Placement point position teaching method, robot and placement point position teaching system

Abstract

The present invention discloses a method for teaching the position of a placement point, a robot, and a system for teaching the position of a placement point, and relates to the field of visual positioning. The method only requires operating the robot to teach the position of a second processing platform (such as the first processing platform) to determine the placement point teaching data corresponding to the platform. For other new platforms (such as the first processing platform), it is only necessary to adjust the placement angle in the manipulator coordinate system to be consistent with the placement angle of the first processing platform, and determine the coordinate offset of the external marking point and the fixed placement point on the new platform at the current placement angle. The position offset at the current placement angle can be used to update the robot's teaching data for the placement point of the first processing platform, thereby determining the teaching data for the placement point on the new platform, simplifying the position teaching process, and thereby improving the robot's efficiency in teaching the position of the placement points on different processing platforms.

Description

Technical Field

[0001] The present invention relates to the field of visual positioning technology, and in particular to a placement point position teaching method, a robot, and a placement point position teaching system. Background Art

[0002] With the continuous advancement of digital transformation in the manufacturing and processing field and the increasing complexity of new technologies, manufacturing companies are increasingly inclined to equipment automation and information solutions, such as the automation of printed circuit board (PCB) CNC processing equipment. Among them, PCB CNC processing equipment may include PCB drilling machines, AGV composite robots responsible for picking up and placing materials, etc.

[0003] For the robot responsible for picking up and placing materials, before the robot performs picking up and placing materials, it is necessary to teach the robot the position of the target placement point so that the robot can automatically locate and find the target placement point according to the teaching data, and accurately perform the picking up and placing operations during the processing process.

[0004] In practice, since the placement points marked on the processing platform are easily blocked when the plates are placed, it is not convenient for the material handling robot to accurately locate the placement points. Therefore, external MARK points are often set outside the plate placement area on the platform to assist in the visual positioning of the placement points.

[0005] In this way, when teaching the placement point position of the pick-and-place robot, it is also necessary to locate the placement point through the external MARK point. However, it is difficult to completely unify the settings of the external MARK point and the placement point on different processing platforms. Currently, the placement point teaching for each processing platform is mainly carried out by controlling the robot to find the placement point on each processing platform by referring to the external MARK point. For example, before using a new pick-and-place robot to cooperate with multiple processing platforms in a processing scenario to perform pick-and-place operations, it is necessary to cyclically operate the robot to teach the placement point for each processing platform. This project is large and takes a lot of time. Summary of the invention

[0006] The embodiments of the present invention provide a method for teaching the position of a placement point, a robot, and a system for teaching the position of a placement point, so as to solve the problem of how to improve the efficiency of teaching the position of placement points on different processing platforms by a material picking and placing robot.

[0007] A method for teaching the position of a placement point, comprising: obtaining a first placement angle of a first processing platform in a robot coordinate system; obtaining a first coordinate offset between a first fixed placement point and a first external marking point on the first processing platform in the robot coordinate system, the first external marking point being arranged outside a plate placement area of ​​the first processing platform; correcting the first coordinate offset according to a second placement angle and the first placement angle to determine the coordinate offset between the first fixed placement point and the first external marking point when the first processing platform is at the second placement angle as the corrected first coordinate offset, the second placement angle being the placement angle of a second processing platform for which placement point teaching has been completed in the robot coordinate system; updating the placement point teaching data corresponding to the second processing platform according to the corrected first coordinate offset to obtain the placement point teaching data of the first fixed placement point.

[0008] In one embodiment, the method of obtaining a first placement angle of the first processing platform in the robot coordinate system includes: obtaining first mechanical coordinates of at least two of the first external marking points in the robot coordinate system; determining a first angle between a first marking line and a first coordinate axis of the robot coordinate system based on at least two of the first mechanical coordinates, wherein the first marking line represents the distribution orientation of at least two of the first external marking points, and the first coordinate axis is any coordinate axis in the robot coordinate system that is parallel to the first processing platform; determining a second angle between the first placement line and the first coordinate axis as the first placement angle based on an actual angle between the pre-calibrated first placement line and the first marking line and the first angle; the first placement line is determined based on the first fixed placement point and the first movable placement point, and the first movable placement point and the first fixed placement point can jointly locate the placement position of the panel on the first processing platform.

[0009] In one embodiment, obtaining the first placement angle of the first processing platform in the robot coordinate system includes: obtaining the second mechanical coordinates of the first fixed placement point in the robot coordinate system; obtaining the third mechanical coordinates of the first movable placement point in the robot coordinate system, the first movable placement point and the first fixed placement point can jointly locate the placement position of the panel on the first processing platform; determining the first placement angle according to the second mechanical coordinates and the third mechanical coordinates.

[0010] In one embodiment, obtaining the first coordinate offset between the first fixed placement point and the first external marking point on the first processing platform in the robot coordinate system includes: calculating the first mechanical coordinate of the first external marking point and the second mechanical coordinate of the first fixed placement point, the coordinate offset in the first coordinate axis direction of the robot coordinate system, and the coordinate offset in the second coordinate axis direction of the robot coordinate system; the first coordinate offset includes the coordinate offset in the first coordinate axis direction and the coordinate offset in the second coordinate axis direction; the first mechanical coordinate and the second mechanical coordinate are both obtained by using a camera set on the robot, the posture of the camera is consistent with the posture when the camera is calibrated, and the first coordinate axis direction and the second coordinate axis direction are both perpendicular to the optical axis of the camera.

[0011] In one embodiment, correcting the first coordinate offset based on the second placement angle and the first placement angle includes: calculating the difference between the second placement angle and the first placement angle to determine the offset angle of the first processing platform relative to the second processing platform in the robot coordinate system; and correcting the first coordinate offset based on the offset angle.

[0012] In one embodiment, the first movable placement point includes any placement point in a placement slot provided in the panel placement area.

[0013] In one embodiment, the placement point teaching data of the second processing platform is obtained in the following manner: the coordinates of the second fixed placement point, the second movable placement point and the second external marking point on the second processing platform in the robot coordinate system are respectively obtained; according to the coordinates of the second fixed placement point and the second movable placement point in the robot coordinate system, the third angle between the second placement line and the first coordinate axis is determined as the second placement angle, the second placement line is determined according to the second fixed placement point and the second movable placement point, and the second movable placement point and the second fixed placement point can jointly locate the placement position of the plate on the second processing platform; according to the coordinates of the second fixed placement point and the second external marking point in the robot coordinate system, the second coordinate offset is determined; according to the second coordinate offset and the second placement angle, the position of the second fixed placement point is taught, and the placement point teaching data during the teaching process is obtained.

[0014] A robot, the robot obtains a first placement angle of a first processing platform in a manipulator coordinate system; the robot obtains a first coordinate offset between a first fixed placement point and a first external marking point on the first processing platform in the manipulator coordinate system, the first external marking point being set outside a plate placement area of ​​the first processing platform; the robot corrects the first coordinate offset according to a second placement angle and the first placement angle to determine the coordinate offset between the first fixed placement point and the first external marking point when the first processing platform is at the second placement angle as the corrected first coordinate offset, the second placement angle being the placement angle of the second processing platform for which placement point teaching has been completed in the manipulator coordinate system; the robot updates the placement point teaching data corresponding to the second processing platform according to the corrected first coordinate offset to obtain the placement point teaching data corresponding to the first fixed placement point.

[0015] In one embodiment, the robot includes a manipulator and a camera arranged on the manipulator; the robot controls the manipulator to move above the first processing platform to drive the camera to move above the first processing platform; the robot uses the camera to obtain the first mechanical coordinate of the first external marking point in the manipulator coordinate system, and the second mechanical coordinate of the first fixed placement point in the manipulator coordinate system; the robot calculates the coordinate offset of the first mechanical coordinate and the second mechanical coordinate in the first coordinate axis direction of the manipulator coordinate system, and the coordinate offset in the second coordinate axis direction of the manipulator coordinate system to obtain the first coordinate offset; the posture of the camera is consistent with the posture when the camera is calibrated, and the first coordinate axis direction and the second coordinate axis direction are both perpendicular to the optical axis of the camera.

[0016] A placement point position teaching system comprises a robot as described in any of the above embodiments and a plurality of processing platforms.

[0017] The above-mentioned placement point position teaching method, robot and placement point position teaching system only need to operate the robot to perform position teaching on the second processing platform (such as the first processing platform) to determine the placement point teaching data corresponding to the platform. For other new platforms (such as the first processing platform), it is only necessary to adjust its placement angle in the manipulator coordinate system to be consistent with the placement angle of the first processing platform, and then determine the coordinate offset of the external marking point and the fixed placement point on the new platform at the current placement angle, and then use the position offset at the current placement angle to update the robot's placement point teaching data for the first processing platform, thereby determining the placement point teaching data on the new platform, simplifying the position teaching process, and thereby improving the robot's efficiency in teaching the placement points on different processing platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0019] Figure 1 is a flow chart of a method for teaching the position of a placement point in one embodiment of the present invention; Figure 2 It is a schematic diagram of a multi-axis drilling machine platform; Figure 3 is another flow chart of a method for teaching the position of a placement point in one embodiment of the present invention; Figure 4 is a position relationship diagram of the first marking line and the first placement line on the XOY plane of the manipulator coordinate system in one embodiment of the present invention; Figure 5 is another flow chart of a method for teaching the position of a placement point in one embodiment of the present invention; Figure 6 is another flow chart of a method for teaching the position of a placement point in one embodiment of the present invention; Figure 7 is another flow chart of a method for teaching the position of a placement point in one embodiment of the present invention; Figure 8 is a schematic structural diagram of a robot in one embodiment of the present invention; Fig. 9 Schematic diagram of a placement point position teaching system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, but does not exclude the presence or addition of one or more other features, integers, steps, operations and / or groups thereof.

[0022] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0023] In addition, in the description of the present specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0024] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0025] The embodiment of the present invention provides a robot, which can be applied in a numerical control processing environment, including but not limited to drilling processing of PCB boards. The robot can perform cyclic pick-and-place operations between a processing platform and a storage mechanism, for example, the robot grabs a board from the storage mechanism, places the board on the processing platform so that the processing equipment processes the board; and transfers the processed board from the processing platform to a designated storage mechanism.

[0026] Before the robot is put into actual material picking and placing operations, it is necessary to teach the robot the position of the placement point so that the robot can accurately locate the placement point on the processing platform according to the teaching data recorded during the teaching process, thereby accurately placing the panel at the specified position on the processing platform.

[0027] In one embodiment, if Figure 1 As shown, a method for teaching the position of a placement point is provided, which can be applied to the robot described in the above embodiment to obtain the placement point teaching data of the robot for different processing platforms. The method for teaching the position of a placement point may include the following steps: S101, obtaining a first placement angle of a first processing platform in a robot coordinate system.

[0028] In the CNC machining scenario, the first machining platform may be a platform for placing the panel to be machined, or a machining workbench for the panel to be machined. For example, the first machining platform may be a machining workbench of a PCB drilling machine.

[0029] It needs to be understood that the manipulator coordinate system is the manipulator coordinate system corresponding to the robot. The controller in the robot can control the robot and / or manipulator to adjust the posture according to the point coordinates in the manipulator coordinate system, so that a free end of the manipulator can accurately fall at the target position, or place the panel clamped by the manipulator to the target position, etc.

[0030] In this embodiment, when obtaining the first placement angle of the first processing platform in the manipulator coordinate system, the coordinates of the special points on the first processing platform in the manipulator coordinate system can be obtained, and then the placement angle of the first processing platform in the manipulator coordinate system can be determined according to the distribution of these special points in the manipulator coordinate system. The special point can be a placement point on the first processing platform or other position points, which is not limited in this embodiment.

[0031] The first placement angle of the first processing platform in the robot coordinate system can be used to determine the target angle to which the panel needs to be adjusted before being placed on the first processing platform.

[0032] The first placement angle can be understood as the inclination of the first processing platform. When determining the first placement angle, the first placement angle of the first processing platform can be determined by using a pre-set reference placement angle as a reference. Alternatively, other references can be pre-set, which is not limited in this application.

[0033] S102, obtaining a first coordinate offset between a first fixed placement point and a first external marking point on the first processing platform in the manipulator coordinate system, wherein the first external marking point is arranged outside a panel placement area of ​​the first processing platform.

[0034] The first fixed placement point on the first processing platform can be understood as a fixed point in the panel placement area on the first processing platform. For example, on a platform of a drilling machine, the PIN point / pin placement point can be used as a fixed placement point. If the drilling machine platform is used as a platform that requires placement point position teaching, the drilling machine platform can be used as the first processing platform of this embodiment, and the PIN point on the drilling machine platform can be used as the first fixed placement point of this embodiment.

[0035] There is a corresponding relationship between the first external marking point and the first fixed placement point. The first external marking point is set outside the plate placement area of ​​the first processing platform. The first external marking point corresponding to a first fixed placement point on the first processing platform can be used to assist in locating the first fixed placement point. For example, when the composite robot places the processing material on the drilling machine platform, the clamping pin point will be covered by the plate and cannot be photographed directly. At this time, visual positioning must be completed through the external marking point.

[0036] Figure 2It is a schematic diagram of a multi-axis drilling machine platform, where each axis corresponds to a sub-platform. Figure 2 A three-axis drilling machine platform is shown in FIG. Figure 2 As shown, the sub-platforms corresponding to each axis are arranged and set.

[0037] like Figure 2 As shown, on the platform of the three-axis drilling machine, a fixed placement point is set in the processing area / sheet material placement area of ​​each axis, and an external marking point corresponding to the fixed placement point is set outside the processing area / sheet material placement area.

[0038] refer to Figure 2 It can be understood that there is a certain distance between the first fixed placement point on the first processing platform and the first external marking point corresponding to the first fixed placement point on the plane of the first processing platform. In the manipulator coordinate system, there is a difference in the coordinates of the first fixed placement point and the first external marking point.

[0039] In this embodiment, the first coordinate offset can be understood as the component of the actual distance between the first fixed placement point and the first external marking point corresponding to the first fixed placement point on different coordinate axes of the robot coordinate system; or it can be understood as the offset between the coordinates of the first fixed placement point in the robot coordinate system and the coordinates of the first external marking point corresponding to the first fixed placement point.

[0040] It is important to understand that two fixed points in reality will have different coordinates when expressed in different coordinate systems. Therefore, the coordinate offset between the two points will also change with the rotation of the robot coordinate system; In addition, if the angle of the platform changes, the coordinate offsets of the two points on the platform in the fixed robot coordinate system will also change.

[0041] That is to say, if the placement angles of the two processing platforms in the actual environment already deviate, then even if the relative position relationship between the fixed placement points on the two platforms and their corresponding external marking points is exactly the same, there will be differences in the coordinate offsets between the fixed placement points on the two platforms and the external marking points corresponding to the fixed placement points in the same robot coordinate system.

[0042] For example, if the origin of the robot coordinate system is the center TCP of the robot tool, after the robot rotates around the TCP point, the robot coordinate system at this time will have an angle deviation from the robot coordinate system before the robot rotates, and the first coordinate offset determined in the two robot coordinate systems will also be different.

[0043] It should be noted that the first coordinate offset in this embodiment is the coordinate offset between the first fixed placement point and the second external marking point on the first processing platform when the placement angle of the first processing platform in the robot coordinate system is the first placement angle.

[0044] For example, if the first placement angle and the first coordinate offset are indirectly acquired based on a camera provided on the manipulator, the acquisition can be performed when the posture of the manipulator is consistent with the posture of the camera, thereby ensuring that the first coordinate offset is the coordinate offset corresponding to the first placement angle.

[0045] S103, correcting the first coordinate offset according to the second placement angle and the first placement angle to determine the coordinate offset between the first fixed placement point and the first external marking point when the first processing platform is at the second placement angle, as the corrected first coordinate offset, wherein the second placement angle is the placement angle of the second processing platform that has completed the placement point teaching in the robot coordinate system.

[0046] The second processing platform can be understood through the following example: When multiple processing platforms are required (for example, multiple processing platforms may include Figure 2 When teaching the placement point position of a sub-platform for each axis under the same drilling machine, or including multiple drilling machine platforms), the operator can operate the robot to search and locate the placement point for any of these processing platforms to complete the placement point position teaching and store the teaching data generated during the teaching process, that is, the placement point teaching data in this embodiment.

[0047] The placement point teaching data may include but is not limited to the motion path, point position, posture transformation and other posture adjustment data of the manipulator.

[0048] The processing platform for which the placement point teaching data has been determined is used as the second processing platform, and the processing platform for which the placement point teaching data has not been determined is used as the first processing platform.

[0049] The placement angle of the second processing platform in the manipulator coordinate system, that is, the second placement angle, can be acquired and stored in advance so that the robot controller can acquire it at any time.

[0050] In this embodiment, the first placement angle of the first processing platform and the second placement angle of the second processing platform, as well as the first coordinate offset corresponding to the first processing platform and the second coordinate offset corresponding to the second processing platform can be expressed in the same manipulator coordinate system. According to the first placement angle and the second placement angle, the inclination of the first processing platform in the manipulator coordinate system can be adjusted to a state consistent with the second placement angle. For example, the manipulator coordinate system can be rotated around the origin of the manipulator coordinate system, and the straight line / coordinate vector that can represent the first placement angle can be rotated while rotating the coordinate system until the straight line / coordinate vector is parallel to the straight line / coordinate vector corresponding to the second placement angle in the coordinate system before rotation, and then the first coordinate offset in the coordinate system before rotation is converted to the coordinate system after rotation, so as to determine the coordinate offset between the first fixed placement point and the second external marking point when the first processing platform is at the second placement angle.

[0051] S104, updating the placement point teaching data corresponding to the second processing platform according to the corrected first coordinate offset, and obtaining the placement point teaching data corresponding to the first fixed placement point.

[0052] It should be understood that the placement point teaching data corresponding to the second processing platform is the teaching data generated in the process of adjusting the robot's posture according to the coordinate offset between the fixed placement point of the platform and the external marking point and the placement angle of the platform in the robot's coordinate system, and finally successfully positioning it at the fixed placement point. Among them, the process of adjusting the robot's angle to be consistent with the placement angle of the platform involves a large amount of angle calculations and adjustments to the robot's posture, and this process requires a large amount of engineering; while the process of controlling the robot's translation based on the coordinate offset between the two points and then locating another unknown point from a known point involves much less calculation.

[0053] In this embodiment, the relevant data for controlling the translation of the manipulator in the placement point teaching data corresponding to the second processing platform can be updated according to the corrected first coordinate offset.

[0054] When the robot controls the manipulator to locate the first fixed placement point according to the placement point teaching data corresponding to the first fixed placement point, it can use the adjustment data of the manipulator posture in the placement point teaching data corresponding to the second processing platform to adjust the manipulator to an angle consistent with the second placement angle, and then use the part of the data updated according to the corrected first coordinate offset to control the translation of the manipulator.

[0055] In summary, a method for teaching the position of a placement point is provided in an embodiment of the present application. After obtaining the first placement angle of the first processing platform in the robot coordinate system, the first coordinate offset between the first fixed placement point and the first external marking point, the first coordinate offset is corrected according to the second placement angle of the second processing platform in the robot coordinate system that has completed the placement point teaching and the first placement angle. The corrected first coordinate offset is the coordinate offset between the first fixed placement point and the first external marking point when the placement angle of the first processing platform in the robot coordinate system is equal to the second placement angle.

[0056] In this way, the manipulator posture adjustment data related to the second placement angle in the placement point teaching data corresponding to the second processing platform can be retained, and the relevant data of the manipulator translation only needs to be updated according to the corrected first coordinate offset, so as to obtain the position teaching data of the first fixed placement point on the first processing platform. The embodiment of the present application only needs to operate the robot to teach the position of the fixed placement point of the second processing platform and record the placement point teaching data corresponding to the second processing platform. For a new processing platform, such as the first processing platform, there is no need to repeat the position teaching process of the second processing platform, which simplifies the subsequent position teaching steps of the new platform, thereby improving the robot's efficiency in teaching the position of placement points on different processing platforms.

[0057] Based on the above embodiments, Figure 3 As shown, in the above step S101, "obtaining a first placement angle of the first processing platform in the manipulator coordinate system" may include the following steps: S301, obtaining first mechanical coordinates of at least two of the first external marking points in the manipulator coordinate system.

[0058] The first processing platform may be provided with a plurality of first external marking points, and each first external marking point may correspond to a first fixed placement point. The corresponding relationship here can be understood as that the first fixed placement point can be located through the first external marking point. It should be noted that there are other situations in which the relationship between the plurality of first external marking points and the first fixed placement point set on the first processing platform exists, which is not limited here.

[0059] like Figure 2 As shown, points 1, 3, and 5 in the figure are the first external marking points, points 2, 4, and 6 in the figure are the first fixed placement points, point 1 corresponds to point 2, point 3 corresponds to point 4, and point 5 corresponds to point 6.

[0060] For example, you can get Figure 2 The first mechanical coordinates of point 3 and point 5 are obtained; or the first mechanical coordinates of point 3 and point 4 are obtained, or the first mechanical coordinates of points 1, 3, and 5 are obtained. The first marking line is then determined according to the obtained first mechanical coordinates.

[0061] Among them, the coordinates of the first external marker point in the device coordinate system can be obtained through a camera or other device for visual positioning, and then based on a pre-calibrated transformation matrix between the device coordinate system and the robot coordinate system, the coordinates in the device coordinate system are converted to the robot coordinate system, thereby obtaining the above-mentioned first mechanical coordinates.

[0062] S302, determine the first angle between the first marking line and the first coordinate axis of the manipulator coordinate system based on at least two of the first mechanical coordinates, the first marking line represents the distribution orientation of at least two of the first external marking points, and the first coordinate axis is any coordinate axis in the manipulator coordinate system parallel to the first processing platform.

[0063] In this embodiment, one of the three planes where the coordinate axes of the manipulator coordinate system are located is parallel to the first processing platform and is also parallel to the second processing plane.

[0064] like Figure 4 In the figure, the straight line 1 determined by points 3 and 5 can be used as Figure 2 The first marking line of the first processing platform shown. It should be noted that there are other ways to determine the first marking line, which are not limited here. For example, when the first marking line is determined using more than two first external marking points, a straight line fitted by all the points can be used as the first marking line.

[0065] If the first marking line is determined by point 3 and point 5, the angle between the first marking line and the Y axis of the robot coordinate system can be calculated based on the first mechanical coordinates of point 3 and point 5. Figure 4 R1 in.

[0066] S303: Determine a second angle between the first placement line and the first coordinate axis as the first placement angle according to an actual angle between the pre-calibrated first placement line and the first marking line and the first angle.

[0067] It should be understood that on the first processing platform, in addition to the first fixed placement point, a first movable placement point can also be set in the panel placement area. The first fixed placement point and the first movable placement point can jointly locate the placement position of the panel, wherein the position of the first movable placement point can be flexibly changed according to the size of the panel, such as Figure 2 Point 7 in.

[0068] For example, two pins for fixing the PCB board are provided on the PCB board, one of the pins can be placed at the position of the first fixed placement point, and the other pin is placed at the position of the first movable placement point.

[0069] The first placement line is determined based on the first fixed placement point and the first movable placement point; Figure 4In the figure, the line 2 is determined by points 4 and 7; The actual angle between line 1 and line 2 can be pre-calibrated, for example, Figure 4 The coordinates of midpoint 3, point 4, point 5 and point 7 in the robot coordinate system are further determined based on these coordinates to determine the angle R1 between straight line 1 and the Y axis, and the angle R between straight line 2 and the Y axis; the angle difference R2 between R1 and R is used as the actual angle between the first placement line and the first marking line.

[0070] In this embodiment, when the actual angle between the first placement line and the first marking line is pre-calibrated, only the angle between the first placement line and the Y-axis can be obtained, and then the angle between the first placement line and the Y-axis can be further determined based on the actual angle between the first placement line and the first marking line.

[0071] In this embodiment, when the actual angle between the first placement line and the first marking line is pre-calibrated, the second angle between the first placement line and the first coordinate axis of the manipulator coordinate system can be indirectly determined as the first placement angle by obtaining the first mechanical coordinate of the first external marking point. This method can be applied in the case where the coordinates of the first fixed placement point on the first processing platform cannot be collected, and the first placement angle of the first processing platform can also be accurately obtained.

[0072] Based on the above embodiments, Figure 5 As shown, in the above step S101, "obtaining the first placement angle of the first processing platform in the manipulator coordinate system" includes the following steps: S501, obtaining a second mechanical coordinate of the first fixed placement point in the manipulator coordinate system; S502, obtaining a third mechanical coordinate of a first movable placement point in the manipulator coordinate system, wherein the first movable placement point and the first fixed placement point can jointly locate a placement position of the panel on the first processing platform; S503: Determine the first placement angle according to the second mechanical coordinate and the third mechanical coordinate.

[0073] Move the camera set on the manipulator to the top of the first processing platform, obtain the coordinates of a certain point in the camera coordinate system, and then convert the coordinates in the camera coordinate system to the manipulator coordinate system. In this way, the second mechanical coordinates of the first fixed placement point in the manipulator coordinate system and the third mechanical coordinates of the first movable placement point in the manipulator coordinate system can be determined.

[0074] In the same robot coordinate system, the X-axis coordinate and Y-axis coordinate in the first mechanical coordinate system and the X-axis coordinate and Y-axis coordinate in the second mechanical coordinate system are used to calculate the angle between the straight line segment with the corresponding points of the first mechanical coordinate system and the second mechanical coordinate system as the endpoints of the line segment and the Y-axis.

[0075] For example, the inverse tangent function arctan is used to calculate the angle between the straight line segment with the first mechanical coordinate corresponding point and the second mechanical coordinate corresponding point as the end points of the line segment and the Y axis, so as to obtain the first placement angle.

[0076] In this embodiment, the first fixed placement point and the first movable placement point of the panel placement position can be jointly located on the first processing platform, and the placement angle of the first processing platform is determined in the manipulator coordinate system; so that the placement angle of the processing platform referenced in the teaching data is equivalent to the placement angle of the panel when the robot performs the panel placement operation; thereby ensuring that the robot can accurately place the panel on the processing platform based on the teaching data. In addition, by obtaining the coordinates of the placement point on the first processing platform to directly determine the first placement angle, it is avoided that when the first external marking point is used to indirectly determine the first placement angle, the error in obtaining the position of the first external marking point is brought into the determined first placement angle, thereby reducing the error of the first placement angle.

[0077] On the basis of the above embodiment, the above step S102 of “obtaining the first coordinate offset between the first fixed placement point and the first external marking point on the first processing platform in the manipulator coordinate system” includes the following steps: Calculate the first mechanical coordinates of the first external marking point and the second mechanical coordinates of the first fixed placement point, the coordinate offset in the first coordinate axis direction of the manipulator coordinate system, and the coordinate offset in the second coordinate axis direction of the manipulator coordinate system; The first coordinate offset includes an offset in the direction of the first coordinate axis and an offset in the direction of the second coordinate axis.

[0078] The first mechanical coordinate and the second mechanical coordinate are both obtained by using a camera arranged on the manipulator, the posture of the camera is consistent with the posture when the camera is calibrated, and the first coordinate axis direction and the second coordinate axis direction are both perpendicular to the optical axis of the camera.

[0079] This embodiment uses a camera set on the manipulator to take pictures of the first external marking point and the first fixed placement point, thereby determining the coordinates of the first external marking point and the first fixed placement point in the camera coordinate system, and then converts the coordinates in the camera coordinate system to the manipulator coordinate system to obtain the coordinates of the first external marking point and the first fixed placement point in the manipulator coordinate system, that is, to obtain the first mechanical coordinates and the second mechanical coordinates.

[0080] In this embodiment, the posture of the camera on the manipulator when taking pictures is consistent with the posture of the camera during calibration. In this way, the directions of the two coordinate axes perpendicular to the camera optical axis in the above camera coordinate system will be consistent with the directions of the two coordinate axes perpendicular to the camera optical axis in the manipulator coordinate system.

[0081] If the coordinate axes parallel to the camera optical axis in the robot coordinate system and the camera coordinate system are both recorded as Z axes, then the direction of the X axis in the camera coordinate system is consistent with the direction of the X axis in the robot coordinate system, and the direction of the Y axis in the camera coordinate system is consistent with the direction of the Y axis in the robot coordinate system.

[0082] Thus, the Y axis in the robot coordinate system can be recorded as the first coordinate axis in this embodiment, and the X axis in the robot coordinate system can be recorded as the second coordinate axis in this embodiment.

[0083] When the XY direction of the camera coordinate system is the same as the XY direction of the robot coordinate system, the first coordinate offset can be determined directly by adding or subtracting the coordinates, for example: Figure 4 The calculation formula for the first coordinate offset between midpoint 3 and point 4 is as follows , .

[0084] in, When the camera takes a picture of point 4, the coordinates of the photographing point on the XY axis of the robot coordinate system are: When the camera takes a picture of point 3, the coordinates of the photographing point on the XY axis of the robot coordinate system are: is the coordinate of point 4 on the XY axis of the camera coordinate system, is the coordinate of point 3 in the XY axis of the camera coordinate system, x is the coordinate offset of point 3 and point 4 in the X axis direction of the robot coordinate system, and y is the coordinate offset of point 3 and point 4 in the Y axis direction of the robot coordinate system.

[0085] In this embodiment, the posture of the camera when acquiring the coordinates of the first fixed placement point and the first external marking point is maintained as the posture when the camera is calibrated, so that the XY axis direction of the camera coordinate system is consistent with the XY axis direction of the manipulator coordinate system. In this way, the coordinate offset can be obtained by performing simple addition and subtraction operations on the coordinate components of the two points in each coordinate axis direction, thereby reducing the amount of calculation.

[0086] Based on the above embodiments, Figure 6 As shown, in the above step S103, "correcting the first coordinate offset according to the second placement angle and the first placement angle" includes the following steps: S601, calculating the difference between the second placement angle and the first placement angle to determine an offset angle of the first processing platform relative to the second processing platform in the manipulator coordinate system; S602: Correct the first coordinate offset according to the offset angle.

[0087] Substitute the offset angle r1 into the following formula: ; ; Where r1 is the difference between the first placement angle and the second placement angle. The calculated x, y are the first coordinate offsets between the first fixed placement point and the first external marking point in the manipulator coordinate system when the first processing platform is not offset by angle r1. x2, y2 are the first coordinate offsets before correction.

[0088] In addition, there are other implementations of the method of correcting the first coordinate offset according to the offset angle, which are not limited here. For example, the first fixed placement point and the first external marking point are represented in the robot coordinate system, and the distance between the two points in the X-axis direction and the distance in the Y-axis direction are represented at the same time. The second placement angle corresponding to the second processing platform is also represented in the robot coordinate system. Combined with auxiliary lines and different types of trigonometric functions, the coordinate offset between the two endpoints of the line segment when the line segment between the first fixed placement point and the first external marking point is rotated to a state parallel to the second placement angle is calculated.

[0089] In this embodiment, the offset angle between the first processing platform and the second processing platform is directly referenced to correct the first coordinate offset of the first processing platform, and the angle change required by the first processing platform is converted into the change of the coordinate offset of two fixed points (the first fixed placement point and the first external marking point) on the first processing platform in different directions, so as to correct the first coordinate offset to the coordinate offset of the two fixed points on the platform when the placement angles of the first processing platform and the second processing platform in the manipulator coordinate system are the same. There is no need to perform a rotation transformation of the coordinate system, and the calculation process is more efficient.

[0090] Based on the above embodiment, the first movable placement point may include any placement point in the placement groove set in the panel placement area.

[0091] The placement slot can be Figure 2 The strip groove shown in the figure is on the same straight line as the placement hole of the fixed placement point. The straight line on which the strip groove and the fixed placement point are located can be determined by any placement point in the strip groove and the fixed placement point. In this way, there is no need to adjust the movable placement point for different sizes of the processed boards. You only need to specify any point in the placement groove as the first movable placement point corresponding to the first fixed placement point. For example, Figure 2 Points 4 and 7 in .

[0092] Based on the above embodiments, Figure 7 As shown, the placement point teaching data of the second processing platform can be obtained in the following ways: S701, respectively obtain the coordinates of a second fixed placement point, a second movable placement point, and a second external marking point on the second processing platform in the manipulator coordinate system.

[0093] S702, determining a third angle between a second placement line and the first coordinate axis according to the coordinates of the second fixed placement point and the second movable placement point in the manipulator coordinate system as the second placement angle, wherein the second placement line is determined according to the second fixed placement point and the second movable placement point, and the second movable placement point and the second fixed placement point can jointly locate the placement position of the panel on the second processing platform; S703, determining a second coordinate offset according to the coordinates of the second fixed placement point and the second external marking point in the manipulator coordinate system; S704: Perform position teaching on the second fixed placement point according to the second coordinate offset and the second placement angle, and obtain placement point teaching data during the teaching process.

[0094] It should be noted that the method for obtaining the coordinates of the second fixed placement point, the second external marking point, and the second movable placement point in the robot coordinate system in this embodiment can refer to the method for obtaining the second mechanical coordinates, the first mechanical coordinates, and the third mechanical coordinates in the above embodiment; the method for determining the second placement angle and the second coordinate offset in this embodiment can also refer to the method for determining the first placement angle and the first coordinate offset in the above embodiment, which will not be repeated here.

[0095] This embodiment controls the manipulator to search for the second fixed placement point according to the second coordinate offset and the second placement angle. In this process, the motion trajectory, point position, posture and other data of the manipulator can be directly recorded when the angle of the manipulator is adjusted to the same state as the second placement angle; the motion trajectory, point position and other data of the manipulator can be recorded in the process of translating from the second external marker point to the second fixed placement point based on the second coordinate offset.

[0096] In this way, the teaching data can be directly divided into a part related to the coordinate offset and a part related to the placement angle. When the placement point teaching data of the first processing platform is obtained, the part related to the coordinate offset can be directly updated.

[0097] For example, if the second coordinate offset is 1cm (parameter 1) on the X axis and 2cm (parameter 2) on the Y axis, the data related to controlling the translation of the manipulator in the placement point teaching data of the second processing platform may include: the manipulator translates 1cm (parameter 1) in the X axis direction and then translates 2cm (parameter 2) in the Y axis direction from directly above the second external marking point. Correspondingly, when updating the placement point teaching data, parameters 1 and 2 may be replaced with the corresponding data in the corrected first coordinate offset.

[0098] In this embodiment, the second placement angle of the second processing platform in the robot coordinate system, the second coordinate offset between the second fixed placement point and the second external marking point are used as basic data for reference when teaching the placement point of the second processing platform, so that the final placement point teaching data is generated based on the placement angle of the platform and the coordinate offset between the fixed placement point on the platform and the external marking point. In this way, when updating the placement point teaching data for a new platform, there is no need to disassemble the data related to the coordinate offset from the placement point teaching data through complex analysis for updating, thereby improving the updating efficiency of the placement point teaching data and improving the teaching efficiency of the robot for multiple new platforms.

[0099] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0100] In one embodiment, a robot is provided, which can implement the method for teaching the position of a placement point described in any of the above embodiments.

[0101] The robot obtains a first placement angle of the first processing platform in the manipulator coordinate system; The robot obtains a first coordinate offset between a first fixed placement point and a first external marking point on the first processing platform in the manipulator coordinate system, where the first external marking point is set outside a panel placement area of ​​the first processing platform; The robot corrects the first coordinate offset according to the second placement angle and the first placement angle to determine the coordinate offset between the first fixed placement point and the first external marking point when the first processing platform is at the second placement angle as the corrected first coordinate offset, wherein the second placement angle is the placement angle of the second processing platform for which placement point teaching has been completed in the manipulator coordinate system; The robot updates the placement point teaching data corresponding to the second processing platform according to the corrected first coordinate offset, and obtains the placement point teaching data corresponding to the first fixed placement point.

[0102] In one embodiment, if Figure 8 As shown, the robot 800 includes a manipulator 801 and a camera 802 disposed on the manipulator; The robot 800 controls the manipulator 801 to move above the first processing platform, so as to drive the camera 802 to move above the first processing platform; The robot 800 uses the camera 802 to obtain the first mechanical coordinates of the first external marking point in the robot coordinate system and the second mechanical coordinates of the first fixed placement point in the robot coordinate system; The robot 800 calculates the coordinate offset of the first mechanical coordinate and the second mechanical coordinate in the first coordinate axis direction of the manipulator coordinate system, and the coordinate offset in the second coordinate axis direction of the manipulator coordinate system, to obtain the first coordinate offset; The posture of the camera 802 is consistent with the posture during camera calibration, and the first coordinate axis direction and the second coordinate axis direction are both perpendicular to the optical axis of the camera.

[0103] The robot proposed in the embodiment of the present application, after obtaining the first placement angle of the first processing platform in the manipulator coordinate system, the first coordinate offset between the first fixed placement point and the first external marking point, corrects the first coordinate offset according to the second placement angle of the second processing platform in the manipulator coordinate system that has completed the placement point teaching and the first placement angle. The corrected first coordinate offset is the coordinate offset between the first fixed placement point and the first external marking point when the placement angle of the first processing platform in the manipulator coordinate system is equal to the second placement angle.

[0104] In this way, the data of the manipulator posture adjustment related to the second placement angle in the placement point teaching data corresponding to the second processing platform can be retained, and the relevant data of the manipulator translation only needs to be updated according to the corrected first coordinate offset, so as to obtain the position teaching data of the first fixed placement point on the first processing platform. The embodiment of the present application only needs to operate the robot to teach the position of the fixed placement point of the second processing platform and record the placement point teaching data corresponding to the second processing platform. For a new processing platform, such as the first processing platform, there is no need to repeat the position teaching process of the second processing platform, which simplifies the subsequent position teaching steps of the new platform, thereby improving the efficiency of the robot's position teaching of placement points on different processing platforms.

[0105] It should be noted that the specific limitations on the robot can be found in the above-mentioned limitations on the method for teaching the placement point position, which will not be repeated here.

[0106] In one embodiment, a placement point position teaching system is provided, such as Fig. 9 As shown, it includes a robot 800 and multiple processing platforms 901 as described in any of the above embodiments.

[0107] The robot executes the method for teaching the placement point position described in any of the above embodiments, and teaches the placement points in multiple processing platforms. It only needs to operate the robot to perform complex manual teaching on the second processing platform (such as the first processing platform) to determine the placement point teaching data corresponding to the platform. For other new platforms, it is only necessary to adjust their placement angle in the manipulator coordinate system to be consistent with the placement angle of the first processing platform, and determine the coordinate offset of the external marking point and the fixed placement point on the new platform at the current placement angle. The position offset at the current placement angle can be used to update the robot's placement point teaching data for the first processing platform, thereby determining the teaching data of the placement point on the new platform, simplifying the position teaching process, and thereby improving the robot's efficiency in teaching the placement points on different processing platforms.

[0108] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0109] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for teaching the position of a placement point, characterized in that: The method comprises: Obtaining a first placement angle of the first processing platform in the manipulator coordinate system; Acquire a first coordinate offset between a first fixed placement point and a first external marking point on the first processing platform in the manipulator coordinate system, where the first external marking point is set outside a panel placement area of ​​the first processing platform; According to the second placement angle and the first placement angle, the first coordinate offset is corrected to determine the coordinate offset between the first fixed placement point and the first external marking point when the first processing platform is at the second placement angle as the corrected first coordinate offset, wherein the second placement angle is the placement angle of the second processing platform that has completed the placement point teaching in the manipulator coordinate system; According to the corrected first coordinate offset, the placement point teaching data corresponding to the second processing platform is updated to obtain the placement point teaching data of the first fixed placement point.

2. The method according to claim 1, characterized in that The obtaining of a first placement angle of the first processing platform in the manipulator coordinate system includes: Acquire first mechanical coordinates of at least two of the first external marking points in the manipulator coordinate system; Determine a first angle between a first marking line and a first coordinate axis of the manipulator coordinate system according to at least two of the first mechanical coordinates, wherein the first marking line represents the distribution orientation of at least two of the first external marking points, and the first coordinate axis is any coordinate axis in the manipulator coordinate system parallel to the first processing platform; Determine a second angle between the first placement line and the first coordinate axis as the first placement angle according to an actual angle between the first placement line and the first marking line that is pre-calibrated and the first angle; The first placement line is determined based on the first fixed placement point and the first movable placement point, and the first movable placement point and the first fixed placement point can jointly locate the placement position of the panel on the first processing platform.

3. The method according to claim 1, characterized in that The obtaining of a first placement angle of the first processing platform in the manipulator coordinate system includes: Acquire a second mechanical coordinate of the first fixed placement point in the manipulator coordinate system; Acquire a third mechanical coordinate of a first movable placement point in the manipulator coordinate system, wherein the first movable placement point and the first fixed placement point can jointly locate a placement position of the panel on the first processing platform; The first placement angle is determined according to the second mechanical coordinate and the third mechanical coordinate.

4. The method according to claim 1, characterized in that The obtaining of the first coordinate offset between the first fixed placement point and the first external marking point on the first processing platform in the manipulator coordinate system comprises: Calculate the coordinate offset of the first mechanical coordinate of the first external marking point and the second mechanical coordinate of the first fixed placement point in the direction of the first coordinate axis of the manipulator coordinate system, and the coordinate offset in the direction of the second coordinate axis of the manipulator coordinate system; The first coordinate offset includes a coordinate offset in the direction of the first coordinate axis and a coordinate offset in the direction of the second coordinate axis; The first mechanical coordinate and the second mechanical coordinate are both obtained by using a camera arranged on a manipulator, the posture of the camera is consistent with the posture when the camera is calibrated, and the first coordinate axis direction and the second coordinate axis direction are both perpendicular to the optical axis of the camera.

5. The method according to claim 1, characterized in that The correcting the first coordinate offset according to the second placement angle and the first placement angle includes: Calculating a difference between the second placement angle and the first placement angle to determine an offset angle of the first processing platform relative to the second processing platform in the manipulator coordinate system; The first coordinate offset is corrected according to the offset angle.

6. The method according to any one of claims 1 to 5, characterized in that: The first movable placement point includes any placement point in a placement slot provided in the panel placement area.

7. The method according to any one of claims 1 to 5, characterized in that: The placement point teaching data of the second processing platform is obtained by the following method: Respectively obtain the coordinates of the second fixed placement point, the second movable placement point and the second external marking point on the second processing platform in the manipulator coordinate system; According to the coordinates of the second fixed placement point and the second movable placement point in the manipulator coordinate system, determine a third angle between the second placement line and the first coordinate axis as the second placement angle, the second placement line is determined according to the second fixed placement point and the second movable placement point, and the second movable placement point and the second fixed placement point can jointly locate the placement position of the panel on the second processing platform; Determine a second coordinate offset according to the coordinates of the second fixed placement point and the second external marking point in the manipulator coordinate system; According to the second coordinate offset and the second placement angle, the position of the second fixed placement point is taught, and the placement point teaching data during the teaching process is obtained.

8. A robot, characterized in that: The robot obtains a first placement angle of the first processing platform in the manipulator coordinate system; The robot obtains a first coordinate offset between a first fixed placement point and a first external marking point on the first processing platform in the manipulator coordinate system, where the first external marking point is set outside a panel placement area of ​​the first processing platform; The robot corrects the first coordinate offset according to the second placement angle and the first placement angle to determine the coordinate offset between the first fixed placement point and the first external marking point when the first processing platform is at the second placement angle as the corrected first coordinate offset, wherein the second placement angle is the placement angle of the second processing platform for which placement point teaching has been completed in the manipulator coordinate system; The robot updates the placement point teaching data corresponding to the second processing platform according to the corrected first coordinate offset, and obtains the placement point teaching data corresponding to the first fixed placement point.

9. The robot according to claim 8, characterized in that The robot comprises a manipulator and a camera arranged on the manipulator; The robot controls the manipulator to move above the first processing platform to drive the camera to move above the first processing platform; The robot uses the camera to obtain a first mechanical coordinate of the first external marking point in the manipulator coordinate system and a second mechanical coordinate of the first fixed placement point in the manipulator coordinate system; The robot calculates the coordinate offset of the first mechanical coordinate and the second mechanical coordinate in the first coordinate axis direction of the manipulator coordinate system, and the coordinate offset in the second coordinate axis direction of the manipulator coordinate system, so as to obtain the first coordinate offset; The posture of the camera is consistent with the posture when the camera is calibrated, and the first coordinate axis direction and the second coordinate axis direction are both perpendicular to the optical axis of the camera.

10. A placement point position teaching system, characterized in that: It comprises the robot as claimed in claim 8 or 9 and a plurality of processing platforms.

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