Ultrasonic positioning systems and related methods, and

Abstract

The invention provides an ultrasonic positioning system, a related method, a storage medium and a program product. The method comprises the following steps: determining a coordinate position of a geometric center of a to-be-positioned object; the contour of the to-be-positioned object comprises a preset contour area; determining a target distance between the ultrasonic sensor and the coordinate position; determining the first transmitting power of the ultrasonic sensor corresponding to the target distance; obtaining the target positioning precision of the ultrasonic sensor; determining a first calibration circle and a second calibration circle according to the target positioning precision and the coordinate position, and obtaining a target area of an annular region according to the annular region between the first calibration circle and the second calibration circle; determining a first overlapping area between the preset contour region and the annular region; determining a first ratio between the first overlapping area and the target area; determining a first power compensation parameter corresponding to the first ratio; and compensating the first transmitting power according to the first power compensation parameter to obtain second transmitting power.

Description

Technical Field

[0001] The present application relates to the field of automobile parts processing technology or intelligent manufacturing technology, and specifically to an ultrasonic positioning system and related methods as well as a storage medium and a program product. Background Art

[0002] In practical applications, ultrasound can be used for positioning, especially in the processing of automotive parts. For example, ultrasonic sensors are usually used for positioning in drilling and spot welding. However, ultrasonic sensor positioning usually has a certain positioning accuracy. Therefore, there is also a certain error in positioning, which leads to poor processing accuracy, especially high-precision processing, resulting in too low a yield rate of automotive parts. Therefore, how to improve the accuracy of ultrasonic positioning for automotive parts processing equipment needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a power control method and related system of an ultrasonic positioning system, which can improve the ultrasonic positioning accuracy for automobile parts processing equipment.

[0004] In a first aspect, an embodiment of the present application provides a power control method of an ultrasonic positioning system, which is applied to automobile parts processing equipment, wherein the automobile parts processing equipment includes an ultrasonic sensor, and the method includes:

[0005] Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area;

[0006] determining a target distance between the ultrasonic sensor and the coordinate position;

[0007] determining a first transmission power of the ultrasonic sensor corresponding to the target distance;

[0008] Acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0009] Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle;

[0010] Determining a first overlapping area between the preset contour area and the annular area;

[0011] determining a first ratio between the first overlapping area and the target area;

[0012] determining a first power compensation parameter corresponding to the first ratio;

[0013] Compensate the first transmission power according to the first power compensation parameter to obtain a second transmission power.

[0014] In a second aspect, an embodiment of the present application provides an ultrasonic positioning system applied to an automotive parts processing device. The automotive parts processing device includes an ultrasonic sensor. The system includes: a determination unit, an acquisition unit, and a compensation unit, where

[0015] The determination unit is configured to determine the coordinate position of the geometric center of the object to be positioned; the contour of the object to be positioned includes a preset contour area; determine the target distance between the ultrasonic sensor and the coordinate position; determine the first transmission power of the ultrasonic sensor corresponding to the target distance;

[0016] The acquisition unit is configured to acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0017] The determination unit is further configured to determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, obtain a target area of an annular area between the first calibration circle and the second calibration circle; the area of the first calibration circle is larger than the area of the second calibration circle; determine a first overlapping area between the preset contour area and the annular area; determine a first ratio between the first overlapping area and the target area; determine a first power compensation parameter corresponding to the first ratio;

[0018] The compensation unit is configured to compensate the first transmission power according to the first power compensation parameter to obtain a second transmission power.

[0019] In a third aspect, an embodiment of the present application provides an automotive parts processing device, including a processor, a memory, a communication interface, and one or more programs. Among them, the above one or more programs are stored in the above memory and are configured to be executed by the above processor. The above programs include instructions for executing the steps in the first aspect of the embodiment of the present application.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program for electronic data exchange. The computer program enables a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application.

[0021] Fifth aspect, an embodiment of the present application provides a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product can be a software installation package.

[0022] Implementing the embodiments of the present application has the following beneficial effects:

[0023] It can be seen that the power control method and related system of the ultrasonic positioning system described in the embodiments of the present application are applied to automotive component processing equipment. The automotive component processing equipment includes an ultrasonic sensor to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area, to determine the target distance between the ultrasonic sensor and the coordinate position, to determine the first transmission power of the ultrasonic sensor corresponding to the target distance, and to obtain the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance. According to the target positioning accuracy and the coordinate position, a first calibration circle and a second calibration circle are determined. According to the annular area between the first calibration circle and the second calibration circle, and the target area of the annular area is obtained; the area of the first calibration circle is larger than the area of the second calibration circle. Determine the first overlapping area between the preset contour area and the annular area, determine the first ratio between the first overlapping area and the target area, determine the first power compensation parameter corresponding to the first ratio, and compensate the first transmission power according to the first power compensation parameter to obtain the second transmission power. In this way, the first transmission power can be initially determined using the distance between the geometric center of the object to be located and the ultrasonic sensor, and its own positioning accuracy, and the one-dimensional positioning accuracy is represented two-dimensionally (planarly). The relationship between the object to be located and this two-dimensional representation is used to accurately calibrate the specific influence degree of the positioning accuracy on the object to be located, and then accurate compensation is performed based on this specific influence degree. Thus, the transmission power is accurately compensated, further improving the positioning accuracy near the target distance, which helps to ensure the improvement of the ultrasonic positioning accuracy for automotive component processing equipment. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic flowchart of a power control method for an ultrasonic positioning system provided by an embodiment of the present application;

[0026] Figure 2 It is a schematic structural diagram of a kind of automotive parts processing equipment provided by an embodiment of the present application;

[0027] Figure 3 It is a block diagram of the functional units of a kind of ultrasonic positioning system provided by an embodiment of the present application. Specific embodiments

[0028] Terms such as "first", "second", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may also include unlisted steps or units in a possible example, or may also include other steps or units inherent to these processes, methods, products or devices in a possible example.

[0029] Referring to "embodiment" in this context means that a specific feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying 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 work belong to the scope of protection of the present application.

[0031] The automotive parts processing equipment involved in the embodiments of the present application may include but not limited to: automotive parts processing machine tools, ultrasonic welding guns, etc., which are not limited herein.

[0032] For example, taking the ultrasonic welding gun as an example, in actual applications, ultrasonic technology imaging is often required for solder joint detection. For example, when spot welding is required at a certain position, the spot welding position needs to be pre-calibrated. If the spot welding position needs to be calibrated, precise positioning of the spot welding position is required. The positioning accuracy of the spot welding position determines the processing accuracy of automotive parts. The embodiments of the present application provide a power control method for an ultrasonic positioning system, which is applied to an automotive parts processing equipment. The automotive parts processing equipment includes an ultrasonic sensor. The method includes:

[0033] Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area;

[0034] Determine the target distance between the ultrasonic sensor and the coordinate position;

[0035] Determine the first transmission power of the ultrasonic sensor corresponding to the target distance;

[0036] Obtain the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0037] Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and according to the annular area between the first calibration circle and the second calibration circle, and obtain the target area of the annular area; the area of the first calibration circle is larger than the area of the second calibration circle;

[0038] Determine the first overlapping area between the preset contour area and the annular area;

[0039] Determine the first ratio between the first overlapping area and the target area;

[0040] Determine the first power compensation parameter corresponding to the first ratio;

[0041] Compensate the first transmission power according to the first power compensation parameter to obtain the second transmission power.

[0042] In this way, based on the embodiments of the present application, the first transmission power can be initially determined by using the distance between the geometric center of the object to be located and the ultrasonic sensor, and by using its own positioning accuracy, and the one-dimensional positioning accuracy is represented two-dimensionally (planarly). The relationship between the object to be located and this two-dimensional representation is used to accurately calibrate the specific influence degree of the positioning accuracy on the object to be located, and then accurate compensation is performed based on this specific influence degree. Thus, the transmission power is accurately compensated, further improving the positioning accuracy near the target distance, which helps to ensure the ultrasonic positioning accuracy for automotive component processing equipment. For example, accurate positioning of the solder joint position can be achieved. Based on the spot welding requirements, different spot welding patterns can correspond to different power adjustment mechanisms, which helps to ensure the ultrasonic spot welding positioning accuracy.

[0043] Please refer to Figure 1 , Figure 1 is a schematic flowchart of a power control method for an ultrasonic positioning system provided by an embodiment of the present application. As shown in the figure, it is applied to an automotive component processing equipment, and the automotive component processing equipment includes an ultrasonic sensor. The power control method of this ultrasonic positioning system includes:

[0044] 101. Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area.

[0045] In the embodiments of the present application, the preset contour area can be set in advance or be the system default.

[0046] In a specific implementation, an image of the object to be located can be obtained through a camera, the contour of the object to be located can be extracted using this image to obtain the preset contour area, and then the coordinate position of the geometric center of the object to be located, that is, the geometric center of the preset contour area, can be determined.

[0047] Among them, the object to be located can be set in advance or be the system default. For example, the object to be located can be set in advance by the user. Specifically, for example, the object to be located can include at least one of the following: a drilling area or a drilling position, a spot welding area or a spot welding position, etc., which is not limited herein.

[0048] 102. Determine the target distance between the ultrasonic sensor and the coordinate position.

[0049] In the embodiments of the present application, an ultrasonic sensor can be used to determine the target distance between the ultrasonic sensor and the coordinate position. Alternatively, the target distance between the ultrasonic sensor and the coordinate position can also be an actual distance, and this actual distance can be measured in advance.

[0050] 103. Determine the first transmission power of the ultrasonic sensor corresponding to the target distance.

[0051] In a specific implementation, a mapping relationship between a preset distance and the transmission power of the ultrasonic sensor can be stored in advance. Furthermore, the first transmission power of the ultrasonic sensor corresponding to the target distance can be determined based on this mapping relationship.

[0052] In some possible examples, step 103 above, determining the first transmission power of the ultrasonic sensor corresponding to the target distance, may include the following steps:

[0053] 31. Obtain a plurality of historical transmission powers corresponding to the target distance, each transmission power corresponding to a time point;

[0054] 32. Perform a fitting operation based on the plurality of historical transmission powers and the corresponding time points to obtain a target fitting line and a target fitting curve; the horizontal axis coordinate of the target fitting line is time and the vertical axis coordinate is transmission power, and the horizontal axis coordinate of the target fitting curve is time and the vertical axis coordinate is transmission power;

[0055] 33. Obtain the target slope of the target fitting line;

[0056] 34. Intercept a target fitting curve segment of a preset time period according to the target fitting curve, obtain the maximum value and minimum value of the target fitting curve segment, and obtain a plurality of maximum values and a plurality of minimum values;

[0057] 35. Obtain a first predicted transmission power at the current moment through the target fitting straight line, and obtain a second predicted transmission power at the current moment through the target fitting curve;

[0058] 36. Determine a target mean square error according to the plurality of maximum values and the plurality of minimum values;

[0059] 37. According to the target weight pair corresponding to the target mean square error;

[0060] 38. Determine a reference predicted transmission power according to the target weight pair, the first predicted transmission power, and the second predicted transmission power;

[0061] 39. Determine a target fine-tuning parameter corresponding to the target slope;

[0062] 310. Fine-tune the reference predicted transmission power according to the target fine-tuning parameter to obtain the first transmission power.

[0063] In specific implementation, a plurality of historical transmission powers corresponding to the target distance can be obtained, and each transmission power corresponds to a time point. Specifically, historical transmission powers corresponding to other distances within a certain distance range near the target distance can be obtained.

[0064] Next, fitting operations can be performed according to the plurality of historical transmission powers and the corresponding time points to obtain a target fitting straight line and a target fitting curve. The horizontal axis coordinate of the target fitting straight line is time and the vertical axis coordinate is transmission power. The horizontal axis coordinate of the target fitting curve is time and the vertical axis coordinate is transmission power. That is, each historical transmission power and the corresponding time point can be regarded as a coordinate point, which is mapped to a coordinate system. The horizontal axis coordinate of this coordinate system is time and the vertical axis coordinate is transmission power. Furthermore, a plurality of coordinate points are obtained, and then fitting operations are performed to obtain the target fitting straight line and the target fitting curve.

[0065] Specifically, the target slope of the target fitting straight line can be obtained. The slope reflects the hardware attributes of the ultrasonic sensor, and there is also a certain attenuation during its use due to equipment wear.

[0066] In addition, it is also possible to intercept a target fitting curve segment of a preset time period according to the target fitting curve, obtain the maximum value and the minimum value of the target fitting curve segment, and obtain a plurality of maximum values and a plurality of minimum values. The preset time period can be set in advance or be the system default. For example, the preset time period can be a time period before the current moment. The maximum value and the minimum value reflect the fluctuation situation and performance stability of the ultrasonic sensor.

[0067] Furthermore, the first predicted transmission power at the current moment can be obtained through the target fitting straight line, the second predicted transmission power at the current moment can be obtained through the target fitting curve, and then the target mean square error is determined according to a plurality of maximum values and a plurality of minimum values. That is, the target mean square error also reflects the fluctuation situation and performance stability of the ultrasonic sensor. The mapping relationship between the preset mean square error and the weight pair can be stored in advance. The weight pair can include a first weight and a second weight, and the first weight + the second weight = 1. Furthermore, based on this mapping relationship, the target weight pair corresponding to the target mean square error can be determined. Then, the target weight pair can include a target first weight and a target second weight. In this way, a suitable weight pair can be dynamically adapted according to the attenuation degree of the ultrasonic sensor, the fluctuation situation of the ultrasonic sensor, and the performance stability. Next, the reference predicted transmission power is determined according to the target weight pair, the first predicted transmission power, and the second predicted transmission power, as follows:

[0068] Reference predicted transmission power = target first weight * first predicted transmission power + target second weight * second predicted transmission power

[0069] Then, the mapping relationship between the preset slope and the fine-tuning parameter can be stored in advance. Furthermore, based on this mapping relationship, the target fine-tuning parameter corresponding to the target slope is determined. Finally, the reference predicted transmission power is fine-tuned according to the target fine-tuning parameter to obtain the first transmission power, that is, the first transmission power = (1 + target fine-tuning parameter) * reference predicted transmission power. In this way, on the one hand, a suitable weight pair can be dynamically adapted according to the attenuation degree of the ultrasonic sensor, the fluctuation situation of the ultrasonic sensor, and the performance stability to initially obtain a relatively accurate transmission power at the current moment. On the other hand, in combination with the equipment loss of the ultrasonic sensor, the relatively accurate transmission power at the current moment obtained initially is initially compensated to make up for the error caused by the equipment loss, and a more accurate first transmission power is further obtained.

[0070] 104. Obtain the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance.

[0071] In the embodiments of the present application, the target positioning accuracy can be calibrated in advance. Furthermore, the target positioning accuracy of the ultrasonic sensor can be obtained, and the target positioning accuracy is related to the target distance.

[0072] In a specific implementation, the target positioning accuracy of the ultrasonic sensor can be ±(a (cm) + b% × target distance), where both a and b are constants. For example, ±(1 cm + 0.5% × target distance), and 1 cm + 0.5% × target distance is the first positioning accuracy.

[0073] 105. Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain the target area of the annular region between the first calibration circle and the second calibration circle; the area of the first calibration circle is larger than the area of the second calibration circle.

[0074] In the embodiments of the present application, different positioning accuracies can correspond to different calibration circles. Since there are offsets in two directions for the target positioning accuracy, either larger or smaller, therefore, a first calibration circle and a second calibration circle can be determined according to the target positioning accuracy and the coordinate position, and then the target area of the annular region between the first calibration circle and the second calibration circle can be obtained. The area of the first calibration circle is larger than the area of the second calibration circle.

[0075] In some possible examples, the target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; the above step 105 of determining a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position may include the following steps:

[0076] 51. Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius;

[0077] 52. Determine the second calibration circle with the coordinate position as the center and the second positioning accuracy as the radius.

[0078] Among them, the target positioning accuracy includes a first positioning accuracy and a second positioning accuracy. For example, if the target positioning accuracy is ±(a (cm) + b% × target distance), then the first positioning accuracy is (a (cm) + b% × target distance), and the second positioning accuracy is a (cm) - b% × target distance. In this way, the one-dimensional positioning accuracy can be represented two-dimensionally (planarly).

[0079] Then, a circle can be drawn with the coordinate position as the center and the first positioning accuracy as the radius to obtain the first calibration circle. Similarly, a circle can be drawn with the coordinate position as the center and the second positioning accuracy as the radius to obtain the second calibration circle.

[0080] 106. Determine the first overlapping area between the preset contour area and the annular area.

[0081] In a specific implementation, since the center of the preset contour region overlaps with the center of the annular region, the first overlapping area between the preset contour region and the annular region can be determined.

[0082] 107. Determine a first ratio between the first overlapping area and the target area.

[0083] In a specific implementation, a first ratio between the first overlapping area and the target area can be determined, that is, the first ratio = the first overlapping area / the target area. To a certain extent, the first ratio accurately reflects the deviation degree of the positioning error of the ultrasonic sensor.

[0084] 108. Determine a first power compensation parameter corresponding to the first ratio.

[0085] In a specific implementation, a first mapping relationship between a preset ratio and a power compensation parameter can be pre-stored. Furthermore, the first power compensation parameter corresponding to the first ratio can be determined based on this first mapping relationship. In this way, since the first ratio accurately reflects the deviation degree of the positioning error of the ultrasonic sensor to a certain extent, accurate compensation can be achieved, which helps to improve the performance of the ultrasonic sensor. Of course, the power consumption of the ultrasonic sensor can also be effectively controlled.

[0086] 109. Compensate the first transmission power according to the first power compensation parameter to obtain a second transmission power.

[0087] In the embodiment of the present application, the first transmission power can be compensated according to the first power compensation parameter to obtain a second transmission power, that is, the second transmission power = the first transmission power + the first power compensation parameter. In this way, since the first ratio accurately reflects the deviation degree of the positioning error of the ultrasonic sensor to a certain extent, accurate compensation can be achieved, which helps to improve the performance of the ultrasonic sensor. Of course, the power consumption of the ultrasonic sensor can also be effectively controlled.

[0088] In some possible examples, step 109 above, compensating the first transmission power according to the first power compensation parameter to obtain a second transmission power, may include the following steps:

[0089] 91. Compensate the first transmission power according to the first power compensation parameter to obtain a reference transmission power;

[0090] 92. Obtain the target material parameter corresponding to the object to be positioned;

[0091] 93. Determine the target energy loss parameter corresponding to the target material parameter;

[0092] 94. Determine the target environmental parameter;

[0093] 95. Determine a first influence coefficient corresponding to the target energy loss parameter;

[0094] 96. Determine a second influence coefficient corresponding to the target environmental parameter;

[0095] 97. Optimize the reference transmission power according to the first influence coefficient and the second influence coefficient to obtain the second transmission power.

[0096] In the embodiments of the present application, the first transmission power may be compensated according to a first power compensation parameter to obtain a reference transmission power. Specifically, the reference transmission power = the first transmission power + the first power compensation parameter.

[0097] Next, the target material parameters corresponding to the object to be located may also be obtained. The target material parameters may include at least one of the following: material type, material composition, material color, material thickness, etc., which are not limited herein. In specific implementation, the mapping relationship between the preset material parameters and the energy loss parameters may be stored in advance. Furthermore, the target energy loss parameter corresponding to the target material parameters may be determined based on this mapping relationship. Since different materials have different absorption (ultrasonic) capabilities and reflection (ultrasonic) capabilities, the corresponding power compensation will also be different.

[0098] In specific implementation, the target environmental parameters may also be determined. The target environmental parameters may include at least one of the following: environmental temperature, environmental humidity, environmental noise, magnetic field interference intensity, etc., which are not limited herein.

[0099] In specific implementation, the mapping relationship between the preset energy loss parameters and the influence coefficients may be stored in advance. Furthermore, the first influence coefficient corresponding to the target energy loss parameter may be determined based on this mapping relationship. The mapping relationship between the preset environmental parameters and the influence coefficients may also be stored in advance. Furthermore, the second influence coefficient corresponding to the target environmental parameter may be determined based on this mapping relationship. Therefore, the reference transmission power may be optimized according to the first influence coefficient and the second influence coefficient to obtain the second transmission power, that is, the second transmission power = (1 + the first influence coefficient) * (1 + the second influence coefficient) * the reference transmission power. In this way, the power compensation can be dynamically optimized by combining the physical properties and environmental properties of the material itself, so that the compensation effect deeply conforms to the actual environment, which helps to ensure the subsequent ultrasonic positioning accuracy.

[0100] Next, the ultrasonic sensor may be controlled to locate the object to be located with the second transmission power. Since the first ratio accurately reflects the deviation degree of the positioning error of the ultrasonic sensor to a certain extent, accurate compensation can be achieved, which helps to improve the performance of the ultrasonic sensor.

[0101] In specific implementation, the ultrasonic sensor can also be controlled to locate other objects to be located within a certain range near the target distance at the second transmission power. The certain range can be preset or default in the system.

[0102] In some possible examples, the following steps may further be included:

[0103] S1. Obtain the first area of the first calibration circle and obtain the second area of the second calibration circle;

[0104] S2. Determine the third area of the preset contour region;

[0105] S3. When the third area is greater than the second area and less than the first area, execute the step of determining the first overlapping area between the preset contour region and the annular region.

[0106] In the embodiments of the present application, the first area of the first calibration circle can be obtained, the second area of the second calibration circle can be obtained, and the third area of the preset contour region can be determined. When the third area is greater than the second area and less than the first area, it indicates positioning for a larger area. On the basis of representing the one-dimensional positioning accuracy in a two-dimensional (planar) manner, the step of determining the first overlapping area between the preset contour region and the annular region is executed. In this way, using the annular region between the two calibration circles as the compensation determination condition can make the ultrasonic positioning more focused on the basis of power compensation, grasp the compensation accuracy, that is, avoid under-compensation and over-compensation.

[0107] In specific implementation, the ultrasonic sensor can also be controlled to locate other objects to be located within a certain range near the target distance at the second transmission power. The certain range can be preset or default in the system, and the area of the object to be located can be greater than the second area and less than the first area.

[0108] Further, in some possible examples, the following steps may further be included:

[0109] S4. When the third area is less than or equal to the second area, determine the second overlapping area between the preset contour region and the second calibration circle;

[0110] S5. Determine the second ratio between the second overlapping area and the second area;

[0111] S6. Determine the second power compensation parameter corresponding to the second ratio;

[0112] S7. Compensate the first transmission power according to the second power compensation parameter to obtain the third transmission power.

[0113] In specific implementation, when the third area is less than or equal to the second area, it indicates that positioning is performed for a smaller area. Then, the second overlapping area between the preset contour area and the second calibration circle can be determined, and then the second ratio between the second overlapping area and the second area can be determined, that is, the second ratio = the second overlapping area / the second area. The second mapping relationship between the preset ratio and the power compensation parameter can also be stored in advance. Furthermore, the second power compensation parameter corresponding to the second ratio can be determined based on this second mapping relationship, and then the first transmission power can be compensated according to the second power compensation parameter to obtain the third transmission power, that is, the third transmission power = the first transmission power + the second power compensation parameter. The ultrasonic sensor is controlled to perform positioning on the object to be located with the third transmission power. In this way, using the smaller calibration circle among the two calibration circles as the compensation determination condition can make the ultrasonic positioning more focused on the basis of power compensation, and grasp the compensation accuracy, that is, avoid under-compensation and over-compensation.

[0114] In specific implementation, the ultrasonic sensor can also be controlled to perform positioning on other objects to be located within a certain range near the target distance with the third transmission power. The certain range can be set in advance or be the system default, and the area of the object to be located can be less than or equal to the second area.

[0115] Furthermore, in some possible examples, the following steps may also be included:

[0116] S8. When the third area is greater than or equal to the first area, determine the third overlapping area between the preset contour area and the first calibration circle;

[0117] S9. Determine the third ratio between the third overlapping area and the first area;

[0118] S10. Determine the third power compensation parameter corresponding to the third ratio;

[0119] S11. Compensate the first transmission power according to the third power compensation parameter to obtain the fourth transmission power.

[0120] In the embodiment of the present application, when the third area is greater than or equal to the first area, it indicates that positioning is performed for a large area. Then, the third overlapping area between the preset contour area and the first calibration circle can be determined, and then the third ratio between the third overlapping area and the first area can be determined. The third ratio = the third overlapping area / the first area. Then, the third mapping relationship between the preset ratio and the power compensation parameter is stored in advance. Furthermore, the third power compensation parameter corresponding to the third ratio can be determined based on this third mapping relationship, and the first transmission power is compensated according to the third power compensation parameter to obtain the fourth transmission power. Specifically, the fourth transmission power = the first transmission power + the third power compensation parameter. The ultrasonic sensor is controlled to perform positioning on the object to be located with the fourth transmission power. In this way, using the larger calibration circle among the two calibration circles as the compensation determination condition can make the ultrasonic positioning more focused on the basis of power compensation, grasp the compensation accuracy, that is, avoid under-compensation and over-compensation.

[0121] In specific implementation, the ultrasonic sensor can also be controlled to perform positioning on other objects to be located within a certain range near the target distance with the fourth transmission power. The certain range can be set in advance or be the system default, and the area of the object to be located can be greater than or equal to the first area.

[0122] It can be seen that the power control method of the ultrasonic positioning system described in the embodiment of the present application is applied to automotive parts processing equipment. The automotive parts processing equipment includes an ultrasonic sensor, and the coordinate position of the geometric center of the object to be located is determined; the contour of the object to be located includes a preset contour area, the target distance between the ultrasonic sensor and the coordinate position is determined, the first transmission power of the ultrasonic sensor corresponding to the target distance is determined, and the target positioning accuracy of the ultrasonic sensor is obtained; the target positioning accuracy is related to the target distance, the first calibration circle and the second calibration circle are determined according to the target positioning accuracy and the coordinate position, the annular area between the first calibration circle and the second calibration circle is obtained, and the target area of the annular area is obtained; the area of the first calibration circle is greater than the area of the second calibration circle, the first overlapping area between the preset contour area and the annular area is determined, the first ratio between the first overlapping area and the target area is determined, the first power compensation parameter corresponding to the first ratio is determined, and the first transmission power is compensated according to the first power compensation parameter to obtain the second transmission power. In this way, the first transmission power can be initially determined using the distance between the geometric center of the object to be located and the ultrasonic sensor, and its own positioning accuracy, and the one-dimensional positioning accuracy is represented two-dimensionally (planarly), and the specific influence degree of the positioning accuracy on the object to be located is accurately calibrated using the relationship between the object to be located and this two-dimensional representation. Then, precise compensation is performed based on this specific influence degree, so that the transmission power is accurately compensated, and the positioning accuracy near the target distance is further improved, which helps to ensure the improvement of the ultrasonic positioning accuracy for automotive parts processing equipment.

[0123] Consistent with the above embodiments, please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a processing device for automotive parts provided by an embodiment of the present application. As shown in the figure, it includes a processor, a memory, a communication interface, and one or more programs. Among them, the above one or more programs are stored in the above memory and are configured to be executed by the above processor. In the embodiment of the present application, the processing device for automotive parts further includes an ultrasonic sensor, and the above program includes instructions for performing the following steps:

[0124] Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area;

[0125] Determine the target distance between the ultrasonic sensor and the coordinate position;

[0126] Determine the first transmission power of the ultrasonic sensor corresponding to the target distance;

[0127] Obtain the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0128] Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and according to the annular area between the first calibration circle and the second calibration circle, and obtain the target area of the annular area; the area of the first calibration circle is larger than the area of the second calibration circle;

[0129] Determine the first overlapping area between the preset contour area and the annular area;

[0130] Determine the first ratio between the first overlapping area and the target area;

[0131] Determine the first power compensation parameter corresponding to the first ratio;

[0132] Compensate the first transmission power according to the first power compensation parameter to obtain the second transmission power.

[0133] In some possible examples, the target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; in terms of determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, the above program includes instructions for performing the following steps:

[0134] Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius;

[0135] Determine the second calibration circle with the coordinate position as the center and the second positioning accuracy as the radius.

[0136] In some possible examples, the above program further includes instructions for performing the following steps:

[0137] Obtain the first area of the first calibration circle and obtain the second area of the second calibration circle;

[0138] Determine the third area of the preset contour region;

[0139] When the third area is greater than the second area and less than the first area, perform the step of determining the first overlapping area between the preset contour region and the annular region.

[0140] In some possible examples, the above program further includes instructions for performing the following steps:

[0141] When the third area is less than or equal to the second area, determine the second overlapping area between the preset contour region and the second calibration circle;

[0142] Determine the second ratio between the second overlapping area and the second area;

[0143] Determine the second power compensation parameter corresponding to the second ratio;

[0144] Compensate the first transmission power according to the second power compensation parameter to obtain the third transmission power.

[0145] In some possible examples, the above program further includes instructions for performing the following steps:

[0146] When the third area is greater than or equal to the first area, determine the third overlapping area between the preset contour region and the first calibration circle;

[0147] Determine the third ratio between the third overlapping area and the first area;

[0148] Determine the third power compensation parameter corresponding to the third ratio;

[0149] Compensate the first transmission power according to the third power compensation parameter to obtain the fourth transmission power.

[0150] In some possible examples, in terms of compensating the first transmission power according to the first power compensation parameter to obtain the second transmission power, the above program includes instructions for performing the following steps:

[0151] Compensate the first transmission power according to the first power compensation parameter to obtain a reference transmission power;

[0152] Obtain the target material parameter corresponding to the object to be located;

[0153] Determine the target energy loss parameter corresponding to the target material parameter;

[0154] Determine the target environmental parameter;

[0155] Determine the first influence coefficient corresponding to the target energy loss parameter;

[0156] Determine the second influence coefficient corresponding to the target environmental parameter;

[0157] Optimize the reference transmission power according to the first influence coefficient and the second influence coefficient to obtain the second transmission power.

[0158] It can be seen that in the embodiment of the present application, the automotive part processing equipment described includes an ultrasonic sensor to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area, determine the target distance between the ultrasonic sensor and the coordinate position, determine the first transmission power of the ultrasonic sensor corresponding to the target distance, and obtain the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance, determine the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, and according to the annular area between the first calibration circle and the second calibration circle, and obtain the target area of the annular area; the area of the first calibration circle is larger than the area of the second calibration circle, determine the first overlapping area between the preset contour area and the annular area, determine the first ratio between the first overlapping area and the target area, determine the first power compensation parameter corresponding to the first ratio, compensate the first transmission power according to the first power compensation parameter to obtain the second transmission power. In this way, the first transmission power can be initially determined using the distance between the geometric center of the object to be located and the ultrasonic sensor, and its own positioning accuracy, and the one-dimensional positioning accuracy is represented two-dimensionally (planarly), and the relationship between the object to be located and this two-dimensional representation is used to accurately calibrate the specific influence degree of the positioning accuracy on the object to be located, and then precise compensation is performed based on this specific influence degree, so that the transmission power is accurately compensated, further improving the positioning accuracy near the target distance, which helps to ensure the ultrasonic positioning accuracy for the automotive part processing equipment.

[0159] Figure 3It is a functional unit composition block diagram of an ultrasonic positioning system 300 involved in an embodiment of the present application, which is applied to automotive part processing equipment. The automotive part processing equipment includes an ultrasonic sensor. The ultrasonic positioning system 300 includes: a determination unit 301, an acquisition unit 302, and a compensation unit 303. Among them,

[0160] The determination unit 301 is used to determine the coordinate position of the geometric center of the object to be positioned; the contour of the object to be positioned includes a preset contour area; determine the target distance between the ultrasonic sensor and the coordinate position; determine the first transmission power of the ultrasonic sensor corresponding to the target distance;

[0161] The acquisition unit 302 is used to acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance;

[0162] The determination unit 301 is further used to determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, determine the annular area between the first calibration circle and the second calibration circle, and acquire the target area of the annular area; the area of the first calibration circle is larger than the area of the second calibration circle; determine the first overlapping area between the preset contour area and the annular area; determine the first ratio between the first overlapping area and the target area; determine the first power compensation parameter corresponding to the first ratio;

[0163] The compensation unit 303 is used to compensate the first transmission power according to the first power compensation parameter to obtain the second transmission power.

[0164] In some possible examples, the target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; in terms of determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, the determination unit 301 specifically is used to:

[0165] Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius;

[0166] Determine the second calibration circle with the coordinate position as the center and the second positioning accuracy as the radius.

[0167] In some possible examples, the ultrasonic positioning system 300 is further specifically used to:

[0168] Acquire the first area of the first calibration circle and the second area of the second calibration circle;

[0169] Determine the third area of the preset contour area;

[0170] When the third area is greater than the second area and less than the first area, perform the step of determining the first overlapping area between the preset contour area and the annular area.

[0171] In some possible examples, the ultrasonic positioning system 300 is further specifically configured to:

[0172] When the third area is less than or equal to the second area, determine the second overlapping area between the preset contour area and the second calibration circle;

[0173] Determine the second ratio between the second overlapping area and the second area;

[0174] Determine the second power compensation parameter corresponding to the second ratio;

[0175] Compensate the first transmission power according to the second power compensation parameter to obtain the third transmission power.

[0176] In some possible examples, the ultrasonic positioning system 300 is further specifically configured to:

[0177] When the third area is greater than or equal to the first area, determine the third overlapping area between the preset contour area and the first calibration circle;

[0178] Determine the third ratio between the third overlapping area and the first area;

[0179] Determine the third power compensation parameter corresponding to the third ratio;

[0180] Compensate the first transmission power according to the third power compensation parameter to obtain the fourth transmission power.

[0181] In some possible examples, in terms of compensating the first transmission power according to the first power compensation parameter to obtain the second transmission power, the compensation unit 303 is specifically configured to:

[0182] Compensate the first transmission power according to the first power compensation parameter to obtain the reference transmission power;

[0183] Obtain the target material parameter corresponding to the object to be positioned;

[0184] Determine the target energy loss parameter corresponding to the target material parameter;

[0185] Determine the target environmental parameter;

[0186] Determine the first influence coefficient corresponding to the target energy loss parameter;

[0187] Determine a second influence coefficient corresponding to the target environmental parameter;

[0188] Optimize the reference transmission power according to the first influence coefficient and the second influence coefficient to obtain the second transmission power.

[0189] It can be seen that the ultrasonic positioning system described in the embodiments of the present application is applied to automotive parts processing equipment. The automotive parts processing equipment includes an ultrasonic sensor to determine the coordinate position of the geometric center of the object to be positioned; the contour of the object to be positioned includes a preset contour area, determine the target distance between the ultrasonic sensor and the coordinate position, determine the first transmission power of the ultrasonic sensor corresponding to the target distance, and obtain the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance, determine the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position, and obtain the target area of the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of the first calibration circle is larger than the area of the second calibration circle, determine the first overlapping area between the preset contour area and the annular area, determine the first ratio between the first overlapping area and the target area, determine the first power compensation parameter corresponding to the first ratio, and compensate the first transmission power according to the first power compensation parameter to obtain the second transmission power. In this way, the first transmission power can be initially determined using the distance between the geometric center of the object to be positioned and the ultrasonic sensor, and its own positioning accuracy, and the one-dimensional positioning accuracy is represented two-dimensionally (planarly), and the relationship between the object to be positioned and this two-dimensional representation is used to accurately calibrate the specific influence degree of the positioning accuracy on the object to be positioned, and then accurate compensation is performed based on this specific influence degree. Thus, the transmission power is accurately compensated, further improving the positioning accuracy near the target distance, which helps to ensure the improvement of the ultrasonic positioning accuracy for automotive parts processing equipment.

[0190] It can be understood that the functions of the program modules of the ultrasonic positioning system in this embodiment can be specifically implemented according to the methods in the above method embodiments. The specific implementation process can refer to the relevant descriptions of the above method embodiments and will not be elaborated here.

[0191] The embodiments of the present application also provide a computer storage medium. The computer storage medium stores a computer program for electronic data exchange, and the computer program causes the computer to execute some or all of the steps of any method recorded in the above method embodiments. The above computer includes automotive parts processing equipment.

[0192] The embodiments of the present application also provide a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to execute some or all of the steps of any of the methods described in the foregoing method embodiments. The computer program product may be a software installation package, and the computer includes automotive parts processing equipment.

[0193] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, some steps may be in other sequences or performed simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0194] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0195] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above division of units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0196] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0198] If the above 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 memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned memory includes: various media such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), external hard drives, magnetic disks, or optical discs that can store program codes.

[0199] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory. The memory can include: flash drives, read-only memories (English: Read-Only Memory, abbreviated: ROM), random access memories (English: Random Access Memory, abbreviated: RAM), magnetic disks, or optical discs, etc.

[0200] The above has introduced the embodiments of this application in detail. Specific examples are used in this article to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A power control method for an ultrasonic positioning system, characterized in that: The method comprises: Determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area; determining a target distance between the ultrasonic sensor and the coordinate position; determining a first transmission power of the ultrasonic sensor corresponding to the target distance; Acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance; Determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle; Determining a first overlapping area between the preset contour area and the annular area; determining a first ratio between the first overlapping area and the target area; determining a first power compensation parameter corresponding to the first ratio; The first transmit power is compensated according to the first power compensation parameter to obtain a second transmit power.

2. The method according to claim 1, characterized in that The target positioning accuracy includes a first positioning accuracy and a second positioning accuracy, and the first positioning accuracy is greater than the second positioning accuracy; and determining the first calibration circle and the second calibration circle according to the target positioning accuracy and the coordinate position includes: Determine the first calibration circle with the coordinate position as the center and the first positioning accuracy as the radius; The second calibration circle is determined with the coordinate position as the center and the second positioning accuracy as the radius.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Obtaining a first area of ​​the first calibration circle, and obtaining a second area of ​​the second calibration circle; Determining a third area of ​​the preset contour area; When the third area is larger than the second area and smaller than the first area, the step of determining a first overlapping area between the preset contour area and the annular area is performed.

4. The method according to claim 3, characterized in that The method further comprises: When the third area is less than or equal to the second area, determining a second overlapping area between the preset contour area and the second calibration circle; determining a second ratio between the second overlapping area and the second area; determining a second power compensation parameter corresponding to the second ratio; The first transmit power is compensated according to the second power compensation parameter to obtain a third transmit power.

5. The method according to claim 4, characterized in that The method further comprises: When the third area is greater than or equal to the first area, determining a third overlapping area between the preset contour area and the first calibration circle; determining a third ratio between the third overlapping area and the first area; determining a third power compensation parameter corresponding to the third ratio; The first transmit power is compensated according to the third power compensation parameter to obtain a fourth transmit power.

6. The method according to any one of claims 1 to 5, characterized in that: The compensating the first transmit power according to the first power compensation parameter to obtain a second transmit power includes: Compensating the first transmit power according to the first power compensation parameter to obtain a reference transmit power; Obtaining target material parameters corresponding to the object to be located; Determining a target energy loss parameter corresponding to the target material parameter; Determine target environmental parameters; determining a first influence coefficient corresponding to the target energy loss parameter; determining a second influence coefficient corresponding to the target environmental parameter; The reference transmit power is optimized according to the first influence coefficient and the second influence coefficient to obtain the second transmit power.

7. An ultrasonic positioning system, characterized in that: The system comprises: a determination unit, an acquisition unit and a compensation unit, wherein: The determination unit is used to determine the coordinate position of the geometric center of the object to be located; the contour of the object to be located includes a preset contour area; determine the target distance between the ultrasonic sensor and the coordinate position; determine the first transmission power of the ultrasonic sensor corresponding to the target distance; The acquisition unit is used to acquire the target positioning accuracy of the ultrasonic sensor; the target positioning accuracy is related to the target distance; The determination unit is further used to determine a first calibration circle and a second calibration circle according to the target positioning accuracy and the coordinate position, and obtain a target area of ​​the annular area according to the annular area between the first calibration circle and the second calibration circle; the area of ​​the first calibration circle is greater than the area of ​​the second calibration circle; determine a first overlapping area between the preset contour area and the annular area; determine a first ratio between the first overlapping area and the target area; and determine a first power compensation parameter corresponding to the first ratio; The compensation unit is used to compensate the first transmit power according to the first power compensation parameter to obtain a second transmit power.

8. An automobile parts processing equipment, characterized in that: include: A processor, a memory and a communication interface, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: in, The computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute instructions of the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to execute instructions of the method according to any one of claims 1 to 6.

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