A workpiece grinding position debugging method, system, device and medium

Abstract

The present invention discloses a workpiece grinding position debugging method, system, device and medium, which relates to the technical field of grinder processing, and includes the following steps: obtaining a monitoring image of a target workpiece placed by a manipulator; obtaining actual placement position information of the target workpiece according to the monitoring image; obtaining specification information of a selected target grinding wheel to obtain theoretical placement position information of the target workpiece; comparing the actual placement position information with the theoretical placement position information to obtain position debugging information; and updating the placement action path instruction of the manipulator according to the position debugging information. The present invention has the advantages of improving the debugging accuracy and debugging efficiency of the workpiece placement position.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding machine processing, and particularly to a method, system, device and medium for debugging the grinding position of a workpiece. Background Art

[0002] At present, an automated grinding machine can perform automated grinding on various workpieces. A manipulator can be configured to grab the workpiece to the grinding wheel grinding station, and then automated grinding can be started. The grinding accuracy is related to the swinging accuracy of the manipulator for the workpiece. If the swing is not in place, it will cause the workpiece to be not ground in place or the grinding size to be deviated, affecting the grinding quality of the workpiece.

[0003] Due to the influence of factors such as the shape and size of the workpiece, the selected specifications of the grinding wheel, the vibration of the manipulator and the grasping error, every time different workpieces are processed or different grinding wheels are selected, it is necessary to re-adjust the action path execution program of the manipulator. Especially when performing end face grinding on a long shaft workpiece, it is more difficult to locate the end face pose error. At present, the debugging of the grinding position of the long shaft workpiece mainly relies on manual visual inspection, which requires multiple debuggings, and then the debugging data is updated, and then automated operation can be carried out. However, this debugging method has low debugging accuracy and low debugging efficiency, affecting the processing efficiency. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, system, device and medium for debugging the grinding position of a workpiece, aiming to solve the technical problem of low debugging accuracy of the existing workpiece grinding position debugging method.

[0005] To achieve the above object, the present invention provides a method for debugging the grinding position of a workpiece, including the following steps:

[0006] Obtain a monitoring image of the target workpiece placed by the manipulator;

[0007] According to the monitoring image, obtain the actual placement position information of the target workpiece;

[0008] Obtain the specification information of the selected target grinding wheel to obtain the theoretical placement position information of the target workpiece;

[0009] Compare the actual placement position information with the theoretical placement position information to obtain position debugging information;

[0010] According to the position debugging information, update the placement action path instruction of the manipulator.

[0011] Optionally, according to the monitoring image, obtaining the actual placement position information of the target workpiece includes:

[0012] Based on the monitoring image, obtain debugging data for adjusting the target workpiece to the target pose state; wherein, the target workpiece is a shaft workpiece, the target pose state is a state where the axis line of the target workpiece is perpendicular to the grinding surface of the target grinding wheel, and the debugging data is used to control the manipulator to execute the corresponding action path.

[0013] Obtain the center coordinates of the target end face of the target workpiece in the target pose state; wherein, the target end face is the side of the target workpiece away from the target grinding wheel.

[0014] Output the center coordinates as the actual placement position information of the target workpiece.

[0015] Optionally, the monitoring image includes a first image and a second image. The first image is an image obtained from the front view of the target workpiece, and the second image is an image obtained from the top view of the target workpiece.

[0016] Based on the monitoring image, obtaining debugging data for adjusting the target workpiece to the target pose state includes:

[0017] Based on the first image, obtain the first deflection angle data for adjusting the target workpiece to the intermediate pose state; wherein, the intermediate pose state is a state where the axis line of the target workpiece is horizontal, and the first deflection angle data is the included angle data between the axis line of the target workpiece and the horizontal plane.

[0018] Based on the second image, obtain the second deflection angle data for adjusting the target workpiece from the intermediate pose state to the target pose state; wherein, the second deflection angle data is the included angle data between the axis line of the target workpiece and the target normal line, and the target normal line is the normal line of the grinding surface of the target grinding wheel.

[0019] Optionally, obtain the specification information of the selected target grinding wheel to obtain the theoretical placement position information of the target workpiece, including:

[0020] Obtain the thickness information of the selected target grinding wheel;

[0021] Based on the thickness information, obtain the grinding position coordinates of the target grinding wheel;

[0022] Output the grinding position coordinates as the theoretical placement position information.

[0023] Optionally, compare the actual placement position information with the theoretical placement position information to obtain position debugging information, including:

[0024] Construct a three-dimensional coordinate system with the grinding position coordinates as the origin;

[0025] Obtain the center coordinates (x, y, z) in the three-dimensional coordinate system;

[0026] Obtain the length L of the target workpiece;

[0027] Obtain position debugging information according to the center coordinates (x, y, z) of the circle and the length L; wherein, the position debugging information includes that the axial horizontal movement distance of the target workpiece is (x - L), the radial horizontal movement distance of the target workpiece is y, and the vertical movement distance of the target workpiece is z.

[0028] Optionally, after updating the placement action path instruction of the manipulator according to the position debugging information, it further includes:

[0029] Obtain the end face image of the target workpiece based on the perspective of the target end face;

[0030] Identify the end face contour features of the target workpiece according to the end face image;

[0031] Judge whether the end face contour features are a standard circle;

[0032] If not, identify that the end face contour features are composed of a non-standard circle and an abnormal contour, and identify the relative position information between the abnormal contour and the non-standard circle;

[0033] Obtain the secondary debugging information of the target workpiece according to the relative position information;

[0034] If so, end.

[0035] Optionally, obtaining the secondary debugging information of the target workpiece according to the relative position information includes:

[0036] If the relative position information is identified as the first type of position information, obtain the third image based on the top view angle of the target workpiece; wherein, the first type of position information is that the abnormal contour is located directly to the left or right of the non-standard circle;

[0037] Obtain the secondary debugging information of the target workpiece according to the third image;

[0038] If the relative position information is identified as the second type of position information, obtain the fourth image based on the front view angle of the target workpiece; wherein, the second type of position information is that the abnormal contour is located directly above or below the non-standard circle;

[0039] Obtain the secondary debugging information of the target workpiece according to the fourth image;

[0040] If the relative position information is identified as the third type of position information, obtain the third image and the fourth image respectively; wherein, the third type of position information is that the abnormal contour is located obliquely to the non-standard circle;

[0041] Obtain the secondary debugging information of the target workpiece according to the third image and the fourth image.

[0042] To achieve the above object, the present invention further provides a workpiece grinding position debugging system, including:

[0043] An image acquisition module for acquiring a monitoring image of a target workpiece placed by a manipulator;

[0044] An actual information acquisition module for acquiring the actual placement position information of the target workpiece according to the monitoring image;

[0045] A theoretical information acquisition module for acquiring the specification information of a selected target grinding wheel to obtain the theoretical placement position information of the target workpiece;

[0046] A debugging information acquisition module for comparing the actual placement position information with the theoretical placement position information to obtain position debugging information;

[0047] An update module for updating the placement action path instruction of the manipulator according to the position debugging information.

[0048] To achieve the above object, the present invention also provides a computer device, which includes a memory and a processor. A computer program is stored in the memory, and the processor executes the computer program to implement the above method.

[0049] To achieve the above object, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and the processor executes the computer program to implement the above method.

[0050] The beneficial effects that the present invention can achieve are as follows:

[0051] Based on the monitoring image of the target workpiece placed by the manipulator, the present invention uses machine vision recognition technology to calculate and obtain the actual placement position information of the target workpiece. Then, combined with the specification information of the selected target grinding wheel, the theoretical placement position information of the target workpiece can be calculated. Then, the actual placement position information is compared and calculated with the theoretical placement position information, and the position debugging information can be obtained according to the difference between the two. By inputting the position debugging information into the controller of the manipulator, the placement action path instruction of the manipulator can be updated. Finally, the manipulator adjusts the target workpiece to the theoretical placement position according to the placement action path instruction. Therefore, the present invention combines the relative position information between the target workpiece and the target grinding wheel after the initial placement, and uses machine vision recognition technology to calculate the position deviation between the two, so as to accurately debug the action path of the manipulator, improve the debugging accuracy, reduce the number of debugging times, and improve the debugging efficiency. Description of the Drawings

[0052] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0053] Figure 1 Schematic flow diagram of a method for debugging the grinding position of a workpiece in an embodiment of the present invention;

[0054] Figure 2 Schematic principle diagram of debugging a target workpiece to a target pose state in an embodiment of the present invention;

[0055] Figure 3 Schematic principle diagram of moving a target workpiece from a target pose state to a theoretical position in an embodiment of the present invention;

[0056] Figure 4 Schematic diagram of the first type of position information in an embodiment of the present invention;

[0057] Figure 5 Schematic diagram of the second type of position information in an embodiment of the present invention;

[0058] Figure 6 Schematic diagram of the third type of position information in an embodiment of the present invention.

[0059] Reference numerals:

[0060] 110 - Target workpiece, 120 - Target grinding wheel, 130 - Non-standard circle, 140 - Abnormal contour.

[0061] The realization of the objectives, functional features, and advantages of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Specific embodiments

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0063] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0064] If there are descriptions such as "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. Additionally, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0065] Embodiment 1

[0066] Referring to Figures 1-6 , this embodiment provides a method for debugging the grinding position of a workpiece, including the following steps:

[0067] Obtain a monitoring image of the target workpiece 110 placed by the manipulator;

[0068] According to the monitoring image, obtain the actual placement position information of the target workpiece 110;

[0069] Obtain the specification information of the selected target grinding wheel 120 to obtain the theoretical placement position information of the target workpiece 110;

[0070] Compare the actual placement position information with the theoretical placement position information to obtain position debugging information;

[0071] According to the position debugging information, update the placement action path instruction of the manipulator.

[0072] In this embodiment, based on obtaining the monitoring image of the target workpiece 110 placed by the manipulator (the image can be collected based on an industrial camera), using machine vision recognition technology, the actual placement position information of the target workpiece 110 can be calculated and obtained. Then, combined with the specification information of the selected target grinding wheel 120, the theoretical placement position information of the target workpiece 110 can be calculated. Then, the actual placement position information is compared and calculated with the theoretical placement position information, and the position debugging information can be obtained according to the difference between the two. Inputting the position debugging information into the controller of the manipulator can update the placement action path instruction of the manipulator. Finally, the manipulator adjusts the target workpiece 110 to the theoretical placement position according to the placement action path instruction. Therefore, this embodiment combines the relative position information between the target workpiece 110 and the target grinding wheel 120 after the initial placement, and uses machine vision recognition technology to calculate the position deviation between the two, so as to accurately debug the action path of the manipulator, improve the debugging accuracy, reduce the number of debugging times, and also improve the debugging efficiency.

[0073] As an alternative implementation, based on the monitoring image, obtain the actual placement position information of the target workpiece 110, including:

[0074] Based on the monitoring image, obtain the debugging data for adjusting the target workpiece 110 to the target pose state; wherein, the target workpiece 110 is a shaft workpiece, the target pose state is the state where the axis line of the target workpiece 110 is perpendicular to the grinding surface of the target grinding wheel 120, and the debugging data is used to control the manipulator to execute the corresponding action path;

[0075] Obtain the center coordinates of the target end face of the target workpiece 110 in the target pose state; wherein, the target end face is the side of the target workpiece 110 away from the target grinding wheel 120;

[0076] Output the center coordinates as the actual placement position information of the target workpiece 110.

[0077] In this implementation, based on the monitoring image, the current pose state of the target workpiece 110 can be recognized. At this time, the pose state of the target workpiece 110 may have a certain angle deviation in both the vertical and horizontal directions. If the current pose state data is directly output as the actual placement position information, it is necessary to calculate the rotation matrix and the translation matrix simultaneously, which has a large amount of calculation, increases the calculation pressure, and affects the calculation accuracy. Eventually, it leads to multiple debugging operations, affecting the debugging efficiency. Therefore, here, based on the current pose state, calculate the debugging data for adjusting the target workpiece 110 to the target pose state. The debugging data is input into the controller of the manipulator, which can control the manipulator to move along the corresponding action path. When the target workpiece 110 is adjusted to the target pose state, at this time, the axis line of the target workpiece 110 is perpendicular to the grinding surface of the target grinding wheel 120. During subsequent debugging, it is only necessary to translate the target workpiece 110 in the vertical or horizontal direction, without the need for further angle deviation. Moreover, since the side of the target workpiece 110 close to the target grinding wheel 120 is blocked by it, it is difficult to collect the end face position information. Therefore, here, the center coordinates of the end face of the target workpiece 110 away from the target grinding wheel 120 are used as the actual placement position information, which can accurately represent the position characteristics of the target workpiece 110 after preliminary debugging. Therefore, this embodiment is based on segmented debugging, which reduces the calculation difficulty and further improves the debugging accuracy and efficiency.

[0078] It should be noted that the above manipulator can adopt the robotic arm of a six-axis robot, which can meet the movement of multiple degrees of freedom.

[0079] As an alternative implementation, the monitoring image includes a first image and a second image. The first image is an image obtained from the front view of the target workpiece 110, and the second image is an image obtained from the top view of the target workpiece 110;

[0080] Based on the monitoring image, debug data for debugging the target workpiece 110 to the target pose state is obtained, including:

[0081] Based on the first image, first deflection angle data for debugging the target workpiece 110 to the intermediate pose state is obtained; wherein, the intermediate pose state is a state where the axis line of the target workpiece 110 is horizontal, and the first deflection angle data is the included angle data between the axis line of the target workpiece 110 and the horizontal plane;

[0082] Based on the second image, second deflection angle data for debugging the target workpiece 110 from the intermediate pose state to the target pose state is obtained; wherein, the second deflection angle data is the included angle data between the axis line of the target workpiece 110 and the target normal line, and the target normal line is the normal line of the grinding surface of the target grinding wheel 120.

[0083] In this embodiment, since there are certain angular offsets of the target workpiece 110 in the vertical and horizontal directions, the first image can be obtained based on the front view angle of the target workpiece 110 here. Whether there is a vertical offset of the target workpiece 110 can be recognized based on the first image. If there is, the first deflection angle data for debugging the target workpiece 110 to the horizontal state can be calculated. Based on the first deflection angle data, the manipulator can be controlled to drive the target workpiece 110 to rotate by a corresponding angle in the vertical direction. If not, the first deflection angle data here is 0, that is, no vertical rotation is required. Similarly, when recognizing whether there is a horizontal offset, the second image can be obtained based on the top view angle of the target workpiece 110. The second deflection angle data of the target workpiece 110 can be recognized and calculated based on the second image, and then the manipulator can be controlled to finally debug the target workpiece 110 to the target pose state. Therefore, in this embodiment, image information is used based on different view angles, and the offset conditions of the target workpiece 110 in the vertical and horizontal directions can be recognized respectively. Only one variable is calculated for each view angle, with low calculation difficulty, high calculation efficiency and not easy to make mistakes, thus improving the calculation accuracy.

[0084] It should be noted that the judgment criteria for the above vertical offset and horizontal offset are based on the grinding surface of the target grinding wheel 120, so as to ensure the relative position accuracy between the two.

[0085] As an optional implementation manner, the specification information of the selected target grinding wheel 120 is obtained to obtain the theoretical placement position information of the target workpiece 110, including:

[0086] The thickness information of the selected target grinding wheel 120 is obtained;

[0087] Based on the thickness information, the grinding position coordinates of the target grinding wheel 120 are obtained;

[0088] The grinding position coordinates are output as the theoretical placement position information.

[0089] In this embodiment, according to the thickness information of the target grinding wheel 120, the grinding position coordinates of the target grinding wheel 120 can be confirmed. The grinding position coordinates should be the center position of the annular grinding disc in the target grinding wheel 120, that is, the position in contact with the end face to be ground of the target workpiece 110, and also the final theoretical position after the position adjustment of the target workpiece 110. Therefore, the grinding position coordinates can be output as the theoretical placement position information here.

[0090] As an alternative embodiment, compare the actual placement position information with the theoretical placement position information to obtain the position adjustment information, including:

[0091] Construct a three-dimensional coordinate system with the grinding position coordinates as the origin;

[0092] Obtain the center coordinates (x, y, z) in the three-dimensional coordinate system;

[0093] Obtain the length L of the target workpiece 110;

[0094] According to the center coordinates (x, y, z) and the length L, obtain the position adjustment information; wherein, the position adjustment information includes that the axial horizontal movement distance of the target workpiece 110 is (x - L), the radial horizontal movement distance of the target workpiece 110 is y, and the vertical movement distance of the target workpiece 110 is z.

[0095] In this embodiment, here a three-dimensional coordinate system is constructed with the grinding position coordinates as the origin, and the coordinate origin is denoted as O. Thus, the center coordinates in the three-dimensional coordinate system can be obtained, denoted as O' (x, y, z). Then, combined with the length L of the target workpiece 110, the translation data, that is, the position adjustment information, can be calculated. The axial horizontal movement distance of the target workpiece 110 is (x - L), the radial horizontal movement distance of the target workpiece 110 is y, and the vertical movement distance of the target workpiece 110 is z. Input this translation data into the controller of the manipulator, and the manipulator can be controlled to execute the corresponding translation action path. When translated to the grinding position, at this time the center coordinates are O' (L, 0, 0), that is, the end face to be ground of the target workpiece 110 fits the middle area of the annular grinding disc in the target grinding wheel 120, and subsequent grinding work can be started.

[0096] As an alternative embodiment, after updating the placement action path instruction of the manipulator according to the position adjustment information, it further includes:

[0097] Obtain the end face image of the target workpiece 110 based on the perspective of the target end face;

[0098] According to the end face image, identify the end face contour features of the target workpiece 110;

[0099] Judge whether the end face contour features are a standard circle;

[0100] If not, it is identified that the end face profile feature is composed of the non-standard circle 130 and the abnormal contour 140, and the relative position information of the abnormal contour 140 and the non-standard circle 130 is identified;

[0101] Acquire secondary debugging information of the target workpiece 110 according to the relative position information;

[0102] If yes, then end.

[0103] In this embodiment, after the manipulator executes the placement action path instruction, in order to further ensure the placement accuracy of the workpiece grinding position, the end face image of the target workpiece 110 is obtained based on the perspective of the target end face, so that the end face contour feature of the target workpiece 110 can be identified. If the placement accuracy is achieved, the end face contour feature should be a standard circle at this time. If not, it means that due to errors in the previous identification, calculation or execution process, the placement accuracy of the target workpiece 110 still has a certain deviation. At this time, it can be identified that the end face contour feature is composed of a non-standard circle 130 and an abnormal contour 140. At this time, secondary debugging is required for fine-tuning. Here, the offset direction of the target workpiece 110 can be characterized based on the relative position information of the abnormal contour 140 and the non-standard circle 130, so that the secondary debugging information (i.e., the offset angle) of the target workpiece 110 can be calculated, and then the manipulator is controlled to fine-tune the placement position of the target workpiece 110.

[0104] As an optional implementation, obtaining secondary debugging information of the target workpiece 110 according to the relative position information includes:

[0105] If the relative position information is identified as the first type of position information, a third image is acquired based on the top view of the target workpiece 110; wherein the first type of position information is that the abnormal contour 140 is located on the left or right side of the non-standard circle 130;

[0106] Acquire secondary debugging information of the target workpiece 110 according to the third image;

[0107] If the relative position information is identified as the second type of position information, a fourth image is acquired based on the front view of the target workpiece 110; wherein the second type of position information is that the abnormal contour 140 is located directly above or directly below the non-standard circle 130;

[0108] According to the fourth image, obtaining secondary debugging information of the target workpiece 110;

[0109] If the relative position information is identified as the third type of position information, the third image and the fourth image are acquired respectively; wherein the third type of position information is that the abnormal contour 140 is located on the oblique side of the non-standard circle 130;

[0110] Secondary debugging information of the target workpiece 110 is acquired according to the third image and the fourth image.

[0111] In this embodiment, when calculating the secondary debugging information, in order to improve the calculation efficiency, the category of relative position information can be first identified here, which can be divided into three categories, namely, the first category of position information, the second category of position information and the third category of position information. When the first category of position information is identified, it means that the target workpiece 110 only has a horizontal offset at this time, which causes the abnormal contour 140 to be located on the left or right side of the non-standard circle 130. At this time, the third image can be acquired based only on the top view of the target workpiece 110. The third image acquired at this view can show the offset of the target workpiece 110 relative to the normal of the target grinding wheel 120, so that the corresponding offset angle can be calculated, and the offset angle is output as the secondary debugging information to perform secondary fine-tuning on the target workpiece 110. Similarly, when the second category of position information is identified, it means that the target workpiece 110 only has a vertical offset at this time, which causes the abnormal contour 140 to be located directly above or directly below the non-standard circle 130. At this time, the fourth image can be acquired based only on the front view of the target workpiece 110, so as to calculate the corresponding offset angle of the target workpiece 110. If the third type of position information is identified, it means that there is a shift in both the horizontal and vertical directions. At this time, the third image and the fourth image are respectively acquired to calculate the shift angles in different shift directions. Therefore, this embodiment can perform targeted image recognition calculations based on the category of relative position information, rather than directly calculating the shift angles in the horizontal and vertical directions at the same time, which can reduce the amount of calculation and improve the efficiency of secondary debugging.

[0112] It should be noted that when identifying the category of relative position information, the midpoint of the abnormal contour 140 and the midpoint of the non-standard circle 130 can be connected to obtain a straight line segment. If the straight line segment is a horizontal line, the relative position information is identified as the first category of position information. If the straight line segment is a vertical line, the relative position information is identified as the second category of position information. If the straight line segment is a diagonal line, the relative position information is identified as the third category of position information.

[0113] Example 2

[0114] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a workpiece grinding position debugging system, comprising:

[0115] An image acquisition module, used to acquire a monitoring image of the target workpiece 110 after being placed by the manipulator;

[0116] An actual information acquisition module, used to acquire actual placement position information of the target workpiece 110 according to the monitoring image;

[0117] Theoretical information acquisition module, used to acquire the specification information of the selected target grinding wheel 120, so as to acquire the theoretical placement position information of the target workpiece 110;

[0118] A debugging information acquisition module, configured to compare the actual placement position information with the theoretical placement position information to obtain position debugging information;

[0119] An update module, configured to update the placement action path instruction of the manipulator according to the position debugging information.

[0120] For the relevant explanations and examples of each module in the system of this embodiment, reference can be made to the methods of the foregoing embodiments, which will not be elaborated here.

[0121] Embodiment 3

[0122] Based on the same inventive concept as the foregoing embodiments, this embodiment provides a computer device, which includes a memory and a processor. A computer program is stored in the memory, and the processor executes the computer program to implement the above method.

[0123] Embodiment 4

[0124] Based on the same inventive concept as the foregoing embodiments, this embodiment provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and the processor executes the computer program to implement the above method.

[0125] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for debugging a workpiece grinding position, characterized in that: The following steps are involved: Acquire a monitoring image of the target workpiece after being placed by the robot; According to the monitoring image, the actual placement position information of the target workpiece is obtained; including: according to the monitoring image, the debugging data for debugging the target workpiece to the target posture state is obtained; wherein the target workpiece is an axial workpiece, the target posture state is the state in which the axis of the target workpiece is perpendicular to the grinding surface of the target grinding wheel, and the debugging data is used to control the manipulator to execute the corresponding action path; the center coordinates of the target end face of the target workpiece in the target posture state are obtained; wherein the target end face is the side of the target workpiece away from the target grinding wheel; the center coordinates are output as the actual placement position information of the target workpiece; Obtaining specification information of the selected target grinding wheel to obtain theoretical placement position information of the target workpiece; Comparing the actual placement position information with the theoretical placement position information to obtain position debugging information; According to the position debugging information, the placement action path instruction of the robot is updated.

2. A workpiece grinding position debugging method according to claim 1, characterized in that: The monitoring image includes a first image and a second image, wherein the first image is an image acquired based on a front view of the target workpiece, and the second image is an image acquired based on a top view of the target workpiece; The step of obtaining debugging data for debugging the target workpiece to a target posture state according to the monitoring image includes: According to the first image, first deflection angle data for adjusting the target workpiece to an intermediate posture state is acquired; wherein the intermediate posture state is a state in which the axis of the target workpiece is horizontal, and the first deflection angle data is angle data between the axis of the target workpiece and a horizontal plane; According to the second image, second deflection angle data for adjusting the target workpiece from the intermediate posture state to the target posture state is obtained; wherein the second deflection angle data is the angle data between the axis line of the target workpiece and the target normal line, and the target normal line is the normal line of the grinding surface of the target grinding wheel.

3. A workpiece grinding position debugging method according to claim 1, characterized in that: The step of obtaining the specification information of the selected target grinding wheel to obtain the theoretical placement position information of the target workpiece includes: Obtain the thickness information of the selected target grinding wheel; According to the thickness information, obtaining the grinding position coordinates of the target grinding wheel; The grinding position coordinates are output as theoretical placement position information.

4. A workpiece grinding position debugging method as claimed in claim 3, characterized in that: The comparing the actual placement position information with the theoretical placement position information to obtain position debugging information includes: Constructing a three-dimensional coordinate system with the grinding position coordinates as the origin; Obtain the coordinates (x, y, z) of the center of the circle in the three-dimensional coordinate system; Obtaining the length L of the target workpiece; According to the center coordinates (x, y, z) and the length L, position debugging information is obtained; wherein the position debugging information includes that the axial horizontal movement distance of the target workpiece is (xL), the radial horizontal movement distance of the target workpiece is y, and the vertical movement distance of the target workpiece is z.

5. A workpiece grinding position debugging method as claimed in claim 1, characterized in that: After updating the placement action path instruction of the manipulator according to the position debugging information, the method further includes: Acquiring an end face image of the target workpiece based on a viewing angle of the target end face; According to the end face image, identifying the end face profile features of the target workpiece; Determining whether the end face profile feature is a standard circle; If not, identifying that the end face profile feature is composed of a non-standard circle and an abnormal contour, and identifying relative position information between the abnormal contour and the non-standard circle; Acquiring secondary debugging information of the target workpiece according to the relative position information; If yes, then end.

6. A workpiece grinding position debugging method as claimed in claim 5, characterized in that: The step of acquiring secondary debugging information of the target workpiece according to the relative position information includes: If the relative position information is identified as first-type position information, a third image is acquired based on the top-down angle of the target workpiece; wherein the first-type position information is that the abnormal contour is located to the left or right of the non-standard circle; acquiring secondary debugging information of the target workpiece according to the third image; If the relative position information is identified as the second type of position information, a fourth image is acquired based on the front view of the target workpiece; wherein the second type of position information is that the abnormal contour is located directly above or directly below the non-standard circle; acquiring secondary debugging information of the target workpiece according to the fourth image; If the relative position information is identified as the third type of position information, the third image and the fourth image are acquired respectively; wherein the third type of position information is that the abnormal contour is located on the oblique side of the non-standard circle; Secondary debugging information of the target workpiece is acquired according to the third image and the fourth image.

7. A workpiece grinding position debugging system, characterized in that: include: An image acquisition module is used to acquire a monitoring image of the target workpiece after being placed by the manipulator; The actual information acquisition module is used to acquire the actual placement position information of the target workpiece according to the monitoring image; including: acquiring debugging data for debugging the target workpiece to a target posture state according to the monitoring image; wherein the target workpiece is an axial workpiece, the target posture state is a state in which the axis of the target workpiece is perpendicular to the grinding surface of the target grinding wheel, and the debugging data is used to control the manipulator to execute a corresponding action path; acquiring the center coordinates of the target end face of the target workpiece in the target posture state; wherein the target end face is a side of the target workpiece away from the target grinding wheel; and outputting the center coordinates as the actual placement position information of the target workpiece; Theoretical information acquisition module, used to obtain the specification information of the selected target grinding wheel, so as to obtain the theoretical placement position information of the target workpiece; A debugging information acquisition module, used for comparing the actual placement position information with the theoretical placement position information to obtain position debugging information; The updating module is used to update the placement action path instruction of the robot according to the position debugging information.

8. A computer device, characterized in that: The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 6.

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