Intelligent workpiece taking and placing method and system for drying furnace and electronic equipment

Abstract

The invention relates to the technical field of intelligent workpiece taking and placing scheme design of a drying furnace, in particular to an intelligent workpiece taking and placing method and system for the drying furnace and electronic equipment. Optical marker combination position data of the drying furnace is obtained through an optical positioning camera, pose data of the drying furnace and a first rail inside the drying furnace are calculated, and automatic conveying equipment is controlled to move to enable the rails to be aligned. And the automatic push-pull module drives the target material tray to move along the second track through structures such as the hooking block and then enters a preset position of the drying furnace through the first track. The method comprises the operations of position data acquisition, pose calculation, track alignment, workpiece tray pushing and the like, and further comprises the step of judging the running state of the drying furnace so as to carry out taking and placing operations. The workpiece taking and placing intelligence, accuracy and efficiency of the drying furnace are improved to a great extent, and the workpiece taking and placing device has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent workpiece picking and placing scheme design for drying furnaces, and particularly relates to a method and system for intelligent workpiece picking and placing for drying furnaces, and an electronic device. Background Art

[0002] In modern industrial production, as a common heat treatment device, drying furnaces are widely used in multiple fields such as chemical industry, electronics, and machinery. During the use of drying furnaces, placing workpieces into the interior of the drying furnace and taking them out in a timely manner is a key process operation.

[0003] The traditional methods for picking and placing workpieces in drying furnaces mainly have the following many deficiencies: In some large-scale production environments, manual picking and placing of workpieces requires staff to frequently enter and exit the working area near the drying furnace. For example, on a large-scale electronic component drying production line, the operations of staff putting the electronic component trays into the drying furnace and taking them out each time may take a lot of time, including finding a suitable placement position, manually carrying the trays, etc., resulting in extremely low efficiency of the entire drying process. Due to the working characteristics of the drying furnace, the temperature inside is relatively high. When workers approach the drying furnace for workpiece picking and placing operations, they not only have to overcome the discomfort brought by the high-temperature environment but also bear the physical burden of carrying the workpiece trays. Especially in the drying operations of some heavy workpieces, such as drying large metal castings in a foundry, workers need to exert a lot of effort to move the workpiece trays into the drying furnace, which places high demands on the physical endurance of workers and is likely to cause worker fatigue. It is very difficult to rely on manual judgment and operation to align the track (the first track) inside the drying furnace and the track (the second track) on the transportation equipment. Different workers may have differences in operating habits, and it is very difficult to precisely adjust the relative posture of the second track and the first track to the preset accurate state under the condition of manual visual judgment. This may lead to problems such as jamming and slipping of workpieces during transportation, affecting the quality and efficiency of drying. The operation processes of some existing drying furnace picking and placing devices are not intelligent enough and cannot automatically perform the next workpiece picking and placing operation according to the operating state of the drying furnace (such as whether drying is completed or not). This requires additional manual intervention to monitor the state of the drying furnace and perform relevant operations, resulting in low automation and being prone to human errors.

[0004] Therefore, the existing technology still needs to be further developed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a method and system for intelligent workpiece picking and placing for drying furnaces, and an electronic device to solve the problems existing in the prior art.

[0006] To achieve the above technical objectives, according to the first aspect of the present invention, the present invention provides an intelligent workpiece picking and placing system for a drying furnace, including: An acquisition module, configured to acquire the position data of an optical marker combination arranged on the drying furnace by using an optical positioning camera arranged on the automatic transportation device; A control module, configured to calculate the pose data of the drying furnace according to the position data of the optical marker combination, and further calculate the first pose data of a first track arranged in the drying furnace according to the pose data of the drying furnace; configured to control the movement of the automatic transportation device according to the first pose data, so that the first track and a second track arranged on the automatic transportation device form an alignment state according to a preset relative pose, and control an automatic push-pull module arranged on the automatic transportation device to move a target material tray placed on the second track to a preset position inside the drying furnace through the first track.

[0007] Specifically, the automatic push-pull module includes a hanging block and a pushing block. The pushing block is arranged at the upper end of the automatic transportation device. A hanging block is arranged on the side of the pushing block facing the drying furnace. Second tracks are respectively arranged on both sides of the pushing block. The target material tray is placed on the second track and is slidably connected to the second track. The pushing block drives the target material tray to move through the hanging block. A telescopic hydraulic cylinder is arranged inside the pushing block. An end plate is connected to the end of the telescopic hydraulic cylinder. A hanging block is installed on the end plate. A rotation driving unit is installed inside the hanging block. A hanging rod is installed on the rotating shaft of the rotation driving unit. The rotation driving unit adjusts the hanging rod to an upward position by driving the hanging rod to rotate to complete the hanging with the target material tray, and then drives the target material tray to move to a preset position inside the drying furnace through the telescopic hydraulic cylinder.

[0008] Specifically, the first optical marker combination includes a first optical marker, a second optical marker, and a third optical marker. The first optical marker, the second optical marker, and the third optical marker are located on the same vertical plane, and the first optical marker, the second optical marker, and the third optical marker are not on the same straight line.

[0009] According to the second aspect of the present invention, there is provided an intelligent workpiece picking and placing method for a drying furnace, including: S100. Acquire the position data of an optical marker combination arranged on the drying furnace by using an optical positioning camera arranged on the automatic transportation device; S200. Calculate the pose data of the drying furnace according to the position data of the optical marker combination, and further calculate the first pose data of a first track arranged in the drying furnace according to the pose data of the drying furnace; S300. According to the first pose data, control the movement of the automatic transportation device so that the first track and the second track provided on the automatic transportation device are in an aligned state according to a preset relative pose, and control the automatic push-pull module provided on the automatic transportation device to move the target material tray placed on the second track to a preset position inside the drying furnace through the first track.

[0010] Specifically, the method includes: Obtain the three-dimensional model of the drying furnace corresponding to the drying furnace. Define in the model space of the three-dimensional model of the drying furnace, with any horizontal plane as the XOY plane and the Z-axis as vertically downward, to establish a model space coordinate system; determine the first position conversion relationship between the three-dimensional model of the drying furnace and the combination of optical markers; control the automatic transportation device to move to the first preset position, where the first preset position is the position where the first optical camera can simultaneously and completely capture the first combination of optical markers. Take the current frame images of at least three optical markers on the drying furnace through the optical positioning camera, and then obtain the second position information of the three optical markers on the drying furnace, and based on the second position information of the at least three optical markers and the first position conversion relationship, determine the first pose data of the first track in the three-dimensional model of the drying furnace in the model space coordinate system.

[0011] Specifically, the method includes: Obtain the three-dimensional model of the automatic transportation device corresponding to the automatic transportation device. Define in the model space of the three-dimensional model of the automatic transportation device, with any horizontal plane as the XOY plane and the Z-axis as vertically downward, to establish a model space coordinate system; determine the pose conversion matrix between the second track in the three-dimensional model of the automatic transportation device and the GPS device in the automatic transportation device, obtain the GPS position information collected by the GPS device, and then calculate the pose of the GPS device according to the GPS position information, and then calculate the second pose data of the second track in the three-dimensional model of the automatic transportation device according to the pose conversion matrix.

[0012] Specifically, the step of controlling the movement of the automatic transportation device according to the first pose data so that the first track and the second track provided on the automatic transportation device are in an aligned state according to a preset relative pose includes: According to the first pose data and the second pose data, control the movement of the automatic transportation device so that the first track and the second track are in an aligned state, and the aligned state is that the target material tray placed on the second track can move into the drying furnace through the first track.

[0013] Specifically, the method further includes: When the target material tray placed on the second track moves into the drying furnace through the first track, control the rotation drive unit to drive the hanging rod to rotate, adjust the hanging rod to the horizontal position, complete the detachment from the target material tray, move the hanging rod to the outside of the drying furnace through the telescopic hydraulic cylinder, and control the electric control door of the drying furnace to close to complete the placement of the target material tray.

[0014] Specifically, the method further includes: Obtain the operation status data of the drying furnace, determine whether the drying furnace has completed drying according to the operation status data of the drying furnace. If so, control the electric control door of the drying furnace to open, move the hanging rod to a preset position inside the drying furnace through the telescopic hydraulic cylinder, the rotation drive unit drives the hanging rod to rotate, adjust the hanging rod to the upward position, complete the hanging connection with the target material tray, and move the hanging rod to the outside of the drying furnace through the telescopic hydraulic cylinder to complete the picking of the target material tray.

[0015] According to the third aspect of the present invention, there is provided an electronic device, including: a memory; and a processor, where computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the above-mentioned intelligent picking and placing method for workpieces in a drying furnace is implemented.

[0016] Beneficial effects: The beneficial effects of this solution are remarkable. First, the intelligent picking and placing of workpieces in the drying furnace is realized. The position data is obtained by using an optical positioning camera, and combined with the precise calculation of the control module, the first track and the second track are automatically aligned without manual intervention, improving the accuracy and reliability of the operation. Secondly, the automatic push-pull module is ingeniously designed and can smoothly move the target material tray on the second track, the first track and inside the drying furnace, effectively avoiding the risk of damage to the workpiece during handling and ensuring the quality of the workpiece. Moreover, the entire system can automatically control the picking and placing of workpieces according to the operation status data of the drying furnace without manual monitoring at all times, reducing the labor intensity and improving the production efficiency. In addition, the system and method have good compatibility with drying furnaces and workpiece trays of different specifications and shapes, can adapt to various production requirements, have wide application value, and contribute to promoting the intelligent development of the drying industry. Description of the drawings

[0017] Figure 1 is a schematic flow chart of the intelligent picking and placing method for workpieces in a drying furnace provided in a specific embodiment of the present invention; Figure 2 is a schematic installation position diagram of the optical marker combination provided in a specific embodiment of the present invention; Figure 3 is a schematic installation position diagram of the optical positioning camera provided in a specific embodiment of the present invention; Figure 4It is a schematic structural diagram of the automatic transportation device provided in the specific embodiment of the present invention; Figure 5 It is a schematic diagram of the system composition of the intelligent workpiece picking and placing system for the drying furnace provided in the specific embodiment of the present invention; The following reference numerals exist in the above-mentioned drawings: 1. Automatic transportation device; 2. Push-pull block; 3. Position sensor; 4. Second track; 5. Telescopic hydraulic cylinder; 6. Guide rod; 8. Hanging block; 9. Hanging rod; 11. Drying furnace; 12. First track; 14. Target material tray; 21. Optical positioning camera; 22. First optical marker; 23. Second optical marker; 24. Third optical marker; 100. Acquisition module; 200. Control module. Specific embodiments

[0018] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only with reference to the directions of the drawings. Therefore, the directional terms used are for illustration rather than to limit the present invention.

[0019] The present invention will be further described below in conjunction with the drawings and preferred embodiments.

[0020] Please refer to Figures 1 - 5 , the present invention provides an intelligent workpiece picking and placing system for a drying furnace, including: An acquisition module 100, configured to obtain the position data of the optical marker combination arranged on the drying furnace 11 by using the optical positioning camera 21 arranged on the automatic transportation device 1; A control module 200, configured to calculate the pose data of the drying furnace 11 according to the position data of the optical marker combination, and then calculate the first pose data of the first track 12 arranged in the drying furnace 11 according to the pose data of the drying furnace 11; configured to control the movement of the automatic transportation device 1 according to the first pose data, so that the first track 12 and the second track 4 arranged on the automatic transportation device 1 form an alignment state according to a preset relative pose, and control the automatic push-pull module arranged on the automatic transportation device 1 to move the target material tray 14 placed above the second track 4 to a preset position inside the drying furnace 11 through the first track 12.

[0021] Specifically, the automatic pushing and pulling module includes a hanging block 8 and a pushing and pulling block 2. The pushing and pulling block 2 is arranged at the upper end of the automatic transportation device 1. A hanging block 8 is arranged on the side of the pushing and pulling block 2 facing the drying furnace 11. Second tracks 4 are respectively arranged on both sides of the pushing and pulling block 2. The target material tray 14 is placed on the second tracks 4 and is slidably connected to the second tracks 4. The pushing and pulling block 2 drives the target material tray 14 to move through the hanging block 8. A telescopic hydraulic cylinder 5 is arranged in the pushing and pulling block 2. A rotary driving unit is installed in the hanging block 8. A hanging rod 9 is installed on the rotating shaft of the rotary driving unit. The rotary driving unit adjusts the hanging rod 9 to the upward position by driving the hanging rod 9 to rotate, completes the hanging connection with the target material tray 14, and then drives the target material tray 14 to move to a preset position inside the drying furnace 11 through the telescopic hydraulic cylinder 5.

[0022] Specifically, the first optical marker 22 combination includes a first optical marker 22, a second optical marker 23, and a third optical marker 24. The first optical marker 22, the second optical marker 23, and the third optical marker 24 are located on the same vertical plane, and the first optical marker 22, the second optical marker 23, and the third optical marker 24 are not on the same straight line.

[0023] It should be noted that guide rods 6 are also arranged on both sides of the telescopic hydraulic cylinder 5.

[0024] In a preferred embodiment, a position sensor 3 for detecting the position of the target material tray 14 is arranged on the side of the second track 4 away from the drying furnace. The position of the second track 4 can be detected through the position sensor 3, so as to control the telescopic amplitude of the telescopic hydraulic cylinder 5.

[0025] It can be understood that the beneficial effects of this solution are remarkable. First, the intelligent picking and placing of workpieces in the drying furnace is realized. The position data is obtained by using the optical positioning camera 21, and combined with the precise calculation of the control module, the first track and the second track are automatically aligned without manual intervention, improving the accuracy and reliability of the operation. Second, the automatic pushing and pulling module is ingeniously designed and can smoothly move the target material tray on the second track, the first track, and inside the drying furnace, effectively avoiding the risk of workpiece damage during handling and ensuring the quality of the workpiece. Third, the entire system can automatically control the picking and placing of workpieces according to the operation state data of the drying furnace without manual monitoring at all times, reducing the labor intensity and improving the production efficiency. In addition, the system and method have good compatibility with drying furnaces and workpiece trays of different specifications and shapes, can adapt to various production requirements, have wide application value, and contribute to promoting the intelligent development of the drying industry.

[0026] Please refer to Figure 2, the present invention provides another embodiment, which provides an intelligent workpiece picking and placing method for a drying furnace. The intelligent workpiece picking and placing method for the drying furnace includes: S100. Obtain the position data of the optical marker combination arranged on the drying furnace 11 by using the optical positioning camera 21 arranged on the automatic transportation device 1.

[0027] Specifically, obtain the position data of the optical marker combination arranged on the drying furnace by using the optical positioning camera 21 arranged on the automatic transportation device 1. The shooting frequency of the optical positioning camera 21 is set to 10 - 15 frames per second to ensure that the position changes of the optical marker combination can be captured in real time. During the shooting process, the exposure time of the camera is set to 1 - 5 milliseconds to avoid overexposure or underexposure of the image. At the same time, to improve the quality and stability of the image, the camera performs automatic focusing and white balance calibration before shooting. The focusing accuracy is set to ±0.01 mm, and the error range of the white balance calibration is set to ±1%.

[0028] S200. Calculate the pose data of the drying furnace 11 according to the position data of the optical marker combination, and then calculate the first pose data of the first track 12 arranged in the drying furnace 11 according to the pose data of the drying furnace 11.

[0029] Specifically, the method includes: Obtain the three-dimensional model of the drying furnace 11 corresponding to the drying furnace 11. Define in the model space of the three-dimensional model of the drying furnace 11, take any horizontal plane as the XOY plane, and the Z-axis is vertically downward to establish a model space coordinate system; determine the first position conversion relationship between the three-dimensional model of the drying furnace 11 and the optical marker combination; control the automatic transportation device 1 to move to the first preset position, and the first preset position is the position where the first optical camera can simultaneously and completely capture the first optical marker 22 combination. Shoot the current frame images of at least three optical markers on the drying furnace 11 through the optical positioning camera 21, and then obtain the second position information of the three optical markers on the drying furnace 11. Based on the second position information of the at least three optical markers and the first position conversion relationship, determine the first pose data of the first track 12 in the three-dimensional model of the drying furnace 11 in the model space coordinate system.

[0030] Specifically, the method includes: Obtain the 3D model of the automatic transportation device 1 corresponding to the automatic transportation device 1, define it in the model space of the 3D model of the automatic transportation device 1, take any horizontal plane as the XOY plane, and the Z-axis as vertically downward to establish a model space coordinate system; determine the pose transformation matrix between the second track 4 in the 3D model of the automatic transportation device 1 and the facilities and the GPS device in the automatic transportation device 1, obtain the GPS position information collected by the GPS device, and then calculate the pose of the GPS device based on the GPS position information, and further calculate the second pose data of the second track 4 in the 3D model of the automatic transportation device 1 according to the pose transformation matrix.

[0031] It should be noted here that the drying furnace is generated based on the design drawing, and the design drawing includes the geometric feature information of the drying furnace and the first position information of at least three optical markers on the drying furnace; based on the geometric feature information of the 3D model of the drying furnace and the geometric feature information of the drying furnace included in the design drawing, determine the geometric feature matching relationship between the 3D model of the drying furnace and the design drawing; based on the geometric feature matching relationship and the first position information of at least three optical markers on the drying furnace included in the design drawing.

[0032] It should be noted here that if the geometric features of the 3D model of the drying furnace are recognized to obtain the geometric feature information of the 3D model of the drying furnace, then the least squares matching algorithm or the clustering matching algorithm is used to process the geometric feature information of the 3D model of the drying furnace and the geometric feature information of the object entity included in the design drawing to obtain the geometric feature matching relationship between the 3D model of the drying furnace and the design drawing.

[0033] If the geometric features of the 3D model of the drying furnace are recognized and the geometric feature information of the 3D model of the drying furnace is not obtained, then the point cloud matching algorithm is used to determine the point cloud matching relationship between the 3D model of the drying furnace and the design drawing; based on the point cloud matching relationship and the first position information of at least three optical markers on the object entity included in the design drawing, determine the position transformation relationship between the 3D model of the drying furnace and the at least three optical markers; track the second position information of the at least three optical markers on the object entity through the optical tracking system, and based on the second position information of the at least three optical markers and the position transformation relationship, determine the pose of the 3D model of the drying furnace.

[0034] It can be understood that the optical positioning camera 21 captures the current frame image of at least three optical markers on the drying furnace at a preset time interval, and then obtains the second position information of at least three optical markers on the drying furnace, including: (1) After the drying furnace is assembled and before it is put into use, complete the calibration of the optical positioning camera 21; (2) Register the world coordinate system and the three-dimensional model coordinate system of the drying furnace, thereby establishing the projection relationship from the world coordinate system to the three-dimensional model coordinate system of the drying furnace; (3) Read the current frame image from the optical positioning camera 21, detect the optical markers in the image, and obtain the two-dimensional pixel coordinates of the optical markers; (4) According to the calibration parameters of the optical positioning camera 21, perform stereo matching on the two-dimensional pixel coordinates of the optical markers, and calculate the three-dimensional coordinate values of the optical markers in the coordinate system of the optical positioning camera 21 through the two-dimensional pixel coordinates.

[0035] (5) Based on the three-dimensional model of the drying furnace, calculate the transformation matrix [R t] from the coordinate system of the optical positioning camera 21 to the world coordinate system; use the transformation matrix [R t] to convert the three-dimensional coordinates of the optical markers in the coordinate system of the optical positioning camera 21 to the coordinates in the world coordinate system, thereby determining the pose of the drying furnace in the world coordinate system; (6) Use the projection relationship obtained in step (2) to convert the pose of the drying furnace in the world coordinate system to the three-dimensional model coordinate system of the drying furnace, thereby completing the positioning and tracking of the drying furnace in the current frame.

[0036] (7) Return to step (3), then read the next frame image, and repeat the above process.

[0037] S300. According to the first pose data, control the automatic transportation device 1 to move, so that the first track 12 and the second track 4 provided on the automatic transportation device 1 form an alignment state according to a preset relative pose, and control the automatic push-pull module provided on the automatic transportation device 1 to move the target material tray 14 placed on the second track 4 to a preset position inside the drying furnace 11 through the first track 12.

[0038] Specifically, the controlling the automatic transportation device 1 to move according to the first pose data so that the first track 12 and the second track 4 provided on the automatic transportation device 1 complete the alignment state according to a preset relative pose includes: Control the automatic transportation device 1 to move according to the first pose data and the second pose data, so that the first track 12 and the second track 4 form an alignment state, and the alignment state is that the target material tray 14 placed on the second track 4 can move to the inside of the drying furnace 11 through the first track 12.

[0039] Specifically, the cross-sectional shapes of the first track 12 and the second track 4 are the same, and the alignment state is that the upper surfaces of the first track 12 and the second track 4 are located on the same horizontal plane, and the ends of the first track 12 and the second track 4 are abutted against each other, and then spliced into a track for the target material tray 14 to move to the inside of the drying furnace 11.

[0040] Specifically, the method further includes: When the target material tray 14 placed on the second track 4 moves into the drying furnace 11 through the first track 12, control the rotation drive unit to drive the hanging rod 9 to rotate, adjust the hanging rod 9 to the horizontal position, complete the detachment from the target material tray 14, move the hanging rod 9 to the outside of the drying furnace 11 through the telescopic hydraulic cylinder 5, and control the electric control door of the drying furnace 11 to close to complete the placement of the target material tray 14.

[0041] Specifically, the method further includes: Obtain the operation status data of the drying furnace 11, determine whether the drying furnace 11 has completed drying according to the operation status data of the drying furnace 11. If so, control the electric control door of the drying furnace 11 to open, move the hanging rod 9 to a preset position inside the drying furnace 11 through the telescopic hydraulic cylinder 5, the rotation drive unit drives the hanging rod 9 to rotate, adjust the hanging rod 9 to the upward position, complete the hanging connection with the target material tray 14, and move the hanging rod 9 to the outside of the drying furnace 11 through the telescopic hydraulic cylinder 5 to complete the picking of the target material tray 14.

[0042] It should be noted here that the beneficial effects of this solution are remarkable. First, the intelligent picking and placing of workpieces in the drying furnace is realized. The position data is obtained by using the optical positioning camera 21, and combined with the accurate calculation of the control module, the first track and the second track are automatically aligned without manual intervention, improving the accuracy and reliability of the operation. Second, the automatic push-pull module is ingeniously designed and can smoothly move the target material tray on the second track, the first track and inside the drying furnace, effectively avoiding the risk of damage to the workpiece during handling and ensuring the quality of the workpiece. Third, the entire system can automatically control the picking and placing of workpieces according to the operation status data of the drying furnace without manual monitoring at all times, reducing the labor intensity and improving the production efficiency. In addition, the system and method have good compatibility with drying furnaces and workpiece trays of different specifications and shapes, can adapt to various production requirements, have wide application value, and contribute to promoting the intelligent development of the drying industry.

[0043] In a preferred embodiment, the present application further provides an electronic device, and the electronic device includes: A memory; and a processor, wherein computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the intelligent workpiece picking and placing method for a drying furnace is implemented. This computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, the steps of the method of the present invention are executed.

[0044] The present invention can be implemented as a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the embodiments of the present invention are caused to be executed. In one embodiment, the computer program is distributed on a plurality of network-coupled computer devices or processors, so that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, can be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations can be executed by one or more computer devices or processors, and one or more other method steps / operations can be executed by one or more other computer devices or processors. One or more computer devices or processors can execute a single method step / operation, or execute two or more method steps / operations.

[0045] Those of ordinary skill in the art can understand that the method steps of the present invention can be completed by a computer program instructing relevant hardware such as a computer device or a processor. The computer program can be stored in a non-transitory computer-readable storage medium, and when the computer program is executed, the steps of the present invention are caused to be executed. Depending on the situation, any reference to a memory, storage, database, or other medium herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0046] It can be understood that the beneficial effects of this solution are remarkable. First of all, the intelligent picking and placing of workpieces in the drying furnace is realized. By using the optical positioning camera 21 to obtain position data and combining with the precise calculation of the control module, the first track and the second track are automatically aligned without manual intervention, improving the accuracy and reliability of the operation. Secondly, the automatic push-pull module is ingeniously designed and can smoothly move the target material tray on the second track, the first track and inside the drying furnace, effectively avoiding the risk of damage to the workpieces during handling and ensuring the quality of the workpieces. Moreover, the entire system can automatically control the picking and placing of workpieces according to the operation status data of the drying furnace without manual monitoring at all times, reducing the labor intensity and improving the production efficiency. In addition, the system and method have good compatibility with drying furnaces and workpiece trays of different specifications and shapes, can adapt to various production requirements, have wide application value, and contribute to promoting the intelligent development of the drying industry.

[0047] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such combination does not exist in contradiction.

[0048] The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An intelligent workpiece picking and placing system for a drying furnace, characterized in that, The system includes: An acquisition module (100) for acquiring the position data of an optical marker combination arranged on a drying furnace (11) by using an optical positioning camera (21) arranged on an automatic transportation device (1); A control module (200) for calculating the pose data of the drying furnace (11) according to the position data of the optical marker combination, and further calculating the first pose data of a first track (12) arranged in the drying furnace (11) according to the pose data of the drying furnace (11); for controlling the movement of the automatic transportation device (1) according to the first pose data, so that the first track (12) and a second track (4) arranged on the automatic transportation device (1) form an alignment state according to a preset relative pose, and controlling an automatic push-pull module arranged on the automatic transportation device (1) to move a target material tray (14) placed above the second track (4) to a preset position inside the drying furnace (11) through the first track (12).

2. The intelligent workpiece picking and placing system for a drying furnace according to claim 1, characterized in that, The automatic push-pull module includes a hanging block (8) and a push-pull block (2). The push-pull block (2) is arranged at the upper end of the automatic transportation device (1). A hanging block (8) is arranged on one side of the push-pull block (2) facing the drying furnace (11). Second tracks (4) are respectively arranged on both sides of the push-pull block (2). The target material tray (14) is placed on the second tracks (4) and is slidably connected to the second tracks (4). The push-pull block (2) drives the target material tray (14) to move through the hanging block (8). A telescopic hydraulic cylinder (5) is arranged in the push-pull block (2). A rotary drive unit is installed in the hanging block (8). A hanging rod (9) is installed on the rotating shaft of the rotary drive unit. The rotary drive unit adjusts the hanging rod (9) to an upward position by driving the hanging rod (9) to rotate to complete the hanging connection with the target material tray (14), and then drives the target material tray (14) to move to a preset position inside the drying furnace (11) through the telescopic hydraulic cylinder (5).

3. The intelligent workpiece picking and placing system for a drying furnace according to claim 2, characterized in that, The first optical marker (22) combination includes a first optical marker (22), a second optical marker (23), and a third optical marker (24). The first optical marker (22), the second optical marker (23), and the third optical marker (24) are located in the same vertical plane, and the first optical marker (22), the second optical marker (23), and the third optical marker (24) are not on the same straight line.

4. An intelligent workpiece picking and placing method for a drying furnace, characterized in that, The method includes: S100. Acquiring the position data of an optical marker combination arranged on a drying furnace (11) by using an optical positioning camera (21) arranged on an automatic transportation device (1); S200. Calculating the pose data of the drying furnace (11) according to the position data of the optical marker combination, and further calculating the first pose data of a first track (12) arranged in the drying furnace (11) according to the pose data of the drying furnace (11); S300. Control the movement of the automatic transportation device (1) according to the first pose data, so that the first track (12) and the second track (4) provided on the automatic transportation device (1) form an alignment state according to a preset relative pose, and control the automatic push-pull module provided on the automatic transportation device (1) to move the target material tray (14) placed on the second track (4) to a preset position inside the drying furnace (11) through the first track (12).

5. The intelligent workpiece picking and placing method for a drying furnace according to claim 4, characterized in that, The method includes: Obtain the 3D model of the drying furnace (11) corresponding to the drying furnace (11). Define in the model space of the 3D model of the drying furnace (11) that any horizontal plane is the XOY plane and the Z axis is vertically downward to establish a model space coordinate system; determine the first position conversion relationship between the 3D model of the drying furnace (11) and the combination of optical markers; control the automatic transportation device (1) to move to the first preset position, where the first preset position is the position where the first optical camera can simultaneously and completely capture the combination of the first optical markers (22). Capture the current frame images of at least three optical markers on the drying furnace (11) through the optical positioning camera (21), and then obtain the second position information of the three optical markers on the drying furnace (11), and based on the second position information of the at least three optical markers and the first position conversion relationship, determine the first pose data of the first track (12) in the 3D model of the drying furnace (11) in the model space coordinate system.

6. The intelligent workpiece picking and placing method for a drying furnace according to claim 5, characterized in that, The method includes: Obtain the 3D model of the automatic transportation device (1) corresponding to the automatic transportation device (1). Define in the model space of the 3D model of the automatic transportation device (1) that any horizontal plane is the XOY plane and the Z axis is vertically downward to establish a model space coordinate system; determine the pose conversion matrix between the second track (4) in the 3D model of the automatic transportation device (1) and the GPS device in the automatic transportation device (1), obtain the GPS position information collected by the GPS device, and then calculate the pose of the GPS device according to the GPS position information, and then calculate the second pose data of the second track (4) in the 3D model of the automatic transportation device (1) according to the pose conversion matrix.

7. The intelligent workpiece picking and placing method for a drying furnace according to claim 6, characterized in that, The controlling the movement of the automatic transportation device (1) according to the first pose data, so that the first track (12) and the second track (4) provided on the automatic transportation device (1) complete the alignment state according to a preset relative pose includes: Control the movement of the automatic transportation device (1) according to the first pose data and the second pose data, so that the first track (12) and the second track (4) form an alignment state, and the alignment state is that the target material tray (14) placed on the second track (4) can move to the inside of the drying furnace (11) through the first track (12).

8. The intelligent workpiece picking and placing method for a drying furnace according to claim 4, characterized in that, The method further includes: When the target material tray (14) placed on the second track (4) moves into the drying furnace (11) through the first track (12), control the rotation drive unit to drive the hanging rod (9) to rotate, adjust the hanging rod (9) to the horizontal position, complete the detachment from the target material tray (14), move the hanging rod (9) to the outside of the drying furnace (11) through the telescopic hydraulic cylinder (5), control the electric control door of the drying furnace (11) to close, and complete the placement of the target material tray (14).

9. The intelligent workpiece picking and placing method for a drying furnace according to claim 8, characterized in that, The method further includes: Obtain the operation status data of the drying furnace (11), judge whether the drying furnace (11) has completed drying according to the operation status data of the drying furnace (11). If so, control the electric control door of the drying furnace (11) to open, move the hanging rod (9) to a preset position inside the drying furnace (11) through the telescopic hydraulic cylinder (5), the rotation drive unit drives the hanging rod (9) to rotate, adjust the hanging rod (9) to the upward position, complete the hanging connection with the target material tray (14), and move the hanging rod (9) to the outside of the drying furnace (11) through the telescopic hydraulic cylinder (5) to complete the picking of the target material tray (14).

10. An electronic device, characterized in that, It includes: A memory; And a processor, wherein computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the intelligent workpiece picking and placing method for the drying furnace according to any one of claims 1 to 8 is realized.

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