Stator and rotor butt joint method based on surface structured light automatic scanning

Abstract

The invention provides a stator and rotor butt joint method based on surface structured light automatic scanning, and relates to the technical field of vision measurement. The method comprises the following steps: carrying out coordinate calibration on a stator and a rotor through a six-degree-of-freedom visual alignment platform; a mechanical arm is used for carrying a three-dimensional measuring head, the stator and the rotor subjected to coordinate calibration are subjected to surface structured light automatic scanning, and point cloud data corresponding to the stator and the rotor are obtained through the surface structured light automatic scanning; obtaining a feature parameter set corresponding to the stator and the rotor through the point cloud data according to a feature extraction algorithm; calculating a target adjustment attitude corresponding to the stator and the rotor according to the characteristic parameter set; and performing butt joint operation on the stator and the rotor through the six-degree-of-freedom visual alignment platform according to the target adjustment posture. According to the method and the device, the problems of relatively large calculation error and docking failure frequently existing in the existing three-dimensional docking technology when a complex mechanical docking task is processed are solved.

Description

Technical Field

[0001] This application relates to the field of visual measurement technology, and particularly to a stator-rotor docking method based on automated scanning of surface structured light. Background Art

[0002] With the development of industrial automation and intelligent manufacturing, the demand for high-precision assembly between the stator and rotor is constantly increasing. Especially in the fields of motor manufacturing, aerospace, precision instruments, etc., the docking accuracy of the stator and rotor directly affects the operating performance, energy efficiency, and service life of the equipment. Therefore, in the field of visual guidance technology for stator-rotor docking, precise three-dimensional attitude adjustment is crucial for efficient docking.

[0003] Although existing technologies have adopted visual systems for attitude estimation and docking, they still face problems of insufficient accuracy and poor stability. Especially when dealing with complex mechanical docking tasks, there are often large calculation errors and docking failures.

[0004] Therefore, there is an urgent need for a stator-rotor docking method based on automated scanning of surface structured light. Summary of the Invention

[0005] This application provides a stator-rotor docking method based on automated scanning of surface structured light, which solves the problems of large calculation errors and docking failures that often occur in existing three-dimensional docking technologies when dealing with complex mechanical docking tasks.

[0006] In the first aspect of this application, a stator-rotor docking method based on automated scanning of surface structured light is provided. The method includes: calibrating the coordinates of the stator and rotor through a six-degree-of-freedom visual alignment platform; using a robotic arm to carry a three-dimensional probe to perform automated scanning of surface structured light on the stator and rotor after coordinate calibration, and obtaining the point cloud data corresponding to the stator and rotor through the automated scanning of surface structured light; obtaining the corresponding set of characteristic parameters of the stator and rotor through the point cloud data and according to the feature extraction algorithm; calculating the target adjustment attitude corresponding to the stator and rotor according to the set of characteristic parameters; and performing docking operations on the stator and rotor through the six-degree-of-freedom visual alignment platform according to the target adjustment attitude.

[0007] Optionally, coordinate calibration of the stator and rotor is performed through a six-degree-of-freedom vision alignment platform: select multiple landmark points in a preset manner, and obtain a first landmark point, which is a single landmark point among the multiple landmark points and is located above the six-degree-of-freedom vision alignment platform; control the six-degree-of-freedom vision alignment platform to move along the x-axis and y-axis directions respectively, and obtain the corresponding second landmark point and third landmark point after the movement; control the six-degree-of-freedom vision alignment platform to perform a first rotation, a second rotation, and a third rotation respectively, and obtain the corresponding fourth landmark point after the first rotation, the corresponding fifth landmark point after the second rotation, and the corresponding sixth landmark point after the third rotation; align the second landmark point, the third landmark point, the fourth landmark point, the fifth landmark point, and the sixth landmark point with the first landmark point according to the alignment basis, and construct a six-degree-of-freedom platform coordinate system and a digital model coordinate system, and the six-degree-of-freedom platform coordinate system and the digital model coordinate system maintain the same direction; solve the conversion relationship between the six-degree-of-freedom platform coordinate system and the digital model coordinate system according to the preset landmark points; align the origins of the six-degree-of-freedom platform coordinate system and the digital model coordinate system according to the conversion relationship, and obtain a unified coordinate system after the origin alignment; perform coordinate calibration of the stator and rotor on the unified coordinate system.

[0008] Optionally, constructing a digital model coordinate system specifically includes: determining the direction of the digital model coordinate system according to the first landmark point, the second landmark point, the third landmark point, and the right-hand rule; obtaining a first coordinate set corresponding to the first landmark point, the fourth landmark point, the fifth landmark point, and the sixth landmark point in the digital model coordinate system, and a second coordinate set corresponding to them in the six-degree-of-freedom platform coordinate system; determining the origin of the digital model coordinate system according to the first coordinate set and the second coordinate set and through the direction consistency; constructing the digital model coordinate system according to the direction of the digital model coordinate system and the origin of the digital model coordinate system.

[0009] Optionally, through point cloud data, and according to the feature extraction algorithm, obtain the corresponding feature parameter set of the stator and rotor, specifically including: using point cloud analysis software to perform feature analysis on the point cloud data corresponding to the stator and rotor, and obtaining the corresponding feature parameter set of the stator and rotor according to the feature extraction algorithm, and the feature parameter set includes the stator axis vector, the stator hole vector, the stator center point, the stator transformation matrix, the rotor axis vector, the rotor hole vector, the rotor center point, and the rotor transformation matrix.

[0010] Optionally, adjust the attitude according to the target, and perform docking operations on the stator and rotor through the six-degree-of-freedom vision alignment platform, specifically including: calculating the pre-alignment feature parameter set corresponding to the stator and rotor according to the corresponding feature parameter set of the stator and rotor; calculating the target rotation matrix according to the pre-alignment feature parameter set; calculating the rotation angle corresponding to the six-degree-of-freedom vision alignment platform and the translation amount corresponding to the rotation angle according to the target rotation matrix; using the rotation angle and the translation amount as the target adjustment attitude, and performing docking operations on the stator and rotor through the six-degree-of-freedom vision alignment platform according to the target adjustment attitude.

[0011] Optionally, calculate the target rotation matrix according to the pre-alignment feature parameter set, specifically including: calculating the first rotation matrix according to the pre-alignment feature parameter set, and rotating the pre-alignment stator hole vector by the first rotation matrix; calculating the first projection vector of the rotated pre-alignment stator hole vector on the normal plane of the pre-alignment rotor shaft vector, and the second projection vector of the pre-alignment rotor hole vector on the normal plane of the pre-alignment rotor shaft vector; normalizing the first projection vector and the second projection vector respectively, and calculating the second rotation matrix by the normalized first projection vector and the normalized second projection vector; calculating the target rotation matrix according to the first rotation matrix and the second rotation matrix.

[0012] Optionally, calculate the pre-alignment feature parameter set corresponding to the stator and rotor according to the feature parameter set corresponding to the stator and rotor, specifically including:

[0013]

[0014] where n DZ1 is the pre-alignment stator shaft vector, n DZ is the stator shaft vector, R D -1 is the inverse matrix corresponding to the rotation part of the stator transformation matrix, n DK1 is the pre-alignment stator hole vector, n DK is the stator hole vector, P D1 is the pre-alignment stator center point, P D is the stator center point, T D -1 is the inverse matrix of the transformation matrix, n ZZ1 is the pre-alignment rotor shaft vector, n ZZ is the rotor shaft vector, R Z -1 is the inverse matrix corresponding to the rotation part of the rotor transformation matrix, n ZK1 is the pre-alignment rotor hole vector, n ZK is the rotor hole vector, P Z1 is the pre-alignment rotor center point, P Z is the rotor center point, T Z -1 is the inverse matrix of the rotor transformation matrix.

[0015] Optionally, after performing the docking operation on the stator and rotor through the six-degree-of-freedom vision alignment platform according to the target adjustment posture, the method further includes: obtaining the fixed moving distance of the boxed platform, where there is a fixed angle between the boxed platform and the y-axis of the unified coordinate system, and the fixed angle remains unchanged during the movement of the boxed platform; calculating the compensation moving distance corresponding to the six-degree-of-freedom vision alignment platform according to the fixed moving distance; adjusting the six-degree-of-freedom vision alignment platform according to the compensation moving distance.

[0016] In the second aspect of the present application, a stator-rotor docking device based on surface structured light automatic scanning is provided. The device includes a coordinate calibration module and a docking module. Among them,

[0017] The coordinate calibration module is used to calibrate the coordinates of the stator and rotor through a six-degree-of-freedom vision alignment platform.

[0018] The docking module is used to use a robotic arm to carry a three-dimensional probe to perform surface structured light automatic scanning on the stator and rotor after coordinate calibration, and obtain the point cloud data corresponding to the stator and rotor through surface structured light automatic scanning; through the point cloud data, and obtain the corresponding feature parameter set of the stator and rotor according to the feature extraction algorithm; calculate the target adjustment posture corresponding to the stator and rotor according to the feature parameter set; according to the target adjustment posture, perform docking operations on the stator and rotor through a six-degree-of-freedom vision alignment platform.

[0019] In the third aspect of the present application, an electronic device is provided, including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method of any one of the above.

[0020] In the fourth aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to perform the method of any one of the above.

[0021] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0022] 1. Through a six-degree-of-freedom vision alignment platform, the coordinates of the stator and rotor are calibrated; a robotic arm is used to carry a three-dimensional probe to perform surface structured light automatic scanning on the stator and rotor after coordinate calibration, and the point cloud data corresponding to the stator and rotor is obtained through surface structured light automatic scanning; through the point cloud data, and the corresponding feature parameter set of the stator and rotor is obtained according to the feature extraction algorithm; the target adjustment posture corresponding to the stator and rotor is calculated according to the feature parameter set; according to the target adjustment posture, docking operations are performed on the stator and rotor through a six-degree-of-freedom vision alignment platform, so as to calibrate the coordinates of the stator and rotor, ensure precise matching of the stator and rotor in a unified coordinate system, optimize the posture adjustment process, improve the docking accuracy and stability, and greatly reduce the situation of large calculation errors and the probability of docking failure when dealing with complex mechanical docking tasks.

[0023] 2. Use point cloud analysis software to perform feature analysis on the point cloud data corresponding to the stator and rotor, so as to extract key geometric feature information, accurately obtain the axial vector, hole vector, center point and transformation matrix of the stator and rotor, and provide data support for subsequent posture adjustment and precise docking.

[0024] 3. Obtain the fixed moving distance of the boxed platform, calculate the corresponding compensation moving distance of the six-degree-of-freedom vision alignment platform according to the fixed moving distance, and then adjust the six-degree-of-freedom vision alignment platform according to the compensation moving distance, so as to correct the offset error caused by the movement of the boxed platform, ensure the precise docking of the stator and rotor in the digital model coordinate system, and further improve the docking accuracy and stability. Description of the Drawings

[0025] Figure 1 is a schematic flow chart of a stator-rotor docking method based on structured light automated scanning provided by an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the distribution of fiducial points provided by an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of the position for stator-rotor feature extraction provided by an embodiment of the present application;

[0028] Figure 4 is a schematic module diagram of a stator-rotor docking device based on structured light automated scanning provided by an embodiment of the present application;

[0029] Figure 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0030] Description of the reference numerals: 41, coordinate calibration module; 42, docking module; 501, processor; 502, communication bus; 503, user interface; 504, network interface; 505, memory. Detailed Embodiments

[0031] In order to enable those skilled in the art to better understand the technical solutions in this specification, the following will clearly and completely describe the technical solutions in the embodiments of this specification with reference to the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0032] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the specification of the present application, the singular forms "a", "an", "the", "above", "the above-mentioned", "this" and "this one" are also intended to include the plural forms, unless there is a clear indication to the contrary in the context. It should also be understood that the term " / and / " used in the present application refers to and includes any or all possible combinations of one or more of the listed items.

[0033] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and should not be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0034] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] Please refer to Figure 1 , which shows a schematic flowchart of a stator-rotor docking method based on surface structured light automatic scanning provided by an embodiment of the present application. The flowchart mainly includes the following steps: S101 to S105.

[0036] Step S101, calibrate the coordinates of the stator and rotor through a six-degree-of-freedom vision alignment platform.

[0037] Specifically, when the user performs a docking operation on the stator and rotor, first calibrate the coordinates of the stator and rotor through a six-degree-of-freedom vision alignment platform. During the above process, an unified coordinate system is automatically constructed to obtain the accurate positions of the stator and rotor in the unified coordinate system, so as to facilitate subsequent docking based on their positions.

[0038] In a possible implementation manner, step S101 further includes: selecting a plurality of fiducial points in a preset manner and obtaining a first fiducial point, where the first fiducial point is a single fiducial point among the plurality of fiducial points located above the six-degree-of-freedom vision alignment platform; controlling the six-degree-of-freedom vision alignment platform to move along the x-axis and y-axis directions respectively and obtaining the corresponding second fiducial point and third fiducial point after the movement; controlling the six-degree-of-freedom vision alignment platform to perform a first rotation, a second rotation, and a third rotation respectively and obtaining the corresponding fourth fiducial point after the first rotation, the corresponding fifth fiducial point after the second rotation, and the corresponding sixth fiducial point after the third rotation; aligning the second fiducial point, the third fiducial point, the fourth fiducial point, the fifth fiducial point, and the sixth fiducial point with the first fiducial point according to the alignment basis and constructing a six-degree-of-freedom platform coordinate system and a digital model coordinate system, where the six-degree-of-freedom platform coordinate system and the digital model coordinate system maintain direction consistency; solving the conversion relationship between the six-degree-of-freedom platform coordinate system and the digital model coordinate system according to the preset fiducial points; aligning the origins of the six-degree-of-freedom platform coordinate system and the digital model coordinate system according to the conversion relationship and obtaining the unified coordinate system after origin alignment; calibrating the coordinates of the stator and rotor on the unified coordinate system.

[0039] Specifically, please refer to Figure 2 , which shows a schematic diagram of the distribution of fiducial points provided by an embodiment of the present application. Figure 2Among them, multiple fiducial points are set on the six-degree-of-freedom vision alignment platform and the fixed platform in a randomly distributed manner. The fixed platform is arranged on the left and right sides of the six-degree-of-freedom vision alignment platform. Select the first fiducial point as the reference fiducial point. The first fiducial point is a single fiducial point located on the six-degree-of-freedom vision alignment platform. Denote the first fiducial point as p1. In addition, denote all the fiducial points located on the fixed platform as Cloud. The position of each fiducial point can be obtained by a scanner.

[0040] Control the six-degree-of-freedom vision alignment platform to move along the x-axis and y-axis directions respectively, and obtain the corresponding second fiducial point and third fiducial point after the movement. Denote the second fiducial point as p2 and the third fiducial point as p3. After that, control the six-degree-of-freedom vision alignment platform to make three selections, namely the first rotation, the second rotation, and the third rotation, and obtain the corresponding fourth fiducial point after the first rotation. Denote the fourth fiducial point as p4, the corresponding fifth fiducial point after the second rotation. Denote the fifth fiducial point as p5, and the corresponding sixth fiducial point after the third rotation. Denote the sixth fiducial point as p6.

[0041] Align the second fiducial point, the third fiducial point, the fourth fiducial point, the fifth fiducial point, and the sixth fiducial point with the first fiducial point according to the alignment basis. Among them, the alignment basis level is the Cloud fiducial point group in each group of fiducial points. Solve the conversion relationship between the six-degree-of-freedom platform coordinate system and the digital mock-up coordinate system according to the preset fiducial points. Among them, the preset fiducial points used for solving are the first fiducial point to the sixth fiducial point.

[0042] Construct the six-degree-of-freedom platform coordinate system OXYZ temp and the digital mock-up coordinate system OXYZ word The six-degree-of-freedom platform coordinate system and the digital mock-up coordinate system maintain the same direction. Among them, the six-degree-of-freedom platform coordinate system can be constructed according to the position where the six-degree-of-freedom platform coordinate system itself is located, while the digital mock-up coordinate system needs to be constructed according to the first fiducial point to the sixth fiducial point. The construction method thereof can refer to Step S11 to Step S14.

[0043] Step S11, determine the direction of the digital mock-up coordinate system according to the first fiducial point, the second fiducial point, the third fiducial point, and the right-hand rule.

[0044] Specifically, with p1 as the origin, the direction from p1 to p2 is used as the x direction of OXYZ temp the direction from p1 to p3 is used as the y direction of OXYZ temp the z direction of OXYZ temp is determined according to the right-hand rule.

[0045] Step S12: Obtain the first coordinate group corresponding to the first fiducial point, the fourth fiducial point, the fifth fiducial point, and the sixth fiducial point in the digital mock-up coordinate system, and the second coordinate group corresponding to them in the six-degree-of-freedom platform coordinate system.

[0046] Specifically, in the digital mock-up coordinate system OXYZ temp , the coordinates corresponding to p1, p4, p5, and p6 are respectively denoted as P t1 , P t4 , P t5 , P t6 , P t1 , P t4 , P t5 , P t6 ; in the six-degree-of-freedom platform coordinate system OXYZ word , the coordinates corresponding to p1, p4, p5, and p6 are respectively denoted as P w1 , P w4 , P w5 , P w6 , P w1 , P w4 , P w5 , P w6 ; these are the second coordinate group.

[0047] Step S13: Determine the origin of the digital mock-up coordinate system based on the first coordinate group and the second coordinate group and through direction consistency.

[0048] Specifically, since the directions of the OXYZ temp coordinate system and the OXYZ word coordinate system are consistent, the vectors formed by the fiducial point p1 pointing to the fiducial points p4, p5, and p6 are equal, that is:

[0049]

[0050] where t 14 is the vector formed by p1 pointing to the fiducial point p4, t 15 is the vector formed by p1 pointing to the fiducial point p5, and t 16 is the vector formed by p1 pointing to the fiducial point p6. By transforming formula (1), we can get:

[0051]

[0052] where R1 is the rotation matrix after the first rotation of the six-degree-of-freedom vision alignment platform, R2 is the rotation matrix after the second rotation of the six-degree-of-freedom vision alignment platform, and R3 is the rotation matrix after the third rotation of the six-degree-of-freedom vision alignment platform. By combining formula (2) and using the least squares algorithm to solve for P w1 , the specific process is as follows:

[0053]

[0054] Among them, I is the identity matrix, with the same dimension as the rotation matrices R1, R2, and R3. A is the coefficient matrix, and B is the displacement vector matrix, and Thus, P can be solved according to the least squares method w1 For, P w1 =(A T A) -1 A T B, A T is the transpose matrix of the coefficient matrix. Through P w1 , the origin position of the digital mock-up coordinate system can be determined at -P temp on the basis of the origin position of the OXYZ w1 .

[0055] Step S14: Construct a digital mock-up coordinate system according to the direction of the digital mock-up coordinate system and the origin of the digital mock-up coordinate system.

[0056] Specifically, by determining the direction of the digital mock-up coordinate system and the origin of the digital mock-up coordinate system, the corresponding digital mock-up coordinate system is constructed.

[0057] Finally, align the origins of the six-degree-of-freedom platform coordinate system and the digital mock-up coordinate system according to the conversion relationship, obtain the unified coordinate system after origin alignment, and calibrate the coordinates of the stator and rotor on the unified coordinate system.

[0058] Step S102: Use the robotic arm to carry a three-dimensional probe to perform automated structured light scanning on the stator and rotor after coordinate calibration, and obtain the point cloud data corresponding to the stator and rotor through the automated structured light scanning.

[0059] Specifically, use the robotic arm to carry a three-dimensional probe (such as a laser scanner, a structured light scanner, or an optical tracking probe) to perform high-precision three-dimensional scanning on the stator and rotor that have completed coordinate calibration, and obtain the surface point cloud data thereof. The robotic arm moves according to a preset scanning path or real-time visual feedback to ensure comprehensive measurement of each key area of the stator and rotor. During the scanning process, the probe captures the three-dimensional coordinate information of the stator and rotor, converts it into point cloud data, and at the same time adopts the method of fiducial point registration, and the scanned point cloud data will be unified under the global fiducial point, that is, unified under the aligned unified coordinate system.

[0060] Step S103: Obtain the characteristic parameter set corresponding to the stator and rotor through the point cloud data and according to the feature extraction algorithm.

[0061] Specifically, point cloud analysis software is used to process the acquired stator-rotor point cloud data, and a feature extraction algorithm is employed to extract the key feature parameter set of the stator and rotor. This process includes preprocessing the point cloud data, such as denoising, filtering, surface reconstruction, and coordinate alignment, etc., to improve the data quality. Subsequently, the feature extraction algorithm is used to identify the feature parameter set of the stator and rotor, including but not limited to: the stator axis vector n DZ , the stator hole vector n DK , the stator center point P D , the stator transformation matrix T D , the rotor axis vector n ZZ , the rotor hole vector n ZK , the rotor center point P Z and the rotor transformation matrix T Z . The feature parameter set is used to characterize the spatial position and attitude of the stator and rotor, and serves as the basis for subsequent docking adjustment calculations to ensure accurate matching of the stator and rotor on the six-degree-of-freedom platform. Among them, the stator transformation matrix is a matrix describing the position and attitude transformation of the stator point cloud data in the digital model coordinate system, and the rotor transformation matrix is a matrix describing the position and attitude transformation of the rotor point cloud data in the digital model coordinate system. Please refer to Figure 3 , which shows a schematic diagram of the position for stator-rotor feature extraction provided by the embodiment of the present application, Figure 3 in which the positions of the stator axis vector, the stator hole vector, and the stator center point on the stator, as well as the positions of the rotor axis vector, the rotor hole vector, and the rotor center point on the rotor, are marked in detail.

[0062] Step S104, calculate the target adjustment attitude corresponding to the stator and rotor according to the feature parameter set.

[0063] Specifically, through the feature parameter set and according to the corresponding algorithm, calculate the target adjustment attitude corresponding to the stator and rotor.

[0064] Step S105, perform docking operations on the stator and rotor through the six-degree-of-freedom vision alignment platform according to the target adjustment attitude.

[0065] In a possible implementation manner, step S105 further includes: calculating the pre-alignment feature parameter set corresponding to the stator and rotor according to the feature parameter set corresponding to the stator and rotor; calculating the target rotation matrix according to the pre-alignment feature parameter set; calculating the rotation angle corresponding to the six-degree-of-freedom vision alignment platform and the translation amount corresponding to the rotation angle according to the target rotation matrix; taking the rotation angle and the translation amount as the target adjustment attitude, and performing docking operations on the stator and rotor through the six-degree-of-freedom vision alignment platform according to the target adjustment attitude.

[0066] Specifically, according to the characteristic parameter sets corresponding to the stator and rotor, calculate the characteristic parameter sets before alignment corresponding to the stator and rotor. The characteristic parameter sets before alignment include the stator characteristic parameter set before alignment and the rotor characteristic parameter set before alignment: Multiply the stator hole vector and the stator shaft vector on the left respectively by the inverse of the rotation part of the stator transformation matrix, and multiply the stator center point by the inverse matrix of the stator transformation matrix to obtain the stator characteristic parameter set before alignment; Multiply the rotor hole vector and the rotor shaft vector on the left respectively by the inverse of the rotation part of the rotor transformation matrix, and multiply the rotor center point by the inverse matrix of the rotor transformation matrix to obtain the rotor characteristic parameter set before alignment. The formulas are as follows:

[0067]

[0068] Among them, n DZ1 is the stator shaft vector before alignment, n DZ is the stator shaft vector, R D -1 is the inverse matrix corresponding to the rotation part of the stator transformation matrix, n DK1 is the stator hole vector before alignment, n DK is the stator hole vector, P D1 is the stator center point before alignment, P D is the stator center point, T D -1 is the inverse matrix of the transformation matrix, n ZZ1 is the rotor shaft vector before alignment, n ZZ is the rotor shaft vector, R Z -1 is the inverse matrix of the rotation part of the rotor transformation matrix, n ZK1 is the rotor hole vector before alignment, n ZK is the rotor hole vector, P Z1 is the rotor center point before alignment, P Z is the rotor center point, T Z -1 is the inverse matrix of the rotor transformation matrix. After that, calculate the target rotation matrix according to the characteristic parameter sets before alignment, specifically including: Calculate the first rotation matrix according to the characteristic parameter sets before alignment, and rotate the stator hole vector before alignment through the first rotation matrix; Calculate the first projection vector of the rotated stator hole vector before alignment on the normal plane of the rotor shaft vector before alignment, and the second projection vector of the rotor hole vector before alignment on the normal plane of the rotor shaft vector before alignment; Normalize the first projection vector and the second projection vector respectively, and calculate the second rotation matrix through the normalized first projection vector and the normalized second projection vector; Calculate the target rotation matrix according to the first rotation matrix and the second rotation matrix. Please refer to steps S21 to S24.

[0069] Step S21: Calculate the first rotation matrix based on the pre-alignment feature parameter set, and rotate the pre-alignment stator hole vector by the first rotation matrix.

[0070] Specifically, calculate the first rotation matrix through the following formula:

[0071]

[0072] Where, is the first rotation matrix, and the first rotation matrix is the rotation matrix corresponding to the transformation from n DZ1 to n ZZ1 Use the first rotation matrix to rotate the pre-alignment stator hole vector to calculate the rotated pre-alignment stator hole vector:

[0073]

[0074] Step S22: Calculate the first projection vector of the rotated pre-alignment stator hole vector on the normal plane of the pre-alignment rotor shaft vector, and the second projection vector of the pre-alignment rotor hole vector on the normal plane of the pre-alignment rotor shaft vector.

[0075] Specifically, calculate the projection vectors of the stator hole vector n DK2 and the rotor hole vector n ZK1 on the normal plane of the rotor shaft vector n ZZ1 respectively, and denote them as the first projection vector and the second projection vector.

[0076] Step S23: Normalize the first projection vector and the second projection vector respectively, and calculate the second rotation matrix through the normalized first projection vector and the normalized second projection vector.

[0077] Specifically, when the normalized first projection vector is denoted as n DK3 , when the normalized second projection vector is denoted as n ZK2 , and calculate the second rotation matrix according to the following formula

[0078]

[0079] Step S24: Calculate the target rotation matrix according to the first rotation matrix and the second rotation matrix.

[0080] Specifically, calculate the final target rotation matrix R:

[0081]

[0082] After that, according to the target rotation matrix, calculate the rotation angle corresponding to the six-degree-of-freedom vision alignment platform and the translation amount corresponding to the rotation angle: Decompose the rotation matrix into rotation angles r x 、r y 、r z around the x, y, and z directions according to the calculation logic inside the six-degree-of-freedom vision alignment platform. The translation amount can be calculated by the following formula:

[0083] t = P Z1 - RP D1 ; -------(8)

[0084] where t is the translation amount, and t x t y t z are the translation amounts along the x, y, and z directions respectively. Thus, take the rotation and translation amount as the target adjustment posture and input it to the six-degree-of-freedom vision alignment platform for docking operation.

[0085] In a possible implementation manner, step S105 further includes: obtaining the fixed moving distance of the boxed platform. There is a fixed angle between the boxed platform and the y-axis of the unified coordinate system, and the fixed angle remains unchanged during the movement of the boxed platform; calculating the compensation moving distance corresponding to the six-degree-of-freedom vision alignment platform according to the fixed moving distance; adjusting the six-degree-of-freedom vision alignment platform according to the compensation moving distance.

[0086] Specifically, control the boxed platform to translate and obtain the fixed moving distance of the boxed platform. The fixed moving distance includes dx moved along the x-direction of the unified coordinate system and dz moved along the z-direction during the movement of the boxed platform. Since there is a fixed angle θ between the boxed platform and the y-axis of the unified coordinate system, and the fixed angle θ remains unchanged during the movement of the boxed platform, dx and dz are fixed values. After the first alignment, calculate the compensation moving distance corresponding to the six-degree-of-freedom vision alignment platform according to the fixed moving distance. The compensation moving distances are denoted as x' and z', and adjust the six-degree-of-freedom vision alignment platform to move x' and z' along the x and z directions so that the stator and rotor can effectively complete the docking task. In the same way as described in step S105 above, obtain a new set of translation amounts and add the compensation moving distances x' and z',, to obtain the latest target adjustment posture, that is Input to the six-degree-of-freedom vision alignment platform for docking operation, and then control the boxed platform to translate, and finally complete the docking operation of the stator and rotor.

[0087] By adopting the above method, this application calibrates the coordinates of the stator and rotor through a six-degree-of-freedom vision alignment platform; uses a robotic arm to carry a three-dimensional probe to automatically scan the surface structure light of the stator and rotor after coordinate calibration, and obtains the corresponding point cloud data of the stator and rotor through the automatic surface structure light scanning; obtains the corresponding set of characteristic parameters of the stator and rotor through the point cloud data and according to the feature extraction algorithm; calculates the target adjustment posture corresponding to the stator and rotor according to the set of characteristic parameters; and performs a docking operation on the stator and rotor through the six-degree-of-freedom vision alignment platform according to the target adjustment posture. Thus, by calibrating the coordinates of the stator and rotor and ensuring precise matching of the stator and rotor in a unified coordinate system, the posture adjustment process is optimized, the docking accuracy and stability are improved, and the situation of large calculation errors and the probability of docking failure are significantly reduced when dealing with complex mechanical docking tasks.

[0088] Please refer to Figure 4 , which shows a module schematic diagram of a stator-rotor docking device based on automatic surface structure light scanning provided by an embodiment of this application. The device includes a coordinate calibration module 21 and a docking module 22. Among them,

[0089] The coordinate calibration module 21 is used to calibrate the coordinates of the stator and rotor through a six-degree-of-freedom vision alignment platform.

[0090] The docking module 22 is used to use a robotic arm to carry a three-dimensional probe to automatically scan the surface structure light of the stator and rotor after coordinate calibration, and obtain the corresponding point cloud data of the stator and rotor through the automatic surface structure light scanning; obtain the corresponding set of characteristic parameters of the stator and rotor through the point cloud data and according to the feature extraction algorithm; calculate the target adjustment posture corresponding to the stator and rotor according to the set of characteristic parameters; and perform a docking operation on the stator and rotor through the six-degree-of-freedom vision alignment platform according to the target adjustment posture.

[0091] In a possible implementation, the coordinate calibration module 21 is used to calibrate the coordinates of the stator and rotor through a six-degree-of-freedom vision alignment platform: select multiple landmark points in a preset manner, and obtain a first landmark point, where the first landmark point is a single landmark point among the multiple landmark points that is located above the six-degree-of-freedom vision alignment platform; control the six-degree-of-freedom vision alignment platform to move along the x-axis and y-axis directions respectively, and obtain the corresponding second landmark point and third landmark point after the movement; control the six-degree-of-freedom vision alignment platform to perform a first rotation, a second rotation, and a third rotation respectively, and obtain the corresponding fourth landmark point after the first rotation, the corresponding fifth landmark point after the second rotation, and the corresponding sixth landmark point after the third rotation; align the second landmark point, the third landmark point, the fourth landmark point, the fifth landmark point, and the sixth landmark point with the first landmark point according to the alignment basis, and construct a six-degree-of-freedom platform coordinate system and a digital model coordinate system, where the six-degree-of-freedom platform coordinate system and the digital model coordinate system maintain direction consistency; solve the conversion relationship between the six-degree-of-freedom platform coordinate system and the digital model coordinate system according to the preset landmark points; align the origins of the six-degree-of-freedom platform coordinate system and the digital model coordinate system according to the conversion relationship, and obtain a unified coordinate system after the origin alignment; calibrate the coordinates of the stator and rotor on the unified coordinate system.

[0092] In a possible implementation, the coordinate calibration module 21 is used to construct a digital model coordinate system, specifically including: determining the direction of the digital model coordinate system according to the first landmark point, the second landmark point, the third landmark point, and the right-hand rule; obtaining a first coordinate set corresponding to the first landmark point, the fourth landmark point, the fifth landmark point, and the sixth landmark point in the digital model coordinate system, and a second coordinate set corresponding to them in the six-degree-of-freedom platform coordinate system; determining the origin of the digital model coordinate system according to the first coordinate set and the second coordinate set and through direction consistency; constructing the digital model coordinate system according to the direction of the digital model coordinate system and the origin of the digital model coordinate system.

[0093] In a possible implementation, the docking module 22 is used to obtain a set of characteristic parameters corresponding to the stator and rotor through point cloud data and according to a feature extraction algorithm, specifically including: using point cloud analysis software to perform feature analysis on the point cloud data corresponding to the stator and rotor, and obtaining a set of characteristic parameters corresponding to the stator and rotor according to the feature extraction algorithm, where the set of characteristic parameters includes a stator axis vector, a stator hole vector, a stator center point, a stator transformation matrix, a rotor axis vector, a rotor hole vector, a rotor center point, and a rotor transformation matrix.

[0094] In a possible implementation, the docking module 22 is configured to adjust the posture according to a target, and perform a docking operation on the stator and rotor through a six-degree-of-freedom vision alignment platform, specifically including: calculating a pre-alignment feature parameter set corresponding to the stator and rotor according to a feature parameter set corresponding to the stator and rotor; calculating a target rotation matrix according to the pre-alignment feature parameter set; calculating a rotation angle corresponding to the six-degree-of-freedom vision alignment platform and a translation amount corresponding to the rotation angle according to the target rotation matrix; using the rotation angle and the translation amount as the target adjustment posture, and performing a docking operation on the stator and rotor through the six-degree-of-freedom vision alignment platform according to the target adjustment posture.

[0095] In a possible implementation, the docking module 22 is configured to calculate a target rotation matrix according to a pre-alignment feature parameter set, specifically including: calculating a first rotation matrix according to the pre-alignment feature parameter set, and rotating a pre-alignment stator hole vector through the first rotation matrix; calculating a first projection vector of the rotated pre-alignment stator hole vector on a normal plane of the pre-alignment rotor shaft vector, and a second projection vector of the pre-alignment rotor hole vector on the normal plane of the pre-alignment rotor shaft vector; normalizing the first projection vector and the second projection vector respectively, and calculating a second rotation matrix through the normalized first projection vector and the normalized second projection vector; calculating the target rotation matrix according to the first rotation matrix and the second rotation matrix.

[0096] In a possible implementation, the docking module 22 is configured to calculate a pre-alignment feature parameter set corresponding to the stator and rotor according to a feature parameter set corresponding to the stator and rotor, specifically including:

[0097]

[0098] where n DZ1 is the pre-alignment stator shaft vector, n DZ is the stator shaft vector, R D -1 is the inverse matrix corresponding to the rotation part of the stator transformation matrix, n DK1 is the pre-alignment stator hole vector, n DK is the stator hole vector, P D1 is the pre-alignment stator center point, P D is the stator center point, T D -1 is the inverse matrix of the transformation matrix, n ZZ1 is the pre-alignment rotor shaft vector, n ZZ is the rotor shaft vector, R Z -1 is the inverse matrix corresponding to the rotation part of the rotor transformation matrix, n ZK1 is the pre-alignment rotor hole vector, n ZK is the rotor hole vector, P Z1 is the pre-alignment rotor center point, P Zis the center point of the rotor, T Z -1 is the inverse matrix of the rotor transformation matrix.

[0099] In a possible implementation, the docking module 22 is used to obtain the fixed moving distance of the boxed platform after adjusting the attitude according to the target and performing the docking operation on the stator and rotor through the six-degree-of-freedom vision alignment platform. There is a fixed angle between the boxed platform and the y-axis of the unified coordinate system, and the fixed angle remains unchanged during the movement of the boxed platform; calculate the compensation moving distance corresponding to the six-degree-of-freedom vision alignment platform according to the fixed moving distance; adjust the six-degree-of-freedom vision alignment platform according to the compensation moving distance.

[0100] It should be noted that: when the device provided in the above embodiment realizes its functions, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process can be seen in the method embodiment, which will not be repeated here.

[0101] This application also provides an electronic device. Refer to Figure 5 , Figure 5 is a schematic structural diagram of an electronic device provided in an embodiment of this application. The electronic device may include: at least one processor 501, at least one communication bus 502, a user interface 503, at least one network interface 504, and a memory 505.

[0102] Among them, the communication bus 502 is used to realize the connection and communication between these components.

[0103] Among them, the user interface 503 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 503 may further include a standard wired interface and a wireless interface.

[0104] Among them, the network interface 504 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0105] Among them, the processor 501 may include one or more processing cores. The processor 501 connects various parts within the entire server through various interfaces and lines, and executes various functions of the server and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and by invoking the data stored in the memory 505. Optionally, the processor 501 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 501 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 501 and may be implemented separately by a single chip.

[0106] Among them, the memory 505 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 505 includes a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments. Optionally, the memory 505 may further be at least one storage device located far from the aforementioned processor 501. Refer to Figure 5 , the memory 505, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a stator-rotor docking application based on visual guidance.

[0107] In Figure 5In the electronic device shown, the user interface 503 is mainly used to provide an interface for the user to input data and obtain the data input by the user; while the processor 501 can be used to call the rotor-stator docking application program based on visual guidance stored in the memory 505. When executed by one or more processors 501, the electronic device is caused to execute one or more of the methods as described in the above embodiments. 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, certain steps can be performed in other sequences or 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.

[0108] The present application also provides a computer-readable storage medium storing instructions. When executed by one or more processors, the electronic device is caused to execute one or more of the methods as described in the above embodiments.

[0109] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] In several implementation manners 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 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 couplings or direct couplings or communication connections to each other can be through some service interfaces. The indirect couplings or communication connections of the device or unit can be in electrical or other forms.

[0111] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or can 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.

[0112] 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 separately, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0113] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. 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 of the various embodiments of the present application. The aforementioned memory includes: various media such as USB flash drives, mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0114] The above are only exemplary embodiments disclosed in the present application and should not be used to limit the scope of the present application. That is, any equivalent changes and modifications made in accordance with the teachings of the present application are still within the scope covered by the present application. Those skilled in the art will easily think of other implementation schemes of the present application after considering the specification and the disclosure of the practical truth.

[0115] The present application aims to cover any variations, uses, or adaptive changes of the present application, which follow the general principles of the present application and include common general knowledge or conventional technical means in the technical field not recorded in the present application.

Claims

1. A stator-rotor docking method based on surface structured light automatic scanning, characterized in that: The method comprises: The stator and rotor are calibrated by a six-degree-of-freedom visual alignment platform; Using a robotic arm carrying a three-dimensional probe, the stator and rotor after the coordinates are calibrated are automatically scanned with surface structured light, and point cloud data corresponding to the stator and rotor are obtained through the surface structured light automatic scanning; Obtaining a feature parameter set corresponding to the stator and rotor through the point cloud data and according to a feature extraction algorithm; Calculating the target adjustment posture corresponding to the stator and rotor according to the characteristic parameter set; The posture is adjusted according to the target, and the docking operation is performed on the stator and rotor through the six-degree-of-freedom visual alignment platform.

2. The method according to claim 1, characterized in that The stator and rotor are calibrated by the six-degree-of-freedom visual alignment platform: Selecting a plurality of marker points in a preset manner, and acquiring a first marker point, where the first marker point is a single marker point located on the six-degree-of-freedom visual alignment platform among the plurality of marker points; Controlling the six-degree-of-freedom visual alignment platform to move along the x-axis and y-axis directions respectively, and obtaining the second marking point and the third marking point corresponding to the movement; Controlling the six-degree-of-freedom visual alignment platform to perform a first rotation, a second rotation, and a third rotation, respectively, and obtaining a fourth mark point corresponding to the first rotation, a fifth mark point corresponding to the second rotation, and a sixth mark point corresponding to the third rotation; Align the second marker point, the third marker point, the fourth marker point, the fifth marker point, and the sixth marker point with the first marker point according to the alignment basis, and construct a six-degree-of-freedom platform coordinate system and a digital-analog coordinate system, wherein the six-degree-of-freedom platform coordinate system and the digital-analog coordinate system maintain directional consistency; Solve the conversion relationship between the six-degree-of-freedom platform coordinate system and the digital-analog coordinate system according to the preset landmark points; Aligning the origins of the six-degree-of-freedom platform coordinate system and the digital-analog coordinate system according to the conversion relationship, and acquiring a unified coordinate system after the origin alignment; The stator and rotor are calibrated on the unified coordinate system.

3. The method according to claim 2, characterized in that Constructing the digital-analog coordinate system specifically includes: Determine the first and third marking points according to the first and second marking points and determine the direction of the digital-analog coordinate system according to the right-hand rule; Obtain a first coordinate group corresponding to the first marker point, the fourth marker point, the fifth marker point, and the sixth marker point in the digital-analog coordinate system, and a second coordinate group corresponding to the six-degree-of-freedom platform coordinate system; Determining the origin of the digital-analog coordinate system according to the first coordinate group and the second coordinate group and through the direction consistency; The digital-analog coordinate system is constructed according to the direction of the digital-analog coordinate system and the origin of the digital-analog coordinate system.

4. The method according to claim 1, characterized in that The step of obtaining a feature parameter set corresponding to the stator and rotor through the point cloud data and according to a feature extraction algorithm specifically includes: Point cloud analysis software is used to perform feature analysis on the point cloud data corresponding to the stator and rotor, and a feature parameter set corresponding to the stator and rotor is obtained according to a feature extraction algorithm, wherein the feature parameter set includes a stator axis vector, a stator hole vector, a stator center point, a stator transformation matrix, a rotor axis vector, a rotor hole vector, a rotor center point and a rotor transformation matrix.

5. The method according to claim 4, characterized in that The adjusting the posture according to the target and performing the docking operation on the stator through the six-degree-of-freedom visual alignment platform specifically includes: According to the characteristic parameter set corresponding to the stator and rotor, calculating the characteristic parameter set before alignment corresponding to the stator and rotor; Calculate the target rotation matrix according to the pre-alignment feature parameter set; Calculate the rotation angle corresponding to the six-degree-of-freedom visual alignment platform and the translation amount corresponding to the rotation angle according to the target rotation matrix; The rotation angle and the translation amount are used as the target adjustment posture, and according to the target adjustment posture, the docking operation is performed on the stator through the six-degree-of-freedom visual alignment platform.

6. The method according to claim 5, characterized in that The calculating the target rotation matrix according to the pre-alignment feature parameter set specifically includes: Calculate a first rotation matrix according to the pre-alignment feature parameter set, and rotate the stator hole vector before alignment by the first rotation matrix; Calculate a first projection vector of the rotated stator hole vector before alignment on the normal plane of the rotor axis vector before alignment, and a second projection vector of the rotor hole vector before alignment on the normal plane of the rotor axis vector before alignment; Normalize the first projection vector and the second projection vector respectively, and calculate a second rotation matrix by using the normalized first projection vector and the normalized second projection vector; The target rotation matrix is ​​calculated according to the first rotation matrix and the second rotation matrix.

7. The method according to claim 5, characterized in that The calculating, according to the characteristic parameter set corresponding to the stator and rotor, the characteristic parameter set before alignment corresponding to the stator and rotor specifically includes: Among them, n DZ1 To align the stator axis vector mentioned above, n DZ is the stator axis vector, R D -1 is the inverse matrix corresponding to the rotation part of the stator conversion matrix, n DK1 To align the stator hole vector mentioned above, n DK is the stator hole vector, P D1 is the center point of the stator before alignment, P D is the stator center point, T D -1 is the inverse matrix of the transformation matrix, n ZZ1 To align the rotor axis vector mentioned above, n ZZ is the rotor axis vector, R Z -1 is the inverse matrix of the rotation part of the rotor conversion matrix, n ZK1 To align the rotor hole vector mentioned above, n ZK is the rotor hole vector, P Z1 To align the rotor center point mentioned above, P Z is the rotor center point, T Z -1 is the inverse matrix of the rotor conversion matrix.

8. The method according to claim 2, characterized in that: After adjusting the posture according to the target and performing the docking operation on the stator through the six-degree-of-freedom visual alignment platform, the method further includes: Obtaining a fixed moving distance of the box-packing platform, wherein a fixed angle exists between the box-packing platform and the y-axis of the unified coordinate system, and the fixed angle remains unchanged during the movement of the box-packing platform; Calculating the compensation movement distance corresponding to the six-degree-of-freedom visual alignment platform according to the fixed movement distance; The six-degree-of-freedom visual alignment platform is adjusted according to the compensation movement distance.

9. A stator-rotor docking device based on surface structured light automatic scanning, characterized in that: The device includes a coordinate calibration module and a docking module, wherein: The coordinate calibration module is used to calibrate the coordinates of the stator and rotor through a six-degree-of-freedom visual alignment platform for the docking operation of the stator and rotor; The docking module is used to use a robotic arm carrying a three-dimensional probe to perform surface structured light automated scanning on the stator and rotor after the coordinates are calibrated, and obtain point cloud data corresponding to the stator and rotor through the surface structured light automated scanning; obtain a feature parameter set corresponding to the stator and rotor through the point cloud data and a feature extraction algorithm; calculate a target adjustment posture corresponding to the stator and rotor based on the feature parameter set; and perform the docking operation on the stator through the six-degree-of-freedom visual alignment platform based on the target adjustment posture.

10. An electronic device, characterized in that: It includes a processor, a communication bus, a user interface, a network interface and a memory, wherein the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method according to any one of claims 1 to 7.

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