Round material centering method and device, computer equipment, storage medium and computer program product

Abstract

The invention relates to the technical field of intelligent equipment, in particular to a round material centering method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps that in response to starting of target equipment, material taking processing is carried out based on preset formula parameters; a classification result of a target object is determined, a target control mode matched with the target object is determined, and the classification result is determined based on outer diameter consistency of the target object; performing positioning measurement on the target object by applying the target control mode to obtain a positioning measurement result; and adjusting the formula parameters according to the positioning measurement result, and centering and carrying the target object based on the adjusted formula parameters. By adopting the method, the adaptability of equipment to different materials can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a method, device, computer equipment, storage medium and computer program product for centering a circular material. Background Art

[0002] Modern logistics warehousing refers to logistics activities that optimize the storage, sorting, packaging and distribution of goods through scientific and systematic management methods and modern technical means to improve logistics efficiency and reduce warehousing costs. Modern logistics warehousing is a key link involving efficient management and optimization of the supply chain. It combines advanced technology and management concepts to meet the growing market demand. Modern logistics warehousing is an important link connecting production and consumption. In the context of global economic integration and the booming e-commerce, its role is becoming increasingly important. By adopting advanced technology and management methods, future logistics warehousing will make greater progress in efficiency, safety, flexibility and sustainability.

[0003] In the related technology, the use of robots and automated equipment to grab, stack and place materials is an important application in the field of modern logistics and warehousing. This automated solution can improve efficiency, reduce labor costs, and reduce human errors. In conventional robot control, first of all, it is necessary to determine the specific requirements for grabbing, stacking and placing, including the type, size, weight and quantity of materials to be handled; equip with appropriate sensors (such as lidar, infrared sensors) to detect the surrounding environment to ensure the accuracy and safety of grabbing and stacking; using cameras and image processing technology, the robot can identify the position, posture and size of the material for precise grabbing; considering the stability and space utilization of the stacking, it is also necessary to formulate a reasonable stacking mode (such as cross stacking, straight stacking, etc.). In specific operations, the robot grabs the material involving secondary positioning. The robot will palletize, stack or place the secondary positioned materials to meet further production needs. In some occasions with high assembly precision, the accuracy of secondary positioning directly affects the assembly precision and error of the final product. The commonly used method is to use the material's own weight, or push the material to move it to the limit position, and then tell the robot the center of the material through the preset offset value, but generally requires the material's own size to be highly consistent.

[0004] However, the current material grabbing and positioning methods have the following technical problems:

[0005] Existing technologies have large restrictions on material size, making it difficult to flexibly adapt material handling methods. Summary of the invention

[0006] Based on this, it is necessary to provide a circular material centering method, device, computer equipment, computer-readable storage medium and computer program product that can improve the equipment's adaptability to different materials in response to the above technical problems.

[0007] In a first aspect, the present application provides a method for centering a circular material. The method comprises:

[0008] In response to the start-up of the target device, the material picking process is performed based on the preset recipe parameters;

[0009] Determine a classification result of a target object, and determine a target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object;

[0010] Applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result;

[0011] The recipe parameters are adjusted according to the positioning measurement results, and the target object is centered and transported based on the adjusted recipe parameters.

[0012] In one embodiment, the determining of the classification result of the target object and the determining of the target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object, comprises:

[0013] If the classification result of the target object is that the outer diameter consistency is low, a current control mode is selected as the target control mode, and the current control mode is a control mode for realizing positioning control of the target object according to terminal current feedback;

[0014] If the classification result of the target object is that the outer diameter consistency is high, the position control mode is selected as the target control mode, and the position control mode is a control mode that realizes the positioning control of the target object through a preset motor drive value.

[0015] In one embodiment, applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result includes:

[0016] In response to the target control mode being a current control mode, acquiring an end current of an end effector of the target device;

[0017] The feedback torque of the end effector is determined according to the end current, and the positioning control of the target object is achieved based on the feedback torque and a preset positioning end condition.

[0018] In one embodiment, applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result includes:

[0019] In response to the target control mode being the position control mode, obtaining and determining the preset motor drive value;

[0020] The end effector is controlled to push the target object based on the motor driving value to achieve centering control.

[0021] In one embodiment, after adjusting the recipe parameters according to the positioning measurement results and centering and moving the target object based on the adjusted recipe parameters, the method further includes:

[0022] Acquire the size parameters of the target object and the driver feedback value of the target device;

[0023] The recipe parameters are adjusted according to the size parameters and the driver feedback value. In the adjustment process of the recipe parameters, segmented correction is performed according to different preset diameter ranges.

[0024] In one embodiment, adjusting the recipe parameters according to the positioning measurement results, and centering and moving the target object based on the adjusted recipe parameters includes:

[0025] Acquire external thickness information related to the target device, and assist in correcting the recipe parameters according to the external thickness information;

[0026] Centering and transporting of the target object are achieved based on the modified recipe parameter adjustment.

[0027] In a second aspect, the present application also provides a circular material centering device. The device comprises:

[0028] A startup module, used for responding to the startup of the target device and performing material extraction processing based on preset recipe parameters;

[0029] A mode classification module, used to determine a classification result of a target object and determine a target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object;

[0030] A positioning measurement module, used to apply the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result;

[0031] A centering and transporting module is used to adjust the recipe parameters according to the positioning measurement results, and to center and transport the target object based on the adjusted recipe parameters.

[0032] In one embodiment, the pattern classification module includes:

[0033] A current control mode module, for selecting a current control mode as the target control mode if the classification result of the target object is that the outer diameter consistency is low, wherein the current control mode is a control mode for realizing positioning control of the target object according to terminal current feedback;

[0034] The position control mode is used to select the position control mode as the target control mode if the classification result of the target object is that the outer diameter consistency is high. The position control mode is a control mode that realizes the positioning control of the target object through a preset motor drive value.

[0035] In one embodiment, the positioning measurement module includes:

[0036] An end current module, configured to obtain an end current of an end effector of the target device in response to the target control mode being a current control mode;

[0037] A feedback torque module is used to determine the feedback torque of the end effector according to the end current, and to achieve positioning control of the target object based on the feedback torque and a preset positioning end condition.

[0038] In one embodiment, the positioning measurement module includes:

[0039] A motor driving module, configured to obtain and determine a preset motor driving value in response to the target control mode being the position control mode;

[0040] The execution pushing module is used to control the end effector to push the target object based on the motor driving value to achieve centering control.

[0041] In one embodiment, after the centering and handling module, it also includes:

[0042] A driver feedback module, used to obtain the size parameters of the target object and the driver feedback value of the target device;

[0043] The segmented correction module is used to adjust the recipe parameters according to the size parameters and the driver feedback value. In the adjustment process of the recipe parameters, segmented correction is performed according to different preset diameter ranges.

[0044] In one embodiment, the centering and handling module includes:

[0045] An external thickness module, used to obtain external thickness information related to the target device, and assist in correcting the recipe parameters according to the external thickness information;

[0046] A correction module is used to adjust the corrected recipe parameters to achieve centering and transportation of the target object.

[0047] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps in the method for centering a circular material as described in any one of the embodiments in the first aspect are implemented.

[0048] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the method for centering a circular material as described in any one of the embodiments in the first aspect are implemented.

[0049] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps in the method for centering a circular material as described in any one of the embodiments in the first aspect are implemented.

[0050] The above-mentioned circular material centering method, device, computer equipment, storage medium and computer program product can achieve the beneficial effects of the technical problems in the corresponding background technology by deducing the technical features in the claims:

[0051] The present application provides a circular material centering method, including: in response to the start-up of the target device, performing material picking processing based on preset recipe parameters; determining the classification result of the target object, determining the target control mode that matches the target object, the classification result is determined based on the consistency of the outer diameter of the target object; applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result; adjusting the recipe parameters according to the positioning measurement result, centering and transporting the target object based on the adjusted recipe parameters. In implementation, after the device is started, the material is first picked up according to the preset recipe parameters. At this time, the classification result of the target object can be determined based on the consistency of the outer diameter of the target object, thereby determining the target control mode that matches the classification of the target object. The positioning measurement of the target object achieved by the target control mode can finally be used to feedback and adjust the recipe parameters according to the positioning measurement results, so that the recipe parameters are adapted to a variety of sizes, thereby improving the adaptability of the device to different materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is an application environment diagram of a circular material centering method in one embodiment;

[0054] Figure 2 A first flow chart of a method for centering a circular material in one embodiment;

[0055] Figure 3 A second schematic flow chart of a circular material centering method in another embodiment;

[0056] Figure 4 A third flow chart of a method for centering a circular material in another embodiment;

[0057] Figure 5 A fourth flow diagram of a method for centering a circular material in another embodiment;

[0058] Figure 6 A fifth flow chart of a method for centering a circular material in another embodiment;

[0059] Figure 7 A sixth flow diagram of a method for centering a circular material in another embodiment;

[0060] Figure 8 It is a structural block diagram of a circular material centering device in one embodiment;

[0061] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] In the related technology, the use of robots and automated equipment to grab, stack and place materials is an important application in the field of modern logistics and warehousing. This automated solution can improve efficiency, reduce labor costs, and reduce human errors. In conventional robot control, first of all, it is necessary to determine the specific requirements for grabbing, stacking and placing, including the type, size, weight and quantity of materials to be handled; equip with appropriate sensors (such as lidar, infrared sensors) to detect the surrounding environment to ensure the accuracy and safety of grabbing and stacking; using cameras and image processing technology, the robot can identify the position, posture and size of the material for precise grabbing; considering the stability and space utilization of the stacking, it is also necessary to formulate a reasonable stacking mode (such as cross stacking, straight stacking, etc.). In specific operations, the robot grabs the material involving secondary positioning. The robot will palletize, stack or place the secondary positioned materials to meet further production needs. In some occasions with high assembly precision, the accuracy of secondary positioning directly affects the assembly precision and error of the final product. The commonly used method is to use the material's own weight, or push the material to move it to the limit position, and then tell the robot the center of the material through the preset offset value, but generally requires the material's own size to be highly consistent.

[0064] However, the current material grabbing and positioning methods have the following technical problems:

[0065] Existing technologies have large restrictions on material size, making it difficult to flexibly adapt material handling methods.

[0066] Based on this, a circular material centering method provided in an embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal communicates with the server through the network. The data storage system can store the data that the server needs to process. The data storage system can be integrated on the server, or it can be placed on the cloud or other network servers. Among them, the terminal can be but not limited to various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0067] In one embodiment, Figure 2 As shown, a method for centering a circular material is provided, and the method is applied to Figure 1The terminal in is used as an example to illustrate, including the following steps:

[0068] Step 202: in response to the start-up of the target device, performing material extraction processing based on preset recipe parameters;

[0069] Step 204: determining a classification result of the target object, and determining a target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object;

[0070] Step 206: Apply the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result;

[0071] Step 208: adjusting the recipe parameters according to the positioning measurement results, and centering and moving the target object based on the adjusted recipe parameters.

[0072] In the above-mentioned method for centering a circular material, reasonable deduction is performed in combination with the technical features in the embodiment to achieve the beneficial effect of solving the technical problems raised in the background technology:

[0073] The present application provides a circular material centering method, including: in response to the start-up of the target device, performing material picking processing based on preset recipe parameters; determining the classification result of the target object, determining the target control mode that matches the target object, the classification result is determined based on the consistency of the outer diameter of the target object; applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result; adjusting the recipe parameters according to the positioning measurement result, centering and transporting the target object based on the adjusted recipe parameters. In implementation, after the device is started, the material is first picked up according to the preset recipe parameters. At this time, the classification result of the target object can be determined based on the consistency of the outer diameter of the target object, thereby determining the target control mode that matches the classification of the target object. The positioning measurement of the target object achieved by the target control mode can finally be used to feedback and adjust the recipe parameters according to the positioning measurement results, so that the recipe parameters are adapted to a variety of sizes, thereby improving the adaptability of the device to different materials.

[0074] In one embodiment, if Figure 3 As shown, step 204 includes:

[0075] Step 302: If the classification result of the target object is that the outer diameter consistency is low, a current control mode is selected as the target control mode, and the current control mode is a control mode for realizing positioning control of the target object according to terminal current feedback;

[0076] Step 304: If the classification result of the target object is that the outer diameter consistency is high, a position control mode is selected as the target control mode, and the position control mode is a control mode that realizes the positioning control of the target object through a preset motor drive value.

[0077] In this embodiment, two branch processing methods, current control mode and position control mode, are obtained based on the consistency of outer diameter. When the consistency of the outer diameter of the target object is low, positioning control is performed through current feedback at the end of the driver, which helps to improve the accuracy of positioning control of irregular materials. On the other hand, for materials with high outer diameter consistency, positioning control is performed through motor drive values, which helps to improve the handling and control efficiency of regular materials.

[0078] In one embodiment, if Figure 4 As shown, step 206 includes:

[0079] Step 402: In response to the target control mode being a current control mode, obtaining an end current of an end effector of the target device;

[0080] Step 404: Determine the feedback torque of the end effector according to the end current, and implement positioning control of the target object based on the feedback torque and a preset positioning end condition.

[0081] In this embodiment, positioning control is achieved through terminal current feedback, which helps to improve the stability of positioning control of irregular materials and further improves the adaptability of the equipment.

[0082] In one embodiment, if Figure 5 As shown, step 206 includes:

[0083] Step 502: In response to the target control mode being the position control mode, obtaining and determining the preset motor drive value;

[0084] Step 504: Control the end effector to push the target object based on the motor drive value to achieve centering control.

[0085] In this embodiment, the centering control of the target object is directly achieved through the motor driving value, which helps to improve the efficiency of equipment use.

[0086] In one embodiment, if Figure 6 As shown, after step 208, the following steps are further included:

[0087] Step 602: Acquire the size parameters of the target object and the driver feedback value of the target device;

[0088] Step 604: adjusting the recipe parameters according to the size parameters and the driver feedback value. In the adjustment process of the recipe parameters, segmented correction is performed according to different preset diameter ranges.

[0089] In this embodiment, after the target object is positioned, the recipe parameters are adjusted according to the size parameters obtained by positioning and the driver feedback value, which helps to match the recipe parameters with the target object, thereby improving the stability of material handling and the adaptability of the equipment to different materials.

[0090] In one embodiment, if Figure 7 As shown, step 208 includes:

[0091] Step 702: Acquire external thickness information related to the target device, and assist in correcting the recipe parameters according to the external thickness information;

[0092] Step 704: Centering and transporting the target object are achieved based on the modified recipe parameter adjustment.

[0093] In this embodiment, adding the influencing factor of external thickness in the process of adjusting the recipe parameters helps to improve the adjustment and adaptation effects of the recipe parameters.

[0094] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0095] Based on the same inventive concept, the embodiment of the present application also provides a circular material centering device for implementing the circular material centering method mentioned above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the circular material centering device provided below can refer to the limitations of the circular material centering method above, and will not be repeated here.

[0096] In one embodiment, Figure 8As shown, a circular material centering device is provided, comprising: a starting module, a mode classification module, a positioning measurement module and a centering and transporting module, wherein:

[0097] A startup module, used for responding to the startup of the target device and performing material extraction processing based on preset recipe parameters;

[0098] A mode classification module, used to determine a classification result of a target object and determine a target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object;

[0099] A positioning measurement module, used to apply the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result;

[0100] A centering and transporting module is used to adjust the recipe parameters according to the positioning measurement results, and to center and transport the target object based on the adjusted recipe parameters.

[0101] In one embodiment, the pattern classification module includes:

[0102] A current control mode module, for selecting a current control mode as the target control mode if the classification result of the target object is that the outer diameter consistency is low, wherein the current control mode is a control mode for realizing positioning control of the target object according to terminal current feedback;

[0103] The position control mode is used to select the position control mode as the target control mode if the classification result of the target object is that the outer diameter consistency is high. The position control mode is a control mode that realizes the positioning control of the target object through a preset motor drive value.

[0104] In one embodiment, the positioning measurement module includes:

[0105] An end current module, configured to obtain an end current of an end effector of the target device in response to the target control mode being a current control mode;

[0106] A feedback torque module is used to determine the feedback torque of the end effector according to the end current, and to achieve positioning control of the target object based on the feedback torque and a preset positioning end condition.

[0107] In one embodiment, the positioning measurement module includes:

[0108] A motor driving module, configured to obtain and determine a preset motor driving value in response to the target control mode being the position control mode;

[0109] The execution pushing module is used to control the end effector to push the target object based on the motor driving value to achieve centering control.

[0110] In one embodiment, after the centering and handling module, it also includes:

[0111] A driver feedback module, used to obtain the size parameters of the target object and the driver feedback value of the target device;

[0112] The segmented correction module is used to adjust the recipe parameters according to the size parameters and the driver feedback value. In the adjustment process of the recipe parameters, segmented correction is performed according to different preset diameter ranges.

[0113] In one embodiment, the centering and handling module includes:

[0114] An external thickness module, used to obtain external thickness information related to the target device, and assist in correcting the recipe parameters according to the external thickness information;

[0115] A correction module is used to adjust the corrected recipe parameters to achieve centering and transportation of the target object.

[0116] Each module in the above circular material centering device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0117] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig. 9As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a circular material centering method is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0118] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0119] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0120] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0121] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0122] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0123] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0124] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for centering a circular material, characterized in that: The method comprises: In response to the start-up of the target device, the material picking process is performed based on the preset recipe parameters; Determine a classification result of a target object, and determine a target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object; Applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result; The recipe parameters are adjusted according to the positioning measurement results, and the target object is centered and transported based on the adjusted recipe parameters.

2. The method according to claim 1, characterized in that The determining of the classification result of the target object and determining the target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object, comprises: If the classification result of the target object is that the outer diameter consistency is low, a current control mode is selected as the target control mode, and the current control mode is a control mode for realizing positioning control of the target object according to terminal current feedback; If the classification result of the target object is that the outer diameter consistency is high, the position control mode is selected as the target control mode, and the position control mode is a control mode that realizes the positioning control of the target object through a preset motor drive value.

3. The method according to claim 2, characterized in that The applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result includes: In response to the target control mode being a current control mode, acquiring an end current of an end effector of the target device; The feedback torque of the end effector is determined according to the end current, and the positioning control of the target object is achieved based on the feedback torque and a preset positioning end condition.

4. The method according to claim 2, characterized in that: The applying the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result includes: In response to the target control mode being the position control mode, obtaining and determining the preset motor drive value; The end effector is controlled to push the target object based on the motor driving value to achieve centering control.

5. The method according to any one of claims 1 to 4, characterized in that: After adjusting the recipe parameters according to the positioning measurement results, and centering and transporting the target object based on the adjusted recipe parameters, the method further includes: Acquire the size parameters of the target object and the driver feedback value of the target device; The recipe parameters are adjusted according to the size parameters and the driver feedback value. In the adjustment process of the recipe parameters, segmented correction is performed according to different preset diameter ranges.

6. The method according to claim 1, characterized in that The adjusting the recipe parameters according to the positioning measurement results, and centering and moving the target object based on the adjusted recipe parameters comprises: Acquire external thickness information related to the target device, and assist in correcting the recipe parameters according to the external thickness information; Centering and transporting of the target object are achieved based on the modified recipe parameter adjustment.

7. A circular material centering device, characterized in that: The device comprises: A startup module, used for responding to the startup of the target device and performing material extraction processing based on preset recipe parameters; A mode classification module, used to determine a classification result of a target object and determine a target control mode matching the target object, wherein the classification result is determined based on the consistency of the outer diameter of the target object; A positioning measurement module, used to apply the target control mode to perform positioning measurement on the target object to obtain a positioning measurement result; A centering and transporting module is used to adjust the recipe parameters according to the positioning measurement results, and to center and transport the target object based on the adjusted recipe parameters.

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

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

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

Images