Self-adaptive product point location calculation method and device for equipment and storage medium

Abstract

The embodiment of the invention discloses an equipment self-adaptive product point location calculation method and device and a storage medium, which are used for realizing rapid cutting and model changing and improving the cutting efficiency. The method provided by the embodiment of the invention comprises the following steps: determining a standard product as a reference template, and obtaining a first point location parameter of the standard product; importing a product parameter of a new product, and calculating a second point location parameter of the new product according to the first point location parameter and the product parameter of the new product; calculating a point location adjustment value according to the first point location parameter and the second point location parameter; after confirming that the point position adjustment value is correct, sending the point position adjustment value to a control system; and according to the point position adjustment value, the positions of the manipulator and the camera are adjusted through the control system.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device and storage medium for adaptive product position calculation of a device. Background Art

[0002] With the rapid development of the consumer electronics industry, the manufacturing industry has placed higher demands on the efficiency and accuracy of production equipment. Especially in the optical inspection of display screens, facing the diverse and rapidly iterating product models on the market, production equipment must have a high degree of flexibility and efficiency to adapt to the frequent cutting and changing of machines. However, the limitations of existing cutting and changing of machines technology in many aspects have become a key factor restricting production efficiency and intelligent upgrading.

[0003] Current technology relies heavily on manual operation by operators when switching product models in the equipment control system. Whenever the product model to be tested needs to be changed, the operator needs to manually input a large number of parameters, including but not limited to the movement points of the robot and the shooting position of the camera. This process is not only complicated to operate, but also prone to human errors. Due to the lack of precise preliminary guidance, operators often need to repeatedly try different parameter combinations and go through multiple trial and error stages before they can finally determine the exact point. This not only affects the efficiency and accuracy of the cutting machine change, but also greatly consumes time and human resources. Summary of the invention

[0004] The present application discloses a method, device and storage medium for calculating the adaptive product position of equipment, which are used to achieve rapid cutting machine changeover and improve cutting machine efficiency.

[0005] In a first aspect, an embodiment of the present application provides a method for adaptively calculating product positions of an equipment, comprising: determining a standard product as a reference template, and obtaining first point position parameters of the standard product; importing product parameters of a new product, and calculating second point position parameters of the new product based on the first point position parameters and the product parameters of the new product; calculating a point adjustment value based on the first point position parameters and the second point position parameters; after confirming that the point adjustment value is correct, sending the point adjustment value to a control system; and adjusting the position of a manipulator and a camera through the control system based on the point adjustment value.

[0006] Optionally, in some embodiments of the present application, the first point parameter includes a first motion trajectory, a first grabbing point, and a first shooting point; The step of obtaining the first point parameter of the standard product comprises: Acquire and record a first motion trajectory and a first grasping point when the manipulator processes the standard product; Acquire and record the first shooting point of the camera on the standard product.

[0007] Optionally, in some embodiments of the present application, the second point parameter includes a second motion trajectory, a second grabbing point, and a second shooting point; The step of calculating the second point parameters of the new product according to the first point parameters and the product parameters of the new product comprises: Calculate the gripping point compensation and the photographing point compensation of the manipulator according to the product parameters of the standard product and the product parameters of the new product; Calculating a second motion trajectory and a second gripping point when the manipulator handles the new product according to the gripping point compensation of the manipulator, the first motion trajectory and the first gripping point; A second shooting point of the camera for the new product is calculated according to the shooting point compensation and the first shooting point.

[0008] Optionally, in some embodiments of the present application, the step of calculating the gripping point compensation and the photographing point compensation of the manipulator according to the product parameters of the standard product and the product parameters of the new product includes: Use the following formula 1 to calculate the gripping point compensation: Formula 1; in, Indicates the grab point compensation value. Indicates the component of the grab point compensation value in the X-axis direction. Indicates the component of the grab point compensation value in the Y-axis direction. Indicates the size difference between the new product and the standard product on the X-axis. Indicates the size difference between the new product and the standard product on the Y axis; Use the following formula 2 to calculate the compensation of the shooting point: Formula 2; in, Indicates the compensation value of the photo point. Indicates the component of the camera point compensation value in the X-axis direction. Indicates the component of the camera point compensation value in the Y-axis direction. Indicates the size difference between the new product and the standard product on the X-axis. Indicates the size difference between the new product and the standard product on the Y axis, Indicates the relative offset value of the product center point and mark point on the X-axis between the new product and the standard product. Indicates the relative offset value of the product center point and mark point on the Y-axis between the new product and the standard product.

[0009] Optionally, in some embodiments of the present application, the product parameters of the new product include the size of the new product, the number of rows and columns of the tray, the offset value of the alignment mark point, and the QR code information.

[0010] The step of importing product parameters of a new product comprises: Enter the dimensions of the new product, number of pallet rows and columns, alignment mark point offset value, and QR code information through the interface.

[0011] Optionally, in some embodiments of the present application, after the step of calculating the point adjustment value according to the first point parameter and the second point parameter, the method further includes: Displaying the point adjustment value through an interface, and confirming whether the point adjustment value is correct; If the point adjustment value is incorrect, the second point parameter is adjusted and the point adjustment value is recalculated.

[0012] Optionally, in some embodiments of the present application, the step of adjusting the position of the manipulator and the camera by the control system according to the point adjustment value includes: After receiving the point adjustment value, the control system generates a coordinate point instruction according to the point adjustment value; According to the coordinate point instruction, the position of the manipulator and the camera is adjusted through the control system.

[0013] Optionally, in some embodiments of the present application, after the step of adjusting the positions of the manipulator and the camera by the control system according to the point adjustment value, the method further includes: Realize monitoring of the position status of the manipulator and camera; If the deviation between the displacement of the manipulator and the camera and the point adjustment value exceeds a preset threshold, the position adjustment is stopped.

[0014] In a second aspect, an embodiment of the present application provides a device for adaptively calculating product position of a device, including: An acquisition unit, which determines a standard product as a reference template and acquires a first point parameter of the standard product; A first calculation unit is configured to import product parameters of a new product, and calculate second point parameters of the new product according to the first point parameters and the product parameters of the new product; A second calculation unit calculates a point adjustment value according to the first point parameter and the second point parameter; A sending unit, after confirming that the point adjustment value is correct, sends the point adjustment value to a control system; The processing unit adjusts the positions of the manipulator and the camera through the control system according to the point adjustment value.

[0015] Optionally, in some embodiments of the present application, the acquiring unit includes: Acquire and record a first motion trajectory and a first grasping point when the manipulator processes the standard product; Acquire and record the first shooting point of the camera on the standard product.

[0016] Optionally, in some embodiments of the present application, the second computing unit includes: Calculate the gripping point compensation and the photographing point compensation of the manipulator according to the product parameters of the standard product and the product parameters of the new product; Calculating a second motion trajectory and a second gripping point when the manipulator handles the new product according to the gripping point compensation of the manipulator, the first motion trajectory and the first gripping point; A second shooting point of the camera for the new product is calculated according to the shooting point compensation and the first shooting point.

[0017] Optionally, in some embodiments of the present application, the first computing unit includes: Enter the dimensions of the new product, number of pallet rows and columns, alignment mark point offset value, and QR code information through the interface.

[0018] Optionally, in some embodiments of the present application, after the second calculation unit, the device further includes: A display unit, which displays the point adjustment value through an interface and confirms whether the point adjustment value is incorrect; The third calculation unit adjusts the second point parameter and recalculates the point adjustment value if the point adjustment value is incorrect.

[0019] Optionally, in some embodiments of the present application, the processing unit includes: After receiving the point adjustment value, the control system generates a coordinate point instruction according to the point adjustment value; According to the coordinate point instruction, the position of the manipulator and the camera is adjusted through the control system.

[0020] Optionally, in some embodiments of the present application, after the processing unit, the device further includes: Monitoring unit, to monitor the position status of the manipulator and the camera; A stopping unit is configured to stop position adjustment if the deviation between the displacement of the manipulator and the camera and the point adjustment value exceeds a preset threshold.

[0021] A third aspect of an embodiment of the present application provides a computer-readable storage medium, on which a program is stored. When the program is executed on a computer, the computer executes the method in the first aspect and any possible implementation of the first aspect.

[0022] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: By determining the first point parameters of the standard product and calculating the second point parameters and point adjustment values ​​of the new product, it is possible to ensure that the robot operates the new product accurately and avoid product defects or equipment damage caused by position deviation. After the camera adjusts its position according to the point adjustment value, it can accurately capture the image of the key position points of the new product, providing accurate image data support for subsequent operations.

[0023] The entire process automatically calculates the point adjustment value and sends it to the control system to achieve the position adjustment of the manipulator and camera. There is no need for frequent manual measurement and manual adjustment, which reduces the time and workload of manual operation and improves the cutting efficiency and automation of the production process. When producing new products of different models or specifications, you only need to import the parameters of the new products, and the system can quickly calculate the corresponding point adjustment value and complete the position adjustment of the equipment, realizing the rapid switching of production between different products without a large number of resetting and debugging of the equipment, shortening the production preparation time and improving the flexibility and efficiency of production.

[0024] The ability to flexibly adjust the points according to the parameters of different new products allows the manipulator and camera to adapt to the production and inspection needs of products of various sizes, shapes and structures. Whether it is product upgrading or diversified customized production, the equipment can meet the requirements through corresponding adjustments, enhancing the versatility and adaptability of production equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of an embodiment of a method for adaptively calculating product position of a device of the present application; Figure 2 A schematic diagram of an embodiment of a method for obtaining first point position parameters of the present application; Figure 3 A schematic diagram of an embodiment of a method for calculating a second point parameter of the present application; Figure 4 A schematic diagram of an embodiment of a method for importing new product parameters for the present application; Figure 5 A schematic diagram of an embodiment of a method for confirming a point adjustment value introduced in the present application; Figure 6 A schematic diagram of an embodiment of a method for adjusting the position of a manipulator and a camera of the present application; Figure 7 A schematic diagram of an embodiment of a method for adjusting a stop position of the present application; Figure 8 A schematic diagram of the structure of an embodiment of a device for adaptively calculating product position of the present application; Fig. 9 This is a schematic structural diagram of another embodiment of the device for adaptively calculating product position of the present application. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0027] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0030] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear 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.

[0032] Current technology relies heavily on manual operation by operators when switching product models in the equipment control system. Whenever the product model to be tested needs to be changed, the operator needs to manually input a large number of parameters, including but not limited to the movement points of the robot and the shooting position of the camera. This process is not only complicated to operate, but also prone to human errors. Due to the lack of precise preliminary guidance, operators often need to repeatedly try different parameter combinations and go through multiple trial and error stages before they can finally determine the exact point. This not only affects the efficiency and accuracy of the cutting machine change, but also greatly consumes time and human resources.

[0033] Based on this, the present application discloses a method, device and storage medium for adaptively calculating product points of equipment, which are used to achieve rapid cutting and changing of machine types and improve cutting efficiency.

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] The method of the present application can be applied to a server, a device, a terminal or other devices with logic processing capabilities, and the present application does not limit this. For the convenience of description, the following description is made by taking the execution subject as an example of a terminal.

[0036] The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0037] See also Figure 1 The present application provides an embodiment of a method for calculating a device's adaptive product position, including: 101. Determine the standard product as the reference template and obtain the first point parameter of the standard product.

[0038] In the embodiments of the present application, a product that is regarded as a standard is first selected as a reference, which is the basis for comparison and adjustment of all subsequent new products.

[0039] Measure and record the pre-defined key points on the standard product. The coordinate information of each point measured and other related position parameters together constitute the first point parameters of the standard product. The first point parameters accurately describe the position of the key points on the standard product in the production line, providing benchmark data for the comparison and adjustment of subsequent new products.

[0040] 102. Import product parameters of the new product, and calculate second point parameters of the new product based on the first point parameters and the product parameters of the new product.

[0041] Input various parameter information related to the new product to be processed into the system. Product parameters include product size, shape, relative position relationship of each component, etc. Product size (length, width, thickness): used to calculate the size difference between new products and standard products. Number of rows and columns of pallets: used to determine the arrangement of products in the pallet, which in turn affects the movement path of the robot. Mark point offset value: specifies the offset of the alignment mark based on the center position of the product, which is used to determine the exact position of the new product. QR code information: used to identify different products and obtain relevant information of the product (such as model, size, etc.), which helps the system to automatically match and calculate.

[0042] Based on the first point parameters of the acquired standard product and the newly imported new product parameters, the position parameters of the corresponding key points on the new product in space, namely the second point parameters, are calculated.

[0043] 103. Calculate a point adjustment value according to the first point parameter and the second point parameter.

[0044] The first point parameters are compared in detail with the second point parameters to find out the position deviation of the new product relative to the standard product at the key points.

[0045] Based on the comparison results, the values ​​that need to be adjusted for each corresponding key point are calculated, namely the point adjustment values. These point adjustment values ​​clarify the deviation distance between the key points of the new product and the key points of the standard product, that is, the displacement or angle change required in each coordinate direction.

[0046] 104. After confirming that the point adjustment value is correct, send the point adjustment value to the control system.

[0047] The calculated point adjustment values ​​are manually or automatically verified. After confirming that the point adjustment values ​​are correct, these adjustment values ​​are sent to the control system through a specific communication interface (such as PLC, Ethernet, CAN bus, etc.) or data transmission. The control system is the core control unit of the entire production line. It is responsible for receiving various instructions and parameters, and accurately controlling related equipment based on this information.

[0048] 105. According to the point adjustment value, the position of the manipulator and the camera is adjusted through the control system.

[0049] After receiving the point adjustment values, the control system parses and processes these data, converts them into specific control instructions, and sends them to the drive devices of the manipulator and camera respectively.

[0050] The robot's drive device adjusts the robot's position precisely according to the direction and distance indicated by the point adjustment value based on the instructions sent by the control system. Similarly, the camera's drive device adjusts the camera's position and angle according to the point adjustment value based on the instructions of the control system. This ensures that the camera can accurately capture the image information of the key points of the new product and provide accurate image data for subsequent operations.

[0051] In this embodiment, by determining the first point position parameters of the standard product and calculating the second point position parameters and point adjustment values ​​of the new product, it is possible to ensure that the robot operates the new product accurately and correctly, avoiding product defects or equipment damage caused by position deviation. After the camera adjusts its position according to the point adjustment value, it can accurately capture images of key positions of the new product, providing accurate image data support for subsequent operations.

[0052] The entire process automatically calculates the point adjustment value and sends it to the control system to achieve the position adjustment of the manipulator and camera. There is no need for frequent manual measurement and manual adjustment, which reduces the time and workload of manual operation and improves the cutting efficiency and automation of the production process. When producing new products of different models or specifications, you only need to import the parameters of the new products, and the system can quickly calculate the corresponding point adjustment value and complete the position adjustment of the equipment, realizing the rapid switching of production between different products without a large number of resetting and debugging of the equipment, shortening the production preparation time and improving the flexibility and efficiency of production.

[0053] The ability to flexibly adjust the points according to the parameters of different new products allows the manipulator and camera to adapt to the production and inspection needs of products of various sizes, shapes and structures. Whether it is product upgrading or diversified customized production, the equipment can meet the requirements through corresponding adjustments, enhancing the versatility and adaptability of production equipment.

[0054] See also Figure 2 The present application provides an embodiment of a method for obtaining a first point parameter, comprising: 201. Obtain and record a first motion trajectory and a first grasping point when the manipulator processes a standard product.

[0055] 202. Obtain and record the first shooting point of the camera for the standard product.

[0056] Turn on the robot equipment, check whether its components are operating normally, calibrate the robot to ensure the accuracy of the robot arm's movement. Turn on the camera equipment, check whether the camera lens is clean, adjust the camera's focal length, aperture, exposure time and other parameters to ensure that the camera can capture clear and accurate images that reflect the characteristics of standard products.

[0057] After the robot is calibrated correctly, start the robot and start processing the standard product according to the preset program. During the processing, the motion angle and displacement data of each joint of the robot arm are recorded in real time through the encoder of the control system. When the robot reaches the position to grab the standard product, the precise coordinate position of the end effector (such as the clamp) of the robot is obtained through the sensor, which is the first grabbing point, and the first grabbing point is recorded in the data storage device, and the operation process corresponding to the first grabbing point is marked. According to the recorded motion data of each joint of the robot, the first motion trajectory of the robot from the starting position to the grabbing position is generated, and the first motion trajectory is recorded in the data storage device in a digital form (such as a sequence of coordinate points).

[0058] After the robot completes grabbing the standard product and moves the product to a suitable position within the camera's field of view, the control system triggers the camera to capture an image of the standard product. The encoder determines the spatial position and posture parameters of the camera at the moment of capture, and determines the first capture point. The first capture point information is recorded in a data storage device and associated with the captured image and the corresponding standard product information.

[0059] In this embodiment, the encoder of the control system is used to record the motion angle and displacement data of each joint of the robot arm in real time, which can accurately capture the details of the robot movement and ensure the accuracy of the first motion trajectory. The precise coordinate position of the end effector of the robot is obtained by the sensor as the first grasping point, and the spatial position and posture parameters of the camera at the moment of shooting are determined by the encoder to clarify the first shooting point, providing a reliable basis for subsequent data analysis and improving the accuracy of production inspection.

[0060] See also Figure 3 The present application provides an embodiment of a method for calculating a second point parameter, comprising: 301. Calculate the gripping point compensation and photographing point compensation of the robot according to the product parameters of the standard product and the product parameters of the new product.

[0061] 302. Calculate a second motion trajectory and a second gripping point when the manipulator processes a new product based on the gripping point compensation, the first motion trajectory and the first gripping point of the manipulator.

[0062] 303. Calculate a second shooting point of the camera for the new product according to the shooting point compensation and the first shooting point.

[0063] First, obtain the product parameters of the standard product and the new product, and calculate the gripping point compensation and shooting point compensation of the robot based on the parameter differences. Taking the gripping point compensation as an example, if the position of the new product is offset relative to the standard product, calculate how the robot needs to adjust its position based on the original gripping point, and get the gripping point compensation value. For shooting point compensation, it may be necessary to calculate the position and angle adjustment of the camera based on the original shooting point according to the shape and size changes of the new product, and get the shooting point compensation value.

[0064] Use the following formula 1 to calculate the gripping point compensation: Formula 1; in, Indicates the grab point compensation value. Indicates the component of the grab point compensation value in the X-axis direction. Indicates the component of the grab point compensation value in the Y-axis direction. Indicates the size difference between the new product and the standard product on the X-axis. Indicates the size difference between the new product and the standard product on the Y axis; Use the following formula 2 to calculate the compensation of the shooting point: Formula 2; in, Indicates the compensation value of the photo point. Indicates the component of the camera point compensation value in the X-axis direction. Indicates the component of the camera point compensation value in the Y-axis direction. Indicates the size difference between the new product and the standard product on the X-axis. Indicates the size difference between the new product and the standard product on the Y axis, Indicates the relative offset value of the product center point and mark point on the X-axis between the new product and the standard product. Indicates the relative offset value of the product center point and mark point of the new product and the standard product on the Y-axis.

[0065] Apply the calculated gripping point compensation of the manipulator to the first motion trajectory and the first gripping point. For the first gripping point, directly adjust its coordinates according to the gripping point compensation value to obtain the second gripping point. For the first motion trajectory, it is necessary to make corresponding adjustments to each point on the trajectory based on the point compensation value and the motion characteristics of the manipulator. For example, if the gripping point compensation requires the manipulator to move a certain distance to the right in the horizontal direction, then in the first motion trajectory, the entire path from the starting point to the gripping point needs to be adjusted to the right in the horizontal direction accordingly. At the same time, it may also be necessary to consider the adjustment of parameters such as motion speed and acceleration to ensure that the manipulator can reach the second gripping point smoothly and accurately, thereby obtaining the second motion trajectory when processing new products.

[0066] The second grab point is calculated using the following formula 3: Formula 3; in, Indicates the second grab point. Indicates the first grasping point of the robot. Indicates the grab point compensation value. Indicates the component of the first grasping point of the manipulator in the X-axis direction, Indicates the component of the first grasping point of the manipulator in the Y-axis direction, Indicates the size difference between the new product and the standard product on the X-axis. Indicates the size difference between the new product and the standard product on the Y axis; For the first shooting point, the first shooting point is adjusted according to the shooting point compensation value to obtain the second shooting point.

[0067] The second shooting point is calculated using the following formula 4: Formula 4; in, Indicates the second shooting point. Indicates the first shooting point of the camera; Indicates the compensation value of the photo point. Indicates the component of the first shooting point of the camera in the X-axis direction. Represents the component of the first shooting point of the camera in the Y-axis direction; Indicates the component of the camera point compensation value in the X-axis direction. Indicates the component of the shooting point compensation value in the Y-axis direction.

[0068] In this embodiment, the gripping points and motion trajectory of the manipulator and the shooting points of the camera can be quickly adjusted according to the parameters of the new product, so that the production line can adapt to the production needs of different products without large-scale equipment modification and reprogramming, thereby improving the flexibility and versatility of the production system. Compared with the traditional method that requires repeated manual adjustment and testing, the switch from standard product production to new product production can be completed more quickly, reducing the need for manual intervention and improving production efficiency and automation level.

[0069] By accurately calculating and adjusting the gripping points, motion trajectory, and shooting points, the robot can accurately grip new products, avoiding problems such as product damage or falling due to inaccurate gripping positions. At the same time, the camera can also capture clear images of new products at the right position and angle, providing accurate image data for subsequent processes.

[0070] See also Figure 4 The present application provides an embodiment of a method for importing new product parameters, comprising: 401. Input the size of the new product, the number of rows and columns of the pallet, the offset value of the alignment mark point and the QR code information through the interface.

[0071] Open the control interface connected to the control system, find the special new product information input area in the control interface, and follow the prompts. In the product size input column, accurately enter the length, width, and height of the new product. For the pallet row and column number input box, clearly fill in the number of rows and columns when placing new products on the pallet. In the alignment mark point offset value input area, carefully distinguish the horizontal and vertical offset values, and accurately fill in the corresponding values ​​​​in the corresponding position. Finally, in the QR code information input box, manually enter the QR code content or use a scanning device to read the QR code information and automatically fill it into the input box.

[0072] After entering all the information and confirming that it is correct, click the Submit button on the interface. If the system prompts that the data is incorrect, return to the corresponding input box and make changes according to the prompt information until all the data is submitted correctly.

[0073] In this embodiment, accurately inputting information such as the size of new products and the number of rows and columns of pallets helps the device to accurately control the movement trajectory and position of the manipulator during the process of grabbing and placing products, avoiding product damage or incorrect placement due to size deviation. Accurate input of the offset value of the alignment mark ensures accuracy during visual inspection and positioning. The entry of QR code information facilitates full traceability of products. From the source of production to the final sales link, product-related information can be quickly obtained by scanning the code, which is conducive to quality control and after-sales maintenance.

[0074] See also Figure 5The present application provides an embodiment of a method for confirming a point adjustment value, comprising: 501. Display the point adjustment value through the interface and confirm whether the point adjustment value is correct.

[0075] 502. If the point adjustment value is incorrect, adjust the second point parameter and recalculate the point adjustment value.

[0076] The calculated point adjustment values ​​are displayed in an intuitive and clear manner on the relevant operation interface. The point adjustment values ​​are presented in a certain format, such as the displacement adjustment of the robot and camera on each coordinate axis (X, Y, Z axis, etc.), as well as the rotation angle adjustment that may be involved.

[0077] Operators carefully confirm the displayed point adjustment values ​​based on their own professional knowledge, experience, and familiarity with product process requirements. They will consider factors such as the design specifications of the new product, production process standards, and previous adjustment experience of similar products. Once the point adjustment value is confirmed to be incorrect, the operator needs to analyze the possible causes of the error, which is likely to be in the calculation of the second point parameter.

[0078] According to the reasons analyzed, the operator makes targeted adjustments to the parameters of the second point. If the parameters of the new product are imported incorrectly, the incorrect parameters are corrected and the parameters of the second point are recalculated according to the established algorithm. If it is an algorithm model problem, it may be necessary to adjust certain parameters in the algorithm or replace it with a more suitable algorithm and recalculate the parameters of the second point.

[0079] After completing the adjustment of the second point parameter, the system will recalculate the point adjustment value according to the original calculation logic based on the adjusted second point parameter and the first point parameter of the standard product. The newly calculated point adjustment value will be displayed on the operation interface again for the operator to conduct a new round of confirmation to ensure that the adjusted value meets the requirements of product production or testing.

[0080] In this embodiment, by manually confirming the point adjustment value, potential erroneous values ​​can be discovered in time. If the erroneous point adjustment value is not discovered and applied to the position adjustment of the manipulator and the camera, it may cause the manipulator to have a deviation in the operation position, resulting in inaccurate product assembly, or the camera to have an incorrect shooting position, resulting in inaccurate product detection. Correcting these errors in time can effectively avoid product quality problems caused by erroneous adjustments.

[0081] See also Figure 6 The present application provides an embodiment of a method for adjusting the position of a manipulator and a camera, comprising: 601. After receiving the point adjustment value, the control system generates a coordinate point instruction according to the point adjustment value.

[0082] 602. According to the coordinate point instruction, the position of the manipulator and the camera is adjusted through the control system.

[0083] The control system receives data on point adjustment values, which are based on a comparison of parameters between the standard product and the new product, and define the amount of position change that the robot and camera need to make to adapt to the new product.

[0084] The control system parses the received point adjustment values ​​to understand the meaning of each value and the corresponding coordinate axis direction (for example, the displacement in the X, Y, and Z axes, or the angle adjustment of the rotation axis). Then, according to the device's own coordinate system and control logic, these adjustment values ​​are converted into specific coordinate point instructions. The coordinate point instruction defines the new position coordinates that the robot or camera needs to reach in space.

[0085] The control system sends the generated coordinate point instructions to the respective drive systems of the manipulator and the camera. After the manipulator's drive system receives the coordinate point instructions, the motor in the manipulator rotates in the direction and distance required by the instructions, and the transmission mechanism converts the motor's rotational motion into the linear or rotational motion of the manipulator's end effector in space, so that the manipulator moves accurately to the specified coordinate position. The camera's drive system also works according to the coordinate point instructions. If the camera is required to translate in a certain direction, the position change will be achieved through the corresponding translation mechanism to ensure that the camera can accurately align with the key position of the new product.

[0086] In this embodiment, by converting the point adjustment value into an accurate coordinate point instruction, it is possible to ensure that the manipulator and the camera are adjusted according to strict position requirements. The entire process is automatically completed by the control system, without the need for manual calculation and input of coordinate values, reducing manual operation links and improving production efficiency. This position adjustment method based on clear instructions makes the operating status and operation process of the production line easier to understand and monitor.

[0087] See also Figure 7 The present application provides an embodiment of a method for stopping position adjustment, comprising: 701. Realize the position status of monitoring manipulator and camera.

[0088] 702. If the deviation between the displacement of the manipulator and the camera and the point adjustment value exceeds a preset threshold, the position adjustment is stopped.

[0089] A variety of sensors are installed on the manipulator and camera to collect their position data in real time. The collected position data is transmitted to the control system. After receiving the data, the control system first parses it and converts the raw signal output by the sensor into position parameters that are easy to understand and process. The control system continuously compares the real-time position data of the manipulator and camera with the preset point adjustment value and calculates the deviation value. The calculated deviation value is compared with the preset threshold value. If the deviation value in any direction or dimension exceeds the corresponding preset threshold value, the system will determine that an abnormal situation has occurred, and the control system will immediately issue a stop command. The stop command is transmitted to the drive device of the manipulator and camera through the control system, and the drive device responds quickly, causing the manipulator and camera to immediately stop the current position adjustment action to avoid further expansion of the position deviation and prevent greater damage to the product or equipment. At the same time, the system will trigger an alarm mechanism to notify the operator of an abnormal situation in the form of sound, flashing lights, or pop-up message boxes.

[0090] In this embodiment, by real-time monitoring of the position status of the manipulator and the camera and comparing them with the point adjustment value, the position deviation can be discovered in time. When the deviation is within an acceptable range, the operator can fine-tune the equipment according to the actual situation to ensure that the manipulator and the camera are accurately adjusted according to the expected point adjustment value. When the deviation exceeds the preset threshold, the position adjustment is stopped in time to avoid serious consequences such as collision and damage caused by the loss of control of the equipment position. Timely discovery and handling of position deviation problems effectively reduces the frequency of abnormal situations in the production process.

[0091] See also Figure 8 The present application provides an embodiment of a device for adaptively calculating product position of a device, including: The acquisition unit 801 determines the standard product as the reference template and acquires the first point parameter of the standard product; The first calculation unit 802 imports the product parameters of the new product, and calculates the second point parameters of the new product according to the first point parameters and the product parameters of the new product; A second calculation unit 803 calculates a point adjustment value according to the first point parameter and the second point parameter; The sending unit 804 sends the point adjustment value to the control system after confirming that the point adjustment value is correct; The processing unit 805 adjusts the positions of the manipulator and the camera through the control system according to the point adjustment value.

[0092] Optionally, in some embodiments of the present application, the acquiring unit 801 includes: Obtain and record the first motion trajectory and the first grasping point of the manipulator when handling the standard product; Get and record the first shooting point of the camera on the standard product.

[0093] Optionally, in some embodiments of the present application, the second calculation unit 803 includes: Calculate the gripping point compensation and photo taking point compensation of the robot according to the product parameters of the standard product and the product parameters of the new product; Calculate the second motion trajectory and the second grasping point when the manipulator handles the new product according to the grasping point compensation, the first motion trajectory and the first grasping point of the manipulator; The second shooting point of the camera for the new product is calculated based on the shooting point compensation and the first shooting point.

[0094] Optionally, in some embodiments of the present application, the first calculation unit 802 includes: Enter the dimensions of the new product, number of pallet rows and columns, alignment mark point offset value, and QR code information through the interface.

[0095] Optionally, in some embodiments of the present application, after the second calculating unit 803, the device further includes: The display unit 806 displays the point adjustment value through an interface and confirms whether the point adjustment value is correct; The third calculation unit 807 adjusts the second point parameter and recalculates the point adjustment value if the point adjustment value is incorrect.

[0096] Optionally, in some embodiments of the present application, the processing unit 805 includes: After receiving the point adjustment value, the control system generates a coordinate point instruction according to the point adjustment value; According to the coordinate point instructions, the position of the robot and camera is adjusted through the control system.

[0097] Optionally, in some embodiments of the present application, after the processing unit 805, the device further includes: The monitoring unit 808 monitors the position status of the manipulator and the camera; The stop unit 809 stops the position adjustment if the deviation between the displacement of the manipulator and the camera and the point adjustment value exceeds a preset threshold.

[0098] In this implementation, the functions of each unit and module are the same as those described above. Figures 1 to 7 The steps in the illustrated embodiments correspond to each other and will not be described again here.

[0099] See also Fig. 9 The present application also provides a device for calculating the position of a device's adaptive product, including: Processor 901 , memory 902 , input-output unit 903 , and bus 904 .

[0100] The processor 901 is connected to the memory 902 , the input and output unit 903 , and the bus 904 .

[0101] The memory 902 stores a program, and the processor 901 calls the program to execute the following steps: Figures 1 to 7 The method in .

[0102] In this embodiment, the function of the processor 901 is the same as that of the aforementioned Figures 1 to 7 The steps in the illustrated embodiments correspond to each other and will not be described again here.

[0103] The embodiment of the present application also provides a computer-readable storage medium on which a program is stored. When the program is executed on a computer, the computer executes the aforementioned Figures 1 to 7 A method in any possible implementation.

[0104] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0105] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0106] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A method for calculating the position of a device's adaptive product, characterized in that: include: Determine a standard product as a reference template, and obtain a first point parameter of the standard product; Importing product parameters of a new product, and calculating second point parameters of the new product according to the first point parameters and the product parameters of the new product; Calculate a point adjustment value according to the first point parameter and the second point parameter; After confirming that the point adjustment value is correct, sending the point adjustment value to the control system; According to the point adjustment value, the position of the manipulator and the camera is adjusted through the control system.

2. The method according to claim 1, characterized in that The first point parameters include a first motion trajectory, a first grabbing point, and a first shooting point; The step of obtaining the first point parameter of the standard product comprises: Acquire and record a first motion trajectory and a first grasping point when the manipulator processes the standard product; Acquire and record the first shooting point of the camera on the standard product.

3. The method according to claim 2, characterized in that The second point parameters include a second motion trajectory, a second grabbing point, and a second shooting point; The step of calculating the second point parameters of the new product according to the first point parameters and the product parameters of the new product comprises: Calculate the gripping point compensation and the photographing point compensation of the manipulator according to the product parameters of the standard product and the product parameters of the new product; Calculating a second motion trajectory and a second gripping point when the manipulator handles the new product according to the gripping point compensation of the manipulator, the first motion trajectory and the first gripping point; A second shooting point of the camera for the new product is calculated according to the shooting point compensation and the first shooting point.

4. The method according to claim 3, characterized in that The step of calculating the gripping point compensation and the photographing point compensation of the manipulator according to the product parameters of the standard product and the product parameters of the new product comprises: Use the following formula 1 to calculate the gripping point compensation: Formula 1; in, Indicates the grab point compensation value. Indicates the component of the grab point compensation value in the X-axis direction. Indicates the component of the grab point compensation value in the Y-axis direction. Indicates the size difference between the new product and the standard product on the X-axis. Indicates the size difference between the new product and the standard product on the Y axis; Use the following formula 2 to calculate the compensation of the shooting point: Formula 2; in, Indicates the compensation value of the photo point. Indicates the component of the camera point compensation value in the X-axis direction. Indicates the component of the camera point compensation value in the Y-axis direction. Indicates the size difference between the new product and the standard product on the X-axis. Indicates the size difference between the new product and the standard product on the Y axis, Indicates the relative offset value of the product center point and mark point on the X-axis between the new product and the standard product. Indicates the relative offset value of the product center point and mark point on the Y-axis between the new product and the standard product.

5. The method according to claim 1, characterized in that The product parameters of the new product include the size of the new product, the number of rows and columns of the tray, the offset value of the alignment mark point and the QR code information; The step of importing product parameters of a new product comprises: Enter the dimensions of the new product, number of pallet rows and columns, alignment mark point offset value, and QR code information through the interface.

6. The method according to claim 5, characterized in that After the step of calculating the point adjustment value according to the first point parameter and the second point parameter, the method further includes: Displaying the point adjustment value through an interface, and confirming whether the point adjustment value is correct; If the point adjustment value is incorrect, the second point parameter is adjusted and the point adjustment value is recalculated.

7. The method according to any one of claims 1 to 6, characterized in that: The step of adjusting the position of the manipulator and the camera by the control system according to the point adjustment value comprises: After receiving the point adjustment value, the control system generates a coordinate point instruction according to the point adjustment value; According to the coordinate point instruction, the position of the manipulator and the camera is adjusted through the control system.

8. The method according to claim 7, characterized in that After the step of adjusting the positions of the manipulator and the camera by the control system according to the point adjustment value, the method further includes: Realize monitoring of the position status of the manipulator and camera; If the deviation between the displacement of the manipulator and the camera and the point adjustment value exceeds a preset threshold, the position adjustment is stopped.

9. A device for calculating the position of an adaptive product, characterized in that: include: An acquisition unit, which determines a standard product as a reference template and acquires a first point parameter of the standard product; A first calculation unit is configured to import product parameters of a new product, and calculate second point parameters of the new product according to the first point parameters and the product parameters of the new product; A second calculation unit calculates a point adjustment value according to the first point parameter and the second point parameter; A sending unit, after confirming that the point adjustment value is correct, sends the point adjustment value to a control system; The processing unit adjusts the positions of the manipulator and the camera through the control system according to the point adjustment value.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, and when the program is executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 8.

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