A robot head cutting positioning method and system

Abstract

The present invention discloses a robot end cap cutting positioning method and system, wherein the robot performs point laser scanning on the end cap along the dividing line of the end cap positioning work area, and roughly determines the rough positioning circle center position of the end cap projected on the horizontal plane; parallel lines of the horizontal and vertical coordinate axes are respectively drawn through the rough positioning circle center position, and two line segments are obtained by intersecting with the end cap positioning work area, and the robot performs point laser scanning on the end cap along the two line segments, and accurately determines the fine positioning circle center position of the end cap projected on the horizontal plane; multiple iterative optimizations of the fine positioning of the end cap are performed based on the fine positioning circle center position, and the positioning accuracy of the center position after iterative optimization is evaluated, and the positioning is terminated if it meets the preset accuracy, and the final end cap circle center position is obtained. The positioning accuracy is effectively guaranteed by the coarse positioning, fine positioning, and fine positioning iterative optimization methods, and the robot and the point laser displacement sensor are combined to be applicable to the positioning operation of any position of ends of different specifications and sizes.

Description

Technical Field

[0001] The invention belongs to the field of industrial automatic control, and in particular relates to a robot head cutting positioning method and system. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the rapid development of petrochemical, pressure vessel, aerospace and other fields, the demand for head components is increasing. The head refers to the component used to close the end of the container to isolate the internal and external media. It is usually connected to the cylinder by welding to play a sealing role. Several branch pipes are usually connected to the head to facilitate the storage and loading and unloading of related materials. Therefore, it is of high practical application value to study the cutting and welding process of the intersection line formed by the head and the branch pipe. Before the welding operation, the head needs to be cut first, and the cutting accuracy will have a great impact on the subsequent welding quality. Therefore, it is necessary to conduct relevant research on the cutting process of the head.

[0004] The cutting methods of the end cap are mainly divided into manual cutting, CNC system cutting, robot cutting and other cutting methods. Among them, manual cutting has the disadvantages of low efficiency and difficult to ensure cutting effect, while the use of CNC system for cutting has the disadvantages of complex programming, poor flexibility and high equipment cost. Compared with other cutting methods, the use of robots for related end cap cutting has the characteristics of high precision, strong applicability, flexibility, convenience and high efficiency. The methods of end cap cutting include laser cutting, flame cutting, plasma cutting and other methods. Before cutting the end cap, it is necessary to position the end cap to determine the relative position of the center of the end cap relative to the robot. The positioning accuracy of the end cap is an important factor affecting the subsequent cutting quality.

[0005] In the field of end cap cutting, many scholars have done a lot of research, and end cap cutting equipment has appeared on the market, which can basically achieve high-precision end cap cutting technology. However, the relevant cutting methods cannot accurately judge the position of any end cap when positioning the end cap, or it takes a lot of time to complete the positioning operation. This positioning method will significantly reduce the efficiency of end cap cutting. Summary of the invention

[0006] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a robot head cutting positioning method and system, which adopts a point laser displacement sensor to accurately judge the position of the head, effectively ensures the positioning accuracy through coarse positioning, fine positioning, and fine positioning iterative optimization methods, and uses a robot to complete the positioning and cutting tasks of the head. It has a high degree of integration and has certain advancement and intelligence.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0008] In a first aspect, the present invention provides a robot head cutting positioning method, comprising:

[0009] Divide the robot's head positioning work area and set the robot's initial position and posture;

[0010] The robot performs point laser scanning on the end cap along the dividing lines of the end cap positioning work area to roughly determine the center position of the rough positioning circle of the end cap projected on the horizontal plane;

[0011] Through the center position of the rough positioning circle, parallel lines are drawn along the horizontal and vertical coordinate axes, and two line segments are obtained by intersecting with the head positioning work area. The robot performs point laser scanning on the head again along the two line segments to accurately determine the center position of the fine positioning circle projected on the horizontal plane of the head.

[0012] Based on the precise positioning circle center position, multiple iterative optimizations of the head precise positioning are performed, and the positioning accuracy of the circle center position after iterative optimization is evaluated. If it meets the preset accuracy, the positioning is terminated to obtain the final head circle center position.

[0013] A further technical solution is to divide the working area into four equal-sized blocks, and the projected diameter of the end cover is larger than the length and width of any one of the working areas.

[0014] According to a further technical solution, the initial posture of the robot is defined as a posture that satisfies the laser projection point of the point laser displacement sensor at the end of the robot on the horizontal plane and the midpoint of the boundary line on one side of the working area remain coincident.

[0015] According to a further technical solution, the projection direction of the point laser displacement sensor always remains vertically downward, and the spatial height of the point laser displacement sensor is greater than the head height.

[0016] A further technical solution is that the rough determination of the center position of the head projection on the horizontal plane is specifically as follows:

[0017] Perform point laser scanning along the horizontal dividing line of the working area, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the horizontal coordinate corresponding to the minimum value measured by the point laser displacement sensor;

[0018] Perform point laser scanning along the longitudinal dividing line of the working area, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the ordinate corresponding to the minimum value measured by the point laser displacement sensor;

[0019] The horizontal and vertical coordinates are the rough positioning center positions.

[0020] A further technical solution is that the precise determination of the center position of the projection of the end cap on the horizontal plane is specifically as follows:

[0021] Perform point laser scanning along the transverse line segment, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the horizontal coordinate corresponding to the minimum value measured by the point laser displacement sensor;

[0022] Perform point laser scanning along the longitudinal line segment, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the longitudinal coordinate corresponding to the minimum value measured by the point laser displacement sensor;

[0023] The horizontal and vertical coordinates are for precisely positioning the center of the circle.

[0024] A further technical solution is to evaluate the positioning accuracy of the center position after iterative optimization as follows: measure the actual position of the center of the head circle, calculate the distance between the center position after iterative optimization and the actual position to obtain the positioning accuracy, and determine whether the positioning accuracy meets the cutting accuracy requirement. If so, terminate the positioning, otherwise continue the iterative optimization.

[0025] In a second aspect, the present invention provides a robot head cutting and positioning system, comprising:

[0026] An initial setting module, which is configured to: divide the robot's head positioning work area and set the robot's initial position;

[0027] The coarse positioning module is configured as follows: the robot performs point laser scanning on the end cap along the dividing lines of the end cap positioning work area, and roughly determines the coarse positioning circle center position of the end cap projected on the horizontal plane;

[0028] The fine positioning module is configured as follows: parallel lines of the horizontal and vertical coordinate axes are drawn through the center position of the rough positioning circle, and two line segments are obtained by intersecting with the end cap positioning work area. The robot performs point laser scanning on the end cap again along the two line segments to accurately determine the center position of the fine positioning circle of the end cap projected on the horizontal plane;

[0029] The precision optimization module is configured to: perform multiple iterative optimizations of the head precision positioning based on the precise positioning circle center position, and evaluate the positioning accuracy of the circle center position after iterative optimization. If it meets the preset accuracy, the positioning is terminated to obtain the final head circle center position.

[0030] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a robot head cutting and positioning method as described in the first aspect.

[0031] In a fourth aspect, the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in a robot head cutting and positioning method as described in the first aspect are implemented.

[0032] One or more of the above technical solutions have the following beneficial effects:

[0033] The present invention adopts a combination of a robot and a point laser displacement sensor to propose a new positioning method for a head element, which can be applicable to positioning operations at any position of heads of different specifications and sizes.

[0034] The present invention can perform positioning operations on head components at any position in the working area, reducing the time consumed by the positioning operation and having a certain degree of intelligence; a robot that meets the accuracy requirements is selected to complete the positioning operation of the head component, avoiding the influence of the robot's movement accuracy on the head positioning accuracy, so that the positioning operation has higher accuracy; a point laser displacement sensor is used to complete the positioning operation of the head component, which has higher measurement accuracy and further ensures the accuracy requirements of the positioning operation; an iterative optimization method is used to continuously iteratively optimize the positioning operation, further improving the positioning accuracy.

[0035] The positioning method of the present invention can be applied to the positioning operation of end cap components of different specifications and sizes, has strong adaptability, and can meet the positioning requirements of some end cap components.

[0036] The positioning method of the present invention adopts a method combining a robot and a point laser displacement sensor to perform positioning operations, which reduces the dependence on other components. After the head positioning operation is completed, the robot can be used to perform subsequent cutting and welding operations, which improves the integration level of the system to a certain extent, and has a high degree of comprehensiveness and systematization. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0038] Figure 1 is a flow chart of a positioning method according to an embodiment of the present invention;

[0039] Figure 2 This is a diagram of the division of the work area for positioning the end cap according to an embodiment of the present invention;

[0040] Figure 3 Schematic diagram of a head positioning system according to an embodiment of the present invention;

[0041] Figure 4This is a schematic diagram of a single-direction scanning positioning of a point laser displacement sensor according to an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of rough positioning of the end cap according to an embodiment of the present invention;

[0043] Figure 6 It is a schematic diagram of precise positioning of the end cap according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0047] Embodiment 1

[0048] like Figure 1 As shown, this embodiment discloses a robot head cutting positioning method, which includes the following steps:

[0049] S1: Divide the robot's head positioning work area and set the robot's initial position;

[0050] In this embodiment, before performing the head positioning, it is necessary to divide the robot's head positioning work area and set the robot's initial position and posture to ensure the accuracy of subsequent operations.

[0051] Before performing the head positioning operation, the robot head positioning work area needs to be divided to facilitate subsequent positioning operations. Figure 1 As shown in the figure, the robot working area is divided. First, the robot can accurately reach any position in the working area. When dividing the working area, in order to prevent the robot body from affecting the positioning process, the distance between the center of the robot base and the boundary of the working area is set to , and then divide the working area into four equal areas, and the projected diameter of the head is larger than the length and width of any working area.

[0052] It should be noted that the distance between the center of the robot base and the boundary of the working area It needs to be larger than the radius of the robot base to ensure that the robot base does not fall on the working area and avoid affecting the point laser scanning positioning process. It can be adjusted according to the robot's working range and actual processing conditions.

[0053] After the work area for head positioning is divided, the initial position of the robot needs to be determined. Figure 2 As shown in the figure, the initial posture of the robot is defined as the midpoint between the laser projection point of the point laser displacement sensor at the end of the robot on the horizontal plane and the boundary line of the working area Keep the overlapping posture, and the projection direction of the point laser displacement sensor always remains vertically downward, and the spatial height of the point laser displacement sensor is greater than the head height. The posture of the point laser displacement sensor of the robot remains unchanged during the movement.

[0054] The robot may be an existing six-axis industrial robot, a collaborative robot, etc., and may be selected according to actual conditions without specific limitation.

[0055] The robot's head positioning work area is divided to ensure that the robot can locate the center of the head when performing rough positioning of the head, and the head position will not be too biased. If the head is too small and the placement position is too biased, the robot cannot roughly locate the center of the head. The division of the robot's head positioning work area and the setting of the robot's initial posture facilitate subsequent positioning analysis and processing.

[0056] S2: The robot performs point laser scanning on the head along the dividing lines of the head positioning work area to roughly determine the center position of the rough positioning circle of the head projected on the horizontal plane;

[0057] In this embodiment, the robot performs rough positioning by point laser scanning of the end cap, and can roughly find the end cap position, which is of great significance for the subsequent fine positioning operation. When performing rough positioning of the end cap, the center position of the end cap projection on the horizontal plane is mainly determined roughly.

[0058] like Figure 3 , Figure 4 As shown in the figure, the robot performs point laser scanning on the head along the dividing line of the head positioning working area, that is, Figure 1 In Line (horizontal dividing line) and When executing this step, the robot first carries a point laser displacement sensor from The point starts with the initial pose and moves along The distance from the point laser displacement sensor to the ground or the end cap is measured in the same direction, and the measured value and the horizontal coordinate of the current position of the point laser displacement sensor are recorded at the same time each time, and then analyzed to obtain the horizontal coordinate corresponding to the minimum value measured by the point laser displacement sensor. ; In the process of completing After the line measurement operation, the robot moves to Point, along The distance from the point laser displacement sensor to the ground or the end cap is measured in turn in the direction, and the measured value and the ordinate of the current position of the point laser displacement sensor are recorded at the same time for each measurement, and then analyzed to obtain the ordinate corresponding to the minimum value measured by the point laser displacement sensor This roughly determines the center of the head projection. coordinate , that is, the rough positioning operation of the head is completed.

[0059] Through the above-mentioned rough positioning operation of the projection circle center of the head, the rough positioning coordinates of the projection circle center of the head are determined by scanning with a robot-carried point laser displacement sensor, laying the foundation for the precise positioning operation of the head.

[0060] S3: Draw parallel lines of the horizontal and vertical coordinate axes through the center position of the rough positioning circle, and intersect with the head positioning work area to obtain two line segments. The robot performs point laser scanning on the head again along the two line segments to accurately determine the center position of the fine positioning circle projected on the horizontal plane of the head;

[0061] In this embodiment, since the center position of the projection of the head on the horizontal plane has been roughly determined in step S2, Therefore, the precise center positioning operation is performed based on the center position obtained by rough positioning.

[0062] like Figure 5 As shown, firstly, the center of the circle is roughly positioned. Coordinate axes , The parallel lines intersect with the working area to obtain two line segments, which are (horizontal line segment) and (vertical line segment). Then the robot carries the point laser displacement sensor and moves to the point, along The distance from the point laser displacement sensor to the ground or the end cap is measured in the same direction, and the measured value and the horizontal coordinate of the current position of the point laser displacement sensor are recorded at the same time each time, and then analyzed to obtain the horizontal coordinate corresponding to the minimum value measured by the point laser displacement sensor. ; In the process of completing After the direction measurement operation, the robot moves to Point, along The distance from the point laser displacement sensor to the ground or the end cap is measured in turn in the direction, and the measured value and the ordinate of the current position of the point laser displacement sensor are recorded at the same time for each measurement, and then analyzed to obtain the ordinate corresponding to the minimum value measured by the point laser displacement sensor In this way, the precise positioning center of the head projection can be obtained more accurately. Coordinates , that is, the precise positioning operation of the head is completed, thereby determining the position relationship of the center of the head projection circle relative to the robot.

[0063] Through the above-mentioned precise positioning operation of the projection center of the head, a precise positioning operation is performed on the basis of rough positioning, thereby reducing the error caused by rough positioning, further determining the coordinate position of the projection center of the head, and improving the positioning accuracy of the projection center of the head.

[0064] S4: performing multiple iterative optimizations of the precise positioning of the end cap based on the precise positioning circle center position, and evaluating the positioning accuracy of the circle center position after the iterative optimization. If the positioning accuracy meets the preset accuracy, the positioning is terminated to obtain the final end cap circle center position.

[0065] In this embodiment, after the precise positioning operation S3 of the end cap is performed, since a single precise positioning operation may not meet the corresponding positioning requirements, multiple precise positioning operations of the end cap may be performed for iterative optimization. This step mainly performs the corresponding precise positioning operation based on the center coordinates of the precise positioning circle of the end cap generated last time, and S3 is repeated each time a precise positioning operation is performed.

[0066] After completing the iterative optimization of the head end positioning, it is necessary to evaluate the positioning accuracy of the head end positioning system to determine whether its positioning accuracy can meet the cutting accuracy requirements. The cutting accuracy requirements are derived from the cutting drawings. If the cutting accuracy requirements are met, the positioning operation is terminated. If the cutting accuracy requirements are not met, it is necessary to further improve its positioning accuracy and repeat S3 to continue iterative optimization of the head end positioning until the ideal positioning accuracy is achieved.

[0067] The evaluation of positioning accuracy is as follows: the actual position of the center of the head is measured by a measuring tool to obtain the actual position of the center of the head, and the positioning accuracy of the positioning system is obtained by calculating the distance between the precise positioning center position obtained by the positioning system and the actual position of the center of the head obtained by measurement; it is determined whether the positioning accuracy meets the cutting accuracy requirements or is within the preset error range. If so, it is determined that the precise positioning center position of this positioning is accurate. The number of iterations to obtain the precise positioning center position is saved, and the same number of iterations is used for precise positioning operations in subsequent positioning. The positioning accuracy value is obtained by measuring with measuring tools such as vernier calipers.

[0068] On the basis of precise positioning, iterative optimization of precise positioning operation was carried out to meet the requirements of different cutting accuracies and further ensure the accuracy of head positioning. The positioning accuracy of the head positioning system was evaluated to determine whether the current positioning accuracy meets the cutting accuracy requirements and ensure the overall positioning accuracy of the positioning system.

[0069] After repeated experiments, the head positioning system based on the combination of a robot and a point laser displacement sensor proposed in the present invention combines the robot with the point laser displacement sensor to ensure the smooth progress of the head positioning operation, while taking into account the positioning efficiency and the accuracy of the head positioning, and has certain practical value.

[0070] Embodiment 2

[0071] This embodiment discloses a robot head cutting and positioning system, comprising:

[0072] An initial setting module, which is configured to: divide the robot's head positioning work area and set the robot's initial position;

[0073] The coarse positioning module is configured as follows: the robot performs point laser scanning on the end cap along the dividing lines of the end cap positioning work area, and roughly determines the coarse positioning circle center position of the end cap projected on the horizontal plane;

[0074] The fine positioning module is configured as follows: parallel lines of the horizontal and vertical coordinate axes are drawn through the center position of the rough positioning circle, and two line segments are obtained by intersecting with the end cap positioning work area. The robot performs point laser scanning on the end cap again along the two line segments to accurately determine the center position of the fine positioning circle of the end cap projected on the horizontal plane;

[0075] The precision optimization module is configured to: perform multiple iterative optimizations of the head precision positioning based on the precise positioning circle center position, and evaluate the positioning accuracy of the circle center position after iterative optimization. If it meets the preset accuracy, the positioning is terminated to obtain the final head circle center position.

[0076] Embodiment 3

[0077] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of embodiment 1 when executing the program.

[0078] Embodiment 4

[0079] The purpose of this embodiment is to provide a computer-readable storage medium, a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method of embodiment 1 are performed.

[0080] The steps involved in the apparatus of the above embodiments 3 and 4 correspond to the method embodiment 1, and the specific implementation method can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0081] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0083] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A robot head cutting positioning method, characterized in that: include: Divide the robot's head positioning work area and set the robot's initial position and posture; The robot performs point laser scanning on the end cap along the dividing lines of the end cap positioning work area to roughly determine the center position of the rough positioning circle of the end cap projected on the horizontal plane; Through the center position of the rough positioning circle, parallel lines are drawn along the horizontal and vertical coordinate axes, and two line segments are obtained by intersecting with the head positioning work area. The robot performs point laser scanning on the head again along the two line segments to accurately determine the center position of the fine positioning circle projected on the horizontal plane of the head. Based on the precise positioning circle center position, multiple iterative optimizations of the head precise positioning are performed, and the positioning accuracy of the circle center position after iterative optimization is evaluated. If it meets the preset accuracy, the positioning is terminated to obtain the final head circle center position.

2. A robot head cutting and positioning method as claimed in claim 1, characterized in that: The working area is divided into four blocks of equal area, and the projected diameter of the head is larger than the length and width of any one of the working areas.

3. A robot head cutting and positioning method as claimed in claim 1, characterized in that: The initial posture of the robot is defined as the posture that satisfies the laser projection point of the point laser displacement sensor at the end of the robot on the horizontal plane and the midpoint of the boundary line on one side of the working area remain coincident.

4. A robot head cutting and positioning method as claimed in claim 3, characterized in that: The projection direction of the point laser displacement sensor always remains vertically downward, and the spatial height of the point laser displacement sensor is greater than the head height.

5. A robot head cutting and positioning method as claimed in claim 1, characterized in that: The rough positioning center position of the projection of the head on the horizontal plane is specifically determined as follows: Perform point laser scanning along the horizontal dividing line of the working area, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the horizontal coordinate corresponding to the minimum value measured by the point laser displacement sensor; Perform point laser scanning along the longitudinal dividing line of the working area, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the ordinate corresponding to the minimum value measured by the point laser displacement sensor; The horizontal and vertical coordinates are the rough positioning center positions.

6. A robot head cutting and positioning method as claimed in claim 1, characterized in that: The precise determination of the center position of the projection of the end cap on the horizontal plane is specifically as follows: Perform point laser scanning along the transverse line segment, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the horizontal coordinate corresponding to the minimum value measured by the point laser displacement sensor; Perform point laser scanning along the longitudinal line segment, measure the distance from the point laser displacement sensor to the ground or the end cap in turn, and obtain the longitudinal coordinate corresponding to the minimum value measured by the point laser displacement sensor; The horizontal and vertical coordinates are for precisely positioning the center of the circle.

7. A robot head cutting and positioning method as claimed in claim 1, characterized in that: The positioning accuracy of the center position after iterative optimization is evaluated as follows: the actual position of the center of the head is measured, the distance between the center position after iterative optimization and the actual position is calculated to obtain the positioning accuracy, and whether the positioning accuracy meets the cutting accuracy requirements is determined. If so, the positioning is terminated, otherwise, the iterative optimization is continued.

8. A robot head cutting and positioning system, characterized in that: include: An initial setting module, which is configured to: divide the robot's head positioning work area and set the robot's initial position; The coarse positioning module is configured as follows: the robot performs point laser scanning on the end cap along the dividing lines of the end cap positioning work area, and roughly determines the coarse positioning circle center position of the end cap projected on the horizontal plane; The fine positioning module is configured as follows: parallel lines of the horizontal and vertical coordinate axes are drawn through the center position of the rough positioning circle, and two line segments are obtained by intersecting with the end cap positioning work area. The robot performs point laser scanning on the end cap again along the two line segments to accurately determine the center position of the fine positioning circle of the end cap projected on the horizontal plane; The precision optimization module is configured to: perform multiple iterative optimizations of the head precision positioning based on the precise positioning circle center position, and evaluate the positioning accuracy of the circle center position after iterative optimization. If it meets the preset accuracy, the positioning is terminated to obtain the final head circle center position.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in a robot head cutting and positioning method as described in any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the robot head cutting positioning method as described in any one of claims 1-7 are implemented.

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