Point position offset correction method, system and equipment and storage medium

Abstract

The invention provides a point location offset correction method, system and device and a storage medium, and aims to solve the problem that in the prior art, the offset needs to be calculated by photographing each point location, and due to the fact that the number of point locations in screw locking equipment is large, the calculation amount is large when the offset is calculated by photographing each point location. The point position offset correction method comprises the steps that the position relation between a camera and an electric screwdriver head is obtained based on any point position of an actual product; a template product is placed in a working area, mechanical positions of all point positions in the template product are obtained, and template coordinates of a camera at a target point position are obtained based on the mechanical positions; replacing the template product with an actual product, and obtaining the current coordinate of the camera at the target point location; and on the basis of the position relation between the camera and the electric screwdriver head, the template coordinates and the current coordinates, the point location offset of the actual product is obtained through calculation, and all the point locations of the actual product are corrected on the basis of the point location offset.

Description

Technical Field

[0001] This application belongs to the field of automation technology, and specifically relates to a method, system, device, and storage medium for point position offset correction. Background Art

[0002] With the improvement of industry process requirements and industry process standards, there are higher requirements for the rhythm and positioning accuracy of screw locking devices. The current precise positioning method needs to take pictures of each point to calculate the offset amount. However, due to the large number of points in the screw locking device, the calculation amount of calculating the offset amount of each point is large and the time consumption is long. Therefore, an algorithm needs to be developed to quickly calculate the offsets of all points in the above scenario and save the rhythm while ensuring accuracy. Summary of the Invention

[0003] To solve the above technical problems, this application proposes a method, system, device, and storage medium for point position offset correction, aiming to solve the problem of large calculation amount caused by taking pictures of each point to calculate the offset amount in the prior art due to the large number of points in the screw locking device.

[0004] Specifically, this application proposes a method for point position offset correction, including:

[0005] Obtain the positional relationship between the camera and the electric screwdriver bit based on any point of the actual product.

[0006] Place the template product in the working area, obtain the mechanical positions of all points in the template product, and obtain the template coordinates of the camera at the target point based on the mechanical positions.

[0007] Replace the template product with the actual product, and obtain the current coordinates of the camera at the target point.

[0008] And calculate and obtain the point position offset amount of the actual product based on the positional relationship between the camera and the electric screwdriver bit, the template coordinates, and the current coordinates, and perform correction processing on all points of the actual product based on the point position offset amount.

[0009] In the above technical solution, by calculating the point position offset amount of the actual product, the points of the actual product can be effectively corrected, and the accuracy and consistency of the actual product are improved. The point position offset correction in the prior art usually needs to take pictures and calculate the offset amount for each point separately. In this way, when there are many points, a large amount of time and computing resources will be consumed. By based on the relative relationship between the template product and the actual product, the steps of recalculating and taking pictures for each operation are reduced, thereby greatly reducing the calculation amount and time consumption, and improving the production efficiency. By reducing the correction steps and calculation amount of each point, a large amount of time and human resources are saved, thereby effectively reducing the production cost.

[0010] As an implementation manner, obtaining the positional relationship between the camera and the electric bit head based on any point of the actual product includes:

[0011] Align the center point of the camera and the electric bit head with any point of the actual product respectively, and record the camera coordinate position and the electric bit head coordinate position; obtain the positional relationship between the camera and the electric bit head based on the camera coordinate position and the electric bit head coordinate position.

[0012] By recording the camera coordinate position and the electric bit head coordinate position, and obtaining the relative positional relationship between the camera and the electric bit head based on these data, it can ensure that the spatial positional relationship between the camera and the electric bit head is accurately understood and recorded, avoiding assembly errors caused by inaccurate equipment positions. Based on the positional relationship between the camera and the electric bit head, high-precision control operations during the locking process can be realized, making the screw locking process more stable and reliable.

[0013] Further, the template coordinates at least include visual template coordinates and first mechanical template coordinates; the target points at least include target point one and target point two; obtaining the template coordinates of the camera at the target points based on the mechanical position includes:

[0014] Select any two points as target point one and target point two based on the mechanical position; respectively obtain the visual template coordinates and the first mechanical template coordinates of the camera at the target point one and the target point two.

[0015] By respectively obtaining the visual template coordinates and the first mechanical template coordinates of target point one and target point two, the accuracy of the visual template coordinates and the first mechanical template coordinates is ensured, reducing the coordinate error. The stability of the visual template coordinates and the first mechanical template coordinates is improved. Selecting any two points as target point one and target point two through the mechanical position makes the point offset correction process flexible and adaptable.

[0016] Further, the current coordinates at least include current visual coordinates and first mechanical current coordinates; obtaining the current coordinates of the camera at the target points includes:

[0017] After replacing the template product with the actual product, respectively obtain the current visual coordinates and the first mechanical current coordinates of the camera at the target point one and the target point two based on the target point one and the target point two.

[0018] By replacing the template product with the actual product, the current visual coordinates and the first mechanical current coordinates of target point one and target point two can be accurately obtained on the actual product. The differences between the template product and the actual product are avoided, ensuring the accuracy of the current visual coordinates and the first mechanical current coordinates.

[0019] Further, calculating and obtaining the point offset of the actual product based on the positional relationship between the camera and the electric bit head, the template coordinates, and the current coordinates includes:

[0020] Obtaining the second mechanical template coordinates of the electric bit head at the first target point and the second target point based on the visual template coordinates of the camera, the first mechanical template coordinates, and the positional relationship between the camera and the electric bit head.

[0021] Obtaining the second mechanical current coordinates of the electric bit head at the first target point and the second target point based on the current visual coordinates of the camera, the first mechanical current coordinates, and the positional relationship between the camera and the electric bit head.

[0022] Calculating and obtaining the first slope of the template product based on the second mechanical template coordinates; calculating and obtaining the second slope of the current actual product based on the second mechanical current coordinates; calculating and obtaining the point offset based on the first slope and the second slope.

[0023] By combining the visual template coordinates, the first mechanical template coordinates, and the positional relationship between the camera and the electric bit head, the second mechanical template coordinates of the electric bit head at the target point can be obtained more accurately, improving the positioning accuracy. By calculating the offset, the error caused by the position deviation is avoided. By calculating the first slope and the second slope and calculating the point offset based on the first slope and the second slope, the high precision and stability of the point offset correction process are ensured.

[0024] Further, correcting all points of the actual product based on the point offset includes:

[0025] Calculating and obtaining the actual points of the current actual product based on the point offset; correcting all points of the current actual product based on the actual points.

[0026] Obtaining the actual points of the current actual product through the point offset, ensuring the accuracy of the points of the actual product. By correcting the points of the actual product, the error of the points of the actual product can be effectively eliminated, ensuring the precision and consistency of the points of the actual product, and improving the reliability of the actual product.

[0027] Further, calculating and obtaining the actual points of the current actual product based on the point offset includes:

[0028] Calculating and obtaining the actual points of the current actual product based on the point offset, the second mechanical template coordinates of the electric bit head at the first target point or the second target point, and the second mechanical current coordinates.

[0029] The correction of the actual point position of the current actual product obtained based on the point offset, the second mechanical template coordinates, and the second mechanical current coordinates is more accurate. The error of the actual product points is reduced, and the reliability of the actual product point correction is improved. The efficiency and accuracy of the actual product point offset correction are enhanced.

[0030] Based on the same inventive concept, the present application also proposes a system for a point offset correction method, the system comprising:

[0031] A relationship acquisition module, configured to acquire the position relationship between the camera and the electric screwdriver bit based on any point of the actual product.

[0032] A template coordinate acquisition module, configured to place a template product in the working area, acquire the mechanical positions of all points in the template product, and based on the mechanical positions, acquire the template coordinates of the camera at the target point.

[0033] A product coordinate acquisition module, configured to replace the template product with the actual product and acquire the current coordinates of the camera at the target point.

[0034] An offset calculation module, configured to calculate and obtain the point offset of the actual product based on the position relationship between the camera and the electric screwdriver bit, the template coordinates, and the current coordinates.

[0035] And a correction module, configured to perform correction processing on all points of the actual product based on the point offset.

[0036] Based on the same inventive concept, the present application also proposes a locking device, wherein a point offset correction system is configured in the locking device, and when the point offset correction system runs, it executes the point offset correction method to correct all point offsets in the locking device.

[0037] Based on the same inventive concept, the present application also proposes a computer-readable storage medium, which stores computer-executable instructions that can be read by a domain controller and execute the point offset correction method.

[0038] Compared with the prior art, the present application has at least the following beneficial effects:

[0039] This application ensures the rhythm and positioning accuracy of the screw locking device, and solves the problem in the prior art that it is necessary to take pictures of each point to calculate the offset. Since there are many points in the screw locking device, the calculation amount is large. By calculating the point offset of the actual product, the points of the actual product can be effectively corrected, improving the accuracy and consistency of the actual product. The point offset correction in the prior art usually requires taking pictures and calculating the offset for each point separately. When there are many points, it will consume a lot of time and computing resources. By based on the relative relationship between the template product and the actual product, the steps of recalculating and taking pictures for each operation are reduced, thus greatly reducing the calculation amount and time consumption, and improving the production efficiency. By reducing the correction steps and calculation amount for each point, a large amount of time and human resources are saved, thus effectively reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flowchart of the point offset correction method shown in the embodiments of the present application.

[0041] Figure 2 is a schematic diagram of the point offset correction system shown in the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0044] Embodiment 1:

[0045] Please refer to Figure 1 , the point offset correction method mainly includes steps S1 to S4.

[0046] Among them, step S1 includes: obtaining the positional relationship between the camera and the electric screwdriver bit based on any point on the actual product. The actual product can be a screw locking device. Mainly, the center of the camera's field of view can be aligned with any screw hole in the screw locking device, the camera coordinates are recorded, the electric screwdriver bit is aligned with the same screw hole, the electric screwdriver bit coordinates are recorded, and the relationship between the camera and the electric screwdriver bit can be obtained by combining the camera coordinates and the electric screwdriver bit coordinates.

[0047] Step S2 includes: placing the template product in the working area, obtaining the mechanical positions of all points on the template product, and obtaining the template coordinates of the camera at the target points based on the mechanical positions. Among them, the target points can mainly be any two point coordinates in the mechanical positions for the camera to take pictures, and these camera picture-taking positions are used as the target points.

[0048] Step S3 includes: replacing the template product with the actual product and obtaining the current coordinates of the camera at the target points. By replacing the template product with the actual product, the consistency of the target points in the template product and the actual product can be ensured, avoiding calculation errors caused by different target points.

[0049] And step S4 includes: calculating and obtaining the point offset of the actual product based on the positional relationship between the camera and the electric screwdriver bit, the template coordinates, and the current coordinates, and performing correction processing on all points of the actual product based on the point offset.

[0050] That is to say, during the actual point offset correction process, by aligning the center of the camera's field of view and the electric screwdriver bit with the same point on the actual product, the coordinates of the camera and the electric screwdriver bit are obtained, and further the positional relationship between the camera and the electric screwdriver bit is obtained. By placing the template product in the working area, the target points are determined among the points of the template product and the template coordinates of the camera at the target points are obtained. After replacing the template product with the actual product, the current coordinates of the camera at the target points are obtained, and the point offset of the target points is calculated and obtained based on the positional relationship between the camera and the electric screwdriver bit, the template coordinates, and the current coordinates, and all points of the actual product are corrected based on the point offset. Thus, the correction of all points of the actual product is realized by calculating the offset of the target points, reducing the complexity of calculating the point offset in the actual product.

[0051] In some embodiments, the obtaining the positional relationship between the camera and the electric screwdriver bit based on any point on the actual product includes:

[0052] Aligning the center point of the camera and the electric screwdriver bit with any point on the actual product respectively, and recording the camera coordinate position and the electric screwdriver bit coordinate position; obtaining the positional relationship between the camera and the electric screwdriver bit based on the camera coordinate position and the electric screwdriver bit coordinate position.

[0053] Among them, align the center of the camera's field of view with any point on the actual product, and the recorded camera coordinate position can be (x 1 , y 1 ). Align the electric screwdriver bit with the same point, and the recorded electric screwdriver bit coordinate position can be (x 2 , y 2 ). Based on the camera coordinate position and the electric screwdriver bit coordinate position, the positional relationship between the camera and the electric screwdriver bit can be obtained as follows:

[0054] x 相批 = x 2 - x 1 ;

[0055] y 相批 = y 2 - y 1 ;

[0056] Optionally, the template coordinates at least include visual template coordinates and first mechanical template coordinates; the target points at least include target point one and target point two; the obtaining of the template coordinates of the camera at the target points based on the mechanical position includes:

[0057] Select any two points as target point one and target point two based on the mechanical position.

[0058] Obtain the visual template coordinates and the first mechanical template coordinates of the camera at the target point one and the target point two respectively.

[0059] By selecting any two points in the mechanical position as target point one and target point two to be used as the camera photographing positions. The visual template coordinates obtained at target point one can be (x 相机1视觉模板 , y 相机1视觉模板 ), and the first mechanical template coordinates obtained at target point one can be (x 相机1机械模板 , y 相机1机械模板 ). The visual template coordinates obtained at target point two can be (x 相机2视觉模板 , y 相机2视觉模板 ), and the first mechanical template coordinates obtained at target point two can be (x 相机2机械模板 , y 相机2机械模板 ).

[0060] Optionally, the current coordinates at least include current visual coordinates and first mechanical current coordinates; the obtaining of the current coordinates of the camera at the target points includes:

[0061] After replacing the template product with the actual product, obtain the current visual coordinates and the first mechanical current coordinates of the camera at the target point one and the target point two respectively based on the target point one and the target point two.

[0062] Among them, after replacing the template product with the actual product, the current visual coordinates of the camera obtained at the first target point can be (x 相机1当前视觉 , y 相机1当前视觉 ). The first mechanical current coordinates obtained at the first target point can be (x 相机1机械当前 , y 相机1机械当前 ). The current visual coordinates of the camera obtained at the second target point can be (x 相机2当前视觉 , y 相机2当前视觉 ). The first mechanical current coordinates obtained at the second target point can be (x 相机2机械当前 , y 相机2机械当前 ).

[0063] Optionally, calculating and obtaining the position offset of the actual product based on the positional relationship between the camera and the electric bit head, the template coordinates, and the current coordinates includes:

[0064] Obtaining the second mechanical template coordinates of the electric bit head at the first target point and the second target point based on the visual template coordinates of the camera, the first mechanical template coordinates, and the positional relationship between the camera and the electric bit head.

[0065] Obtaining the second mechanical current coordinates of the electric bit head at the first target point and the second target point based on the current visual coordinates of the camera, the first mechanical current coordinates, and the positional relationship between the camera and the electric bit head.

[0066] Calculating and obtaining the first slope of the template product based on the second mechanical template coordinates.

[0067] Calculating and obtaining the second slope of the current actual product based on the second mechanical current coordinates.

[0068] Calculating and obtaining the position offset based on the first slope and the second slope.

[0069] Among them, the calculation of the position offset can include:

[0070] The calculation of the second mechanical template coordinates of the electric bit head at the first target point is mainly:

[0071] x 电批1机械模板 = x 相机1机械摸版 + x 相机1视觉模板 + x 相批 ;

[0072] y 电批1机械模板 = y 相机1机械摸版 + y 相机1视觉模板 + y 相批 ;

[0073] The calculation of the second mechanical template coordinates of the electric bit head at the second target point is mainly:

[0074] x 电批2机械模板 = x相机2机械摸版 +x 相机2视觉模板 +x 相批 ;

[0075] y 电批2机械模板 =y 相机2机械摸版 +y 相机2视觉模板 +y 相批 ;

[0076] The calculation of the second mechanical current coordinates of the electric bit at the first target point can mainly be:

[0077] x 电批1机械当前 =x 相机1机械当前 +x 相机1当前视觉 +x 相批 ;

[0078] y 电批1机械当前 =y 相机1机械当前 +y 相机1当前视觉 +y 相批 ;

[0079] The calculation of the second mechanical current coordinates of the electric bit at the second target point can mainly be:

[0080] x 电批2机械当前 =x 相机1机械当前 +x 相机1当前视觉 +x 相批 ;

[0081] y 电批2机械当前 =y 相机2机械当前 +y 相机1当前视觉 +y 相批 ;

[0082] The calculation of obtaining the first slope of the template product based on the second mechanical template coordinates can mainly be:

[0083] K 模板 =(y 电批2机械模板 -y 电批1机械模板 ) / (x 电批2机械模板 -x 电批1机械模板 );

[0084] The calculation of obtaining the second slope of the current actual product based on the second mechanical current coordinates can mainly be:

[0085] K 当前 =(y 电批2机械当前 -y 电批1机械当前 ) / (x 电批2机械当前 -x 电批1机械当前 );

[0086] The calculation of obtaining the point offset based on the first slope and the second slope can mainly be:

[0087] Angle = arctan((K 当前 - K 模板 ) / (1 + K 模板 * K 当前 ));

[0088] Optionally, the correction process for all points of the actual product based on the point offset includes:

[0089] Calculating and obtaining the actual points of the current actual product based on the point offset; correcting all points of the current actual product based on the actual points.

[0090] Among them, the calculating and obtaining the actual points of the current actual product based on the point offset includes:

[0091] Calculating and obtaining the actual points of the current actual product based on the point offset, the second mechanical template coordinates of the electric bit at the target point 1 or target point 2, and the second mechanical current coordinates.

[0092] Taking the actual point A as an example, the calculation formula for calculating and obtaining the actual points of the current actual product based on the point offset can be:

[0093] x A' = (x A - x 电批1机械模板 ) * cos(Angle) - (y A - y 电批1机械模板 ) * sin(Angle) + x 电批1机械当前 ; y A' = (x A - x 电批1机械模板 ) * sin(Angle) - (y A - y 电批1机械模板 ) * cos(Angle) + y 电批1机械当前 ;

[0094] Among them, (x A' , y A' ) are the actual points, and (x A , y A ) is the mechanical position of point A in the template product.

[0095] Embodiment 2:

[0096] Please refer to Figure 2 , this application also proposes a system adopting the point offset correction method described in Embodiment 1, mainly including: a relationship acquisition module, a template coordinate acquisition module, a product coordinate acquisition module, an offset calculation module, and a correction module.

[0097] Among them, the relationship acquisition module is used to obtain the positional relationship between the camera and the electric screwdriver bit based on any point of the actual product. The actual product can mainly be a screw locking device, which includes multiple screw holes. Select any screw hole from the multiple screw holes, align the center of the camera's field of view with this screw hole and record the position of the camera, and align the electric screwdriver bit with this screw hole and record the position, then the positional relationship between the camera position and the electric screwdriver bit position can be obtained.

[0098] The template coordinate acquisition module is used to place the template product in the working area and obtain the mechanical positions of all points in the template product, so as to obtain the template coordinates of the camera at the target points based on the mechanical positions. Among them, the target points mainly include target point one and target point two. The template coordinates at least include the visual template coordinates and the first mechanical template coordinates. Select any two points as the target point one and target point two based on the mechanical positions. Obtain the visual template coordinates and the first mechanical template coordinates of the camera based on the target point one and the target point two respectively.

[0099] The product coordinate acquisition module is used to replace the template product with the actual product and obtain the current coordinates of the camera at the target points. Among them, by replacing the template product with the actual product, the visual template coordinates and the first mechanical template coordinates of the camera at the target point one and the target point two are obtained based on the target point one and the target point two in the template product.

[0100] The offset calculation module is used to calculate and obtain the point offset of the actual product based on the positional relationship between the camera and the electric screwdriver bit, the template coordinates and the current coordinates. Among them, calculate and obtain the second mechanical template coordinates of the target point one and the target point two based on the positional relationship between the camera and the electric screwdriver bit, the visual template coordinates of the camera and the first mechanical template coordinates. Obtain the second mechanical current coordinates of the target point one and the target point two based on the current visual coordinates of the camera, the first mechanical current coordinates and the positional relationship between the camera and the electric screwdriver bit. Calculate and obtain the first slope of the template product based on the second mechanical template coordinates, calculate and obtain the second slope of the current actual product based on the second mechanical current coordinates, and calculate and obtain the point offset based on the first slope and the second slope.

[0101] And, the correction module is used to perform correction processing on all points of the actual product based on the point offset. Mainly calculate all points of the current actual product through the point offset, and correct all points based on the calculation results.

[0102] Embodiment 3:

[0103] The present application also provides a locking device, in which a point offset correction system is configured. When the point offset correction system runs, it executes the point offset correction method described in Embodiment 1 to correct all point offsets in the locking device.

[0104] The locking device can be a screw locking device, which includes a plurality of screw holes. The position relationship between the camera and the electric screwdriver bit is obtained through any one of the plurality of screw holes. The prototype of the screw locking device is placed in the working area to obtain the template coordinates of the target point in the prototype product. By replacing the prototype of the screw locking device with the actual screw locking device, the current coordinates of the target point in the current actual screw locking device are obtained. Based on the current coordinates, template coordinates of the target point, and the position relationship between the camera and the electric screwdriver bit, the point offset amount is calculated, thereby realizing the efficient calculation of the offsets of all points of the locking device product, and improving the efficiency of point offset correction.

[0105] Embodiment 3:

[0106] The present application also provides a computer-readable storage medium, which includes:

[0107] The computer-readable storage medium stores computer-executable instructions.

[0108] When the computer-executable instructions are executed by a control processor, they implement the point offset correction method described in Embodiment 1.

[0109] In the computer-readable storage medium, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state disk (SSD)).

[0110] In summary, by calculating the point offset of the actual product in the present application, the points of the actual product can be effectively corrected, improving the accuracy and consistency of the actual product. Point offset correction in the prior art usually requires taking a separate photo of each point to calculate the offset. When there are many points, a large amount of time and computing resources will be consumed. By based on the relative relationship between the template product and the actual product, the steps of recalculating and taking photos for each operation are reduced, thus greatly reducing the amount of calculation and time consumption and improving production efficiency. By reducing the correction steps and amount of calculation for each point, a large amount of time and human resources are saved, thus effectively reducing the production cost.

[0111] In several embodiments provided in the present application, it can be understood that each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved.

[0112] When the above-mentioned functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0113] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only for the specific embodiments of this application and is not used to limit the protection scope of this application. It is particularly pointed out that for those skilled in the art, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application should be included in the protection scope of this application.

Claims

1. A point offset correction method, characterized in that: include: Get the positional relationship between the camera and the electric screwdriver bit based on any point of the actual product; Placing the template product in the working area, obtaining the mechanical positions of all points in the template product, and obtaining the template coordinates of the camera at the target point based on the mechanical positions; The template product is replaced with the actual product, and the current coordinates of the camera at the target point are obtained; Furthermore, the point offset of the actual product is calculated based on the positional relationship between the camera and the electric screwdriver bit, the template coordinates and the current coordinates, so as to perform correction processing on all points of the actual product based on the point offset.

2. The point offset correction method according to claim 1, characterized in that: The method of obtaining the positional relationship between the camera and the electric screwdriver bit based on any point of the actual product includes: Align the center point of the camera and the electric screwdriver head to any point on the actual product, and record the coordinate positions of the camera and the electric screwdriver head; The positional relationship between the camera and the electric screwdriver bit is obtained based on the camera coordinate position and the electric screwdriver bit coordinate position.

3. The point offset correction method according to claim 1, characterized in that: The template coordinates include at least visual template coordinates and first mechanical template coordinates; the target point includes at least target point one and target point two; the template coordinates of the camera at the target point are obtained based on the mechanical position, including: Select any two points as target point 1 and target point 2 based on the mechanical position; The visual template coordinates and the first mechanical template coordinates of the camera at the target point one and the target point two are obtained respectively.

4. The point offset correction method according to claim 3, characterized in that: The current coordinates include at least the current visual coordinates and the first mechanical current coordinates; the obtaining of the current coordinates of the camera at the target point includes: After the template product is replaced with the actual product, the current visual coordinates and the first mechanical current coordinates of the camera at the target point one and the target point two are respectively obtained based on the target point one and the target point two.

5. The point offset correction method according to claim 4, characterized in that: The method of calculating and obtaining the point offset of the actual product based on the positional relationship between the camera and the electric screwdriver head, the template coordinates and the current coordinates includes: Based on the visual template coordinates of the camera, the first mechanical template coordinates and the positional relationship between the camera and the electric screwdriver, the second mechanical template coordinates of the electric screwdriver at the target point one and the target point two are obtained; Acquire the second mechanical current coordinates of the electric screwdriver bit at the target point 1 and the target point 2 based on the current visual coordinates of the camera, the first mechanical current coordinates, and the positional relationship between the camera and the electric screwdriver bit; Calculate and obtain a first slope of the template product based on the coordinates of the second mechanical template; Calculate and obtain a second slope of the current actual product based on the current coordinates of the second machine; The point position offset is obtained by calculation based on the first slope and the second slope.

6. The point offset correction method according to claim 1, characterized in that: The correcting process of all points of the actual product based on the point offset includes: Calculate and obtain the actual point position of the current actual product based on the point position offset; All points of the current actual product are corrected based on the actual points.

7. The point offset correction method according to claim 6, characterized in that: The step of calculating and obtaining the actual position of the current actual product based on the position offset includes: The actual position of the current actual product is obtained by calculation based on the point offset, the second mechanical template coordinates of the electric screwdriver bit at the target point one or the target point two, and the second mechanical current coordinates.

8. A system based on the point offset correction method according to any one of claims 1 to 7, characterized in that: The system comprises: a relationship acquisition module, which is used to acquire the position relationship between the camera and the electric screwdriver bit based on any point of the actual product; A template coordinate acquisition module is used to place the template product in the working area, obtain the mechanical positions of all points in the template product, and obtain the template coordinates of the camera at the target point based on the mechanical position; A product coordinate acquisition module is used to replace the template product with the actual product and obtain the current coordinates of the camera at the target point; an offset calculation module is used to calculate the point offset of the actual product based on the positional relationship between the camera and the electric screwdriver head, the template coordinates and the current coordinates; And, a correction module is used to perform correction processing on all points of the actual product based on the point offset.

9. A locking device, wherein a point deviation correction system is provided in the locking device, characterized in that: When the point offset correction system is in operation, the point offset correction method as described in any one of claims 1 to 7 is executed to correct all point offsets in the locking device.

10. A computer-readable storage medium storing computer-executable instructions, characterized in that: When the computer executable instructions are executed by the control processor, the point offset correction method as described in any one of claims 1-7 is implemented.

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