate point data is debugged by tooling to obtain the current coordinate value; the difference value is calculated according to the working point data and the current coordinate value to obtain the difference value; the point to be debugged is debugged according to the difference value to obtain the debugging result. Therefore, by constructing a coordinate conversion model through the coordinate point data of the target workpiece, the working point of the target workpiece can be more simply converted to obtain the working point data, and then the difference value of the point to be debugged can be calculated through the current coordinate value of the point to be debugged and the working point data, so as to accurately debug the point to be debugged, thereby achieving the ability to simplify the coordinate debugging process while ensuring the accuracy of coordinate debugging and calibration.

[0136] Each module in the coordinate positioning debugging device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0137] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG6. 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 via a system bus, and the communication interface is connected to the system bus via 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 coordinate point 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 via a network connection. When the computer program is executed by the processor, a coordinate positioning debugging method is implemented.

[0138] Those skilled in the art will understand that the structure shown in FIG. 6 is merely a block diagram of a partial 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 shown in the figure, or combine certain components, or have a different arrangement of components.

[0139] In an exemplary embodiment, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0140] In some embodiments, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0141] In some embodiments, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0142] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0143] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method 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 the present application can include at least one of non-volatile memory 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), magnetic 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, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0144] 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 application.

[0145] 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 coordinate positioning debugging method, characterized in that: The method comprises: Acquire coordinate point data of the target workpiece, and construct a conversion model based on the coordinate point data to obtain a coordinate conversion model; Performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data; Perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value; Calculate the difference value according to the working point data and the current coordinate value to obtain the difference value; The point to be debugged is debugged according to the difference value to obtain a debugging result.

2. The method according to claim 1, characterized in that: The step of constructing a conversion model according to the coordinate point data to obtain a coordinate conversion model includes: Determine the theoretical distance between actual coordinate points in different coordinate directions according to the actual coordinate point data of the coordinate point data; A conversion model is constructed according to the theoretical distance and the actual coordinate point data to obtain the coordinate conversion model.

3. The method according to claim 1, characterized in that The step of performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data includes: Determining offset data according to the working point; Coordinate conversion is performed according to the offset data and the coordinate conversion model to obtain the working point data.

4. The method according to claim 1, characterized in that The step of performing tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value includes: Determine the target debugging tooling according to the point to be debugged; Performing point debugging on the point to be debugged according to the target debugging tool to obtain a point debugging result; If the point debugging result is that the point is accurate, the coordinate value of the current point is recorded to obtain the current coordinate value.

5. The method according to claim 1, characterized in that The step of calculating a difference value based on the working point data and the current coordinate value to obtain the difference value includes: Performing absolute value calculation according to the working point data and the current coordinate value to obtain an absolute value; The transmission ratio is calculated according to the absolute value and the preset transmission ratio data to obtain the difference value.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Obtaining the accuracy requirement of the target workpiece; If the difference value meets the first preset requirement, the debugging result is set as point debugging success; wherein the first preset requirement is set according to the accuracy requirement; If the difference value does not meet the first preset requirement, the debugging result is set as point debugging failure.

7. A coordinate positioning debugging device, characterized in that: The device comprises: A model building module is used to obtain the coordinate point data of the target workpiece, and to build a conversion model according to the coordinate point data to obtain a coordinate conversion model; A coordinate conversion module, used for performing coordinate conversion on the working point of the target workpiece according to the coordinate conversion model to obtain working point data; A tooling debugging module is used to perform tooling debugging on the coordinate point data to be debugged to obtain the current coordinate value; A calculation module, used for calculating a difference value according to the working point data and the current coordinate value to obtain a difference value; The point debugging module is used to debug the point to be debugged according to the difference value to obtain a debugging result.

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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