Coordinate determination method and device, electronic equipment and storage medium

Abstract

The invention provides a coordinate determination method and device, electronic equipment and a storage medium, and the method comprises the steps: transmitting a first time obtaining request to a line laser sensor, enabling the line laser sensor to feed back first response information according to the first time obtaining request, and determining a coordinate of the line laser sensor based on the first time obtaining request and the first response information; correcting a clock of the line laser sensor; sending a second time acquisition request to the real-time operating system to enable the real-time operating system to feed back second response information, and correcting the clock of the real-time operating system based on the second time acquisition request and the second response information; obtaining the point cloud of the object from the line laser sensor, and obtaining the position information of the machine tool from the real-time operation system; based on the point cloud and the position information, the target machine tool coordinate corresponding to the point cloud is determined, the transmission time consumption between the line laser sensor and the real-time operation system is eliminated, the calculation time consumption of the line laser sensor is also eliminated, and the accuracy and the real-time performance of the machine tool coordinate of the object are improved.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a coordinate determination method, device, electronic equipment and storage medium. Background Art

[0002] Line laser sensors mainly include lasers and CMOS (Complementary Metal-Oxide-Semiconductor Image Sensor) sensors. The laser is used to emit line lasers to illuminate objects. The CMOS sensor is used to image the line laser and collect the line profile with the help of the triangulation principle. The line laser sensor is generally installed at the end of a machine tool or a robotic arm. The real-time operating system (RTOS) drives the robotic arm to realize the follow-up scanning of the line laser sensor and the robotic arm to obtain the point cloud of the object. The point cloud of the object includes the three-dimensional spatial coordinates of the object in the line laser sensor coordinate system. Then, the line laser sensor converts the three-dimensional spatial coordinates of the object in the line laser sensor coordinate system into the machine tool coordinates of the object in the machine tool coordinate system, and sends the machine tool coordinates of the object to the real-time operating system so that the real-time operating system records the machine tool coordinates of the object.

[0003] However, due to the time-consuming calculations of the line laser sensor and the communication time between the line laser sensor and the real-time operating system, the object's machine coordinates recorded by the real-time operating system at the current time are not the object's actual machine coordinates at the time of the CMOS sensor exposure. This results in low accuracy of the object's actual machine coordinates recorded by the real-time operating system. Therefore, improving the accuracy of the object's machine coordinates is an urgent problem that needs to be solved. Summary of the Invention

[0004] The present invention provides a coordinate determination method, device, electronic equipment and storage medium, which can solve the problem of low accuracy of actual machine tool coordinates of an object.

[0005] According to a first aspect of the present invention, a coordinate determination method is provided, the method comprising:

[0006] Sending a first time acquisition request to the line laser sensor, so that the line laser sensor feeds back first response information according to the first time acquisition request, and correcting a clock of the line laser sensor based on the first time acquisition request and the first response information;

[0007] Sending a second time acquisition request to the real-time operating system, so that the real-time operating system feeds back second response information, and correcting a clock of the real-time operating system based on the second time acquisition request and the second response information;

[0008] Acquire a point cloud of an object from the line laser sensor, and acquire position information of a machine tool from the real-time operating system;

[0009] Based on the point cloud and the position information, target machine tool coordinates corresponding to the point cloud are determined.

[0010] According to a second aspect of the present invention, there is provided a coordinate determination device, the device comprising:

[0011] a first clock correction module, configured to send a first time acquisition request to the line laser sensor, so that the line laser sensor feeds back first response information according to the first time acquisition request, and correct the clock of the line laser sensor based on the first time acquisition request and the first response information;

[0012] a second clock correction module, configured to send a second time acquisition request to the real-time operating system, so that the real-time operating system feeds back second response information, and correct the clock of the real-time operating system based on the second time acquisition request and the second response information;

[0013] an acquisition module, configured to acquire a point cloud of an object from the line laser sensor and acquire position information of a machine tool from the real-time operating system;

[0014] A coordinate determination module is used to determine the target machine tool coordinates corresponding to the point cloud based on the point cloud and the position information.

[0015] According to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory,

[0016] The memory is used to store codes and related data;

[0017] The processor is configured to execute the code in the memory to implement the coordinate determination method as described in any one of the embodiments of the present invention.

[0018] According to a fourth aspect of the present invention, a storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the coordinate determination method as described in any one of the embodiments of the present invention is implemented.

[0019] The coordinate determination method provided by the present invention includes sending a first time acquisition request to a line laser sensor, causing the line laser sensor to return a first response based on the first time acquisition request. Based on the first time acquisition request and the first response, the line laser sensor's clock is corrected, thereby achieving clock synchronization for the line laser sensor. A second time acquisition request is sent to a real-time operating system, causing the real-time operating system to return a second response. Based on the second time acquisition request and the second response, the real-time operating system's clock is corrected, thereby achieving clock synchronization for the real-time operating system. By synchronizing the clocks of the line laser sensor and the real-time operating system, the transmission time between the line laser sensor and the real-time operating system is compensated, thereby eliminating the transmission time between the line laser sensor and the real-time operating system. A point cloud of an object is then acquired from the line laser sensor, and position information of a machine tool is acquired from the real-time operating system. Based on the point cloud and position information, the target machine tool coordinates corresponding to the point cloud are determined. This eliminates the need for the line laser sensor to convert the object's three-dimensional spatial coordinates in the line laser sensor coordinate system into machine tool coordinates in the machine tool coordinate system, thereby eliminating computational time consumed by the line laser sensor. That is, the coordinate determination method provided by the present invention eliminates the calculation time of the line laser sensor and the communication time between the line laser sensor and the real-time operating system, thereby effectively improving the accuracy and real-time performance of the target machine tool coordinates (the machine tool coordinates of the object) determined based on the point cloud and position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 is a flow chart of a coordinate determination method provided by an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of information transmission between an industrial computer and a line laser sensor provided by an embodiment of the present invention;

[0023] Figure 3 This is a structural diagram of an industrial computer, a line laser sensor, and a real-time operating system provided by an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of the center of the fitting circle provided by an embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of a coordinate determination method provided by an embodiment of the present invention;

[0026] Figure 6 is another schematic flow chart of the coordinate determination method provided by an embodiment of the present invention;

[0027] Figure 7 is a structural diagram of a coordinate determination device provided by an embodiment of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used relative to the exemplary embodiments as they are shown in the figures, with the upward or upper direction being toward the top of the corresponding figure and the downward or lower direction being toward the bottom of the corresponding figure.

[0031] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0032] Figure 1 This is a flow chart of a coordinate determination method provided by an embodiment of the present invention. The method can be executed by a coordinate determination device, which can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer, a server, etc. The following embodiments will be described using the device integrated into an electronic device as an example. Figure 1, the method may specifically include the following steps:

[0033] Step 101: Send a first time acquisition request to a line laser sensor, so that the line laser sensor feeds back first response information according to the first time acquisition request, and calibrate a clock of the line laser sensor based on the first time acquisition request and the first response information.

[0034] The first time acquisition request can be understood as time acquisition information sent to the line laser sensor. The first time acquisition request can include the first time when the first time acquisition request is sent. The first response information can be understood as information fed back by the line laser sensor based on the first time acquisition request. The first response information can include the second time when the line laser sensor receives the first time acquisition request and the third time when the first response information is fed back.

[0035] The line laser sensor and the electronic device are two independent systems. Therefore, the clock of the electronic device can be used as a reference clock to correct the clock of the line laser sensor to synchronize the clock of the line laser sensor and the clock of the electronic device. Therefore, in one embodiment, based on the first time acquisition request and the first response information, correcting the clock of the line laser sensor can include: obtaining the fourth time when the first response information is received; determining the first clock error of the line laser sensor based on the first time, the second time, the third time and the fourth time; and correcting the clock of the line laser sensor based on the first clock error.

[0036] The first clock error can be understood as a clock error between the line laser sensor and the reference clock, with the clock of the electronic device being the reference clock.

[0037] For example, the electronic device is an industrial computer. Figure 2 As shown, the industrial computer sends a first time acquisition request to the line laser sensor at a first time T1. The line laser sensor receives the first time acquisition request at a second time T2 and can feed back first response information to the industrial computer at a third time based on the first time acquisition request. The industrial computer receives the first response information at a fourth time. Figure 2 The delay in represents the information transmission delay between the industrial computer and the line laser sensor. Figure 2 It can be seen that in the information transmission process between the industrial computer and the line laser sensor, the relationship between T1, T2, T3, T4, delay and the first clock error Offset1 is: T1+Offset1-T2=delay, T4-(T3+Offset1)=delay. From the relationship between T1, T2, T3, T4, delay and Offset1, it can be seen that Therefore, in a specific embodiment, determining the first clock error of the line laser sensor based on the first time, the second time, the third time and the fourth time can include: substituting the first time, the second time, the third time and the fourth time into the first clock error calculation formula to obtain the first clock error, so that the clock synchronization of the line laser sensor can be completed according to the first clock error.

[0038] The first clock error calculation formula is:

[0039]

[0040] Offset1 represents a first clock error, T1 represents a first time, T2 represents a second time, T3 represents a third time, and T4 represents a fourth time.

[0041] For example, the clock of the line laser sensor is xT1, and the first clock error is Offset1. The corrected clock of the line laser sensor is xT1'=xT1+Offset1.

[0042] Step 102: Send a second time acquisition request to the real-time operating system, so that the real-time operating system feeds back second response information, and calibrate the clock of the real-time operating system based on the second time acquisition request and the second response information.

[0043] Among them, the real-time operating system can be understood as an operating system running in an electronic device. In the embodiment of the present invention, the electronic device can be an industrial personal computer. An industrial personal computer (IPC) is a computer designed for industrial environments and used to implement industrial automation control, data acquisition, equipment monitoring and other functions. Figure 3 As shown, the real-time operating system runs in an industrial computer. The real-time operating system and the industrial computer can share memory. The second time acquisition request can be understood as time acquisition information sent to the real-time operating system. The second time acquisition request can include the fifth time when the second time acquisition request is sent. The second response information can be understood as information fed back by the real-time operating system based on the second time acquisition request.

[0044] Because a real-time operating system can run on an industrial computer using a mechanism similar to a virtual machine, the real-time operating system's clock is not completely consistent with the electronic device's clock. Therefore, the real-time operating system's clock can be corrected using the electronic device's clock as a reference clock to synchronize the real-time operating system's clock with the real-time operating system's clock. In one embodiment, correcting the real-time operating system's clock based on the second time acquisition request and the second response information may include: obtaining a sixth time when the second response information is received; determining a second clock error of the real-time operating system based on the fifth and sixth times; and correcting the real-time operating system's clock based on the second clock error.

[0045] The second clock error can be understood as a clock error between the real-time operating system and the reference clock, with the clock of the electronic device being the reference clock.

[0046] Because the real-time operating system and the electronic device share memory, it is assumed that there is no information transmission delay. Therefore, the clock error between the electronic device and the real-time operating system can be directly determined based on the clock of the electronic device and the clock of the real-time operating system. In a specific embodiment, determining the second clock error of the real-time operating system based on the fifth time and the sixth time may include substituting the fifth time and the sixth time into a second clock error calculation formula to obtain the second clock error. In this way, the clock of the real-time operating system can be synchronized based on the second clock error.

[0047] The second clock error calculation formula is:

[0048] Offset2=T5-T6

[0049] Wherein, Offset2 represents the second clock error, T5 represents the fifth time, and T6 represents the sixth time.

[0050] For example, the clock of the real-time operating system is xT2, and the second clock error is Offset2. The corrected clock of the real-time operating system is xT2'=xT2+Offset2.

[0051] Since the smaller the distance difference between different target points fitted by the electronic device based on the point cloud provided by the line laser sensor, the smaller the clock synchronization accuracy between the electronic device and the line laser sensor corresponding to the distance difference, the higher the clock synchronization accuracy between the electronic device and the line laser sensor. In order to verify the effectiveness of the clock synchronization method of the line laser sensor and the clock synchronization method of the real-time operating system provided in the embodiment of the present invention, a line laser sensor can be used to scan the standard circular workpiece in opposite directions to obtain point cloud A and point cloud B. Point cloud A and point cloud B are obtained from the line laser sensor, and the center O1 is fitted to point cloud A, and the center O2 is fitted to point cloud B. The midpoint of O1 and O2 is the center O of the real workpiece. The clock synchronization accuracy between the electronic device and the line laser sensor is accuracy = Δy / 2 / v. Among them, Δy is the distance between O1 and O2, and v is the scanning speed of the line laser sensor. As Figure 4 As shown, the distance between O1 and O2 is 0.03 mm, and the scanning speed of the line laser sensor is 30 mm / s. Therefore, the clock synchronization accuracy is accuracyt = 0.03 mm / (30 mm / s) / 2 = 0.5 ms. In the prior art, the clock synchronization accuracy between an electronic device and a line laser sensor is typically above 10 ms. Therefore, the clock synchronization method for a line laser sensor and the clock synchronization method for a real-time operating system provided in the embodiments of the present invention can effectively improve the clock synchronization accuracy between the electronic device and the line laser sensor.

[0052] Step 103 : Acquire the point cloud of the object from the line laser sensor, and acquire the position information of the machine tool from the real-time operating system.

[0053] The point cloud can be understood as an image obtained by scanning an object using a line laser sensor. The point cloud can include a point cloud image and a first timestamp corresponding to the point cloud image. The first timestamp can be understood as the time when the point cloud image was generated. Position information can be understood as the motion position information of the machine tool. Position information can include coordinates and a second timestamp corresponding to the coordinates. The coordinates can be understood as the machine tool coordinates. The second timestamp can be understood as the time when the machine tool was at the position corresponding to the coordinates.

[0054] In one embodiment, the operating system of the line laser sensor may be a Linux operating system. The line laser sensor may use a CMOS sensor with a standard Mobile Industry Processor Interface (MIPI). The line laser sensor may include a laser and a CMOS sensor. Acquiring a point cloud of an object from the line laser sensor may include: using the line laser sensor to acquire a line laser image of the object from a CMOS sensor, determining a point cloud of the object based on the line laser image, and then acquiring the point cloud of the object from the line laser sensor based on a standard MIPI interface.

[0055] Step 104 : Determine the target machine tool coordinates corresponding to the point cloud based on the point cloud and the position information.

[0056] The target machine coordinates can be understood as the machine coordinates of the object.

[0057] In one embodiment, determining the target machine coordinates corresponding to the point cloud based on the point cloud and position information may include: performing timestamp matching on a first timestamp and a second timestamp to obtain a matching result; and if the matching result is successful, determining the coordinates corresponding to the second timestamp as the target machine coordinates of the point cloud image corresponding to the first timestamp. This allows, after clock synchronization between the line laser sensor and the real-time operating system (RTOS), the object's machine coordinates to be determined without complex calculations. The computational time required is significantly less than that of the line laser sensor, and the object's machine coordinates can be accurately determined solely through timestamp matching. This significantly improves the speed and accuracy of determining the object's machine coordinates. Furthermore, because clock synchronization eliminates clock errors between the line laser sensor and the RTOS, the object's machine coordinates determined through timestamp matching exhibit greater real-time performance.

[0058] For example, the point cloud image includes S1 and S2. The first timestamp corresponding to S1 is H1. The first timestamp corresponding to S2 is H2. The position information includes P1 and P2. The first timestamp corresponding to P1 is H2. The first timestamp corresponding to P2 is H3. The first timestamp and the second timestamp are timestamp matched to obtain a matching result (the first timestamp corresponding to S2 is H2 and the first timestamp corresponding to P1 is H2, which successfully matches); when the matching result is a successful match, the coordinate P1 corresponding to the second timestamp H2 is determined as the target machine tool coordinate of the point cloud image S2 corresponding to the first timestamp H2.

[0059] In this embodiment of the present invention, a first time acquisition request is sent to a line laser sensor, causing the line laser sensor to respond with a first response based on the first time acquisition request. Based on the first time acquisition request and the first response, the line laser sensor's clock is corrected, thereby achieving clock synchronization for the line laser sensor. A second time acquisition request is sent to a real-time operating system, causing the real-time operating system to respond with a second response. Based on the second time acquisition request and the second response, the real-time operating system's clock is corrected, thereby achieving clock synchronization for the real-time operating system. By synchronizing the clocks of the line laser sensor and the real-time operating system, the transmission time between the line laser sensor and the real-time operating system is compensated, thereby eliminating the transmission time between the line laser sensor and the real-time operating system. A point cloud of the object is then acquired from the line laser sensor, and position information of the machine tool is acquired from the real-time operating system. Based on the point cloud and position information, the target machine tool coordinates corresponding to the point cloud are determined. This eliminates the need for the line laser sensor to convert the object's three-dimensional spatial coordinates in the line laser sensor's coordinate system into machine tool coordinates in the machine tool coordinate system, thereby eliminating computational time consumed by the line laser sensor. That is, the coordinate determination method provided by the present invention eliminates the calculation time of the line laser sensor and the communication time between the line laser sensor and the real-time operating system, thereby effectively improving the accuracy and real-time performance of the target machine tool coordinates (the machine tool coordinates of the object) determined based on the point cloud and position information.

[0060] In one embodiment, the first time and the fifth time are the same, so that time acquisition requests can be sent to the line laser sensor and the real-time operating system at the same time, respectively, to achieve clock synchronization of the line laser sensor and the real-time operating system at the same time, thereby improving the clock synchronization accuracy of the line laser sensor and the real-time operating system.

[0061] For example, Figure 5 As shown, a first time acquisition request is sent to the line laser sensor at a first time, causing the line laser sensor to return a first response based on the first time acquisition request. The line laser sensor's clock is then corrected based on the first time acquisition request and the first response. A second time acquisition request is sent to the real-time operating system at a first time, causing the real-time operating system to return a second response. The real-time operating system's clock is then corrected based on the second time acquisition request and the second response. After clock synchronization is complete, the line laser sensor is used to scan an object to obtain a point cloud of the object. The real-time operating system caches position information. The point cloud of the object is then acquired from the line laser sensor, and the machine tool's position information is obtained from the real-time operating system. The first timestamp of the point cloud and the second timestamp of the coordinates are timestamp-matched to obtain a matching result. If the matching result is successful, the coordinates corresponding to the second timestamp are determined as the target machine tool coordinates for the point cloud image corresponding to the first timestamp.

[0062] In one embodiment, the first time acquisition request, the first response information, and the point cloud are transmitted via a single communication interface. The communication interface is connected to the line laser sensor via a single Ethernet cable. This eliminates the need for complex wiring between the line laser sensor and the electronic device. The line laser sensor and the electronic device are connected via a single Ethernet cable, simplifying the structure of the line laser sensor and the electronic device. Furthermore, the Ethernet cable used to transmit communication information between the line laser sensor and the electronic device increases the information transmission rate between the line laser sensor and the electronic device, shields electromagnetic interference, and ensures the security and reliability of information transmission.

[0063] For example, the electronic device may be an industrial computer. Figure 2 As shown in the figure, the line laser sensor and the industrial computer are connected via a single Ethernet.

[0064] The coordinate determination method provided by the embodiment of the present invention is further described below. Figure 6 As shown, Figure 6 FIG. 5 is another flow chart of a coordinate determination method provided by an embodiment of the present invention, which may specifically include the following steps:

[0065] Step 201: Send a first time acquisition request to the line laser sensor, so that the line laser sensor feeds back first response information according to the first time acquisition request.

[0066] Step 202: Acquire a fourth time when the first response information is received.

[0067] Step 203 : determining a first clock error of the line laser sensor according to the first time, the second time, the third time, and the fourth time.

[0068] Step 204: calibrate the clock of the line laser sensor according to the first clock error.

[0069] Step 205: Send a second time acquisition request to the real-time operating system, so that the real-time operating system feeds back second response information.

[0070] Step 206: Acquire a sixth time when the second response information is received.

[0071] Step 207: Determine a second clock error of the real-time operating system according to the fifth time and the sixth time.

[0072] Step 208: Correct the clock of the real-time operating system according to the second clock error.

[0073] Step 209 : Acquire the point cloud of the object from the line laser sensor, and acquire the position information of the machine tool from the real-time operating system.

[0074] Step 210: Perform timestamp matching on the first timestamp and the second timestamp to obtain a matching result.

[0075] Step 211 : When the matching result is successful, the coordinates corresponding to the second timestamp are determined as the target machine tool coordinates of the point cloud image corresponding to the first timestamp.

[0076] In an embodiment of the present invention, the transmission time between the line laser sensor and the real-time operating system is compensated by synchronizing the clocks of the line laser sensor and the real-time operating system, thereby eliminating the transmission time between the line laser sensor and the real-time operating system. The point cloud of the object is then acquired from the line laser sensor, and the position information of the machine tool is acquired from the real-time operating system. Based on the point cloud and position information, the target machine tool coordinates corresponding to the point cloud are determined. The line laser sensor is no longer required to convert the three-dimensional spatial coordinates of the object in the line laser sensor coordinate system into the machine tool coordinates of the object in the machine tool coordinate system, thereby eliminating the calculation time of the line laser sensor. The coordinate determination method provided by the present invention eliminates both the calculation time of the line laser sensor and the communication time between the line laser sensor and the real-time operating system, thereby effectively improving the accuracy and real-time performance of the target machine tool coordinates (the object's machine tool coordinates) determined based on the point cloud and position information.

[0077] Figure 7 FIG. 1 is a schematic diagram of a coordinate determination device provided by an embodiment of the present invention, which is suitable for executing the coordinate determination method provided by an embodiment of the present invention. Figure 7 As shown, the device may specifically include:

[0078] A first clock correction module 301 is configured to send a first time acquisition request to the line laser sensor, so that the line laser sensor feeds back first response information according to the first time acquisition request, and correct the clock of the line laser sensor based on the first time acquisition request and the first response information;

[0079] A second clock correction module 302 is configured to send a second time acquisition request to the real-time operating system, so that the real-time operating system feeds back second response information, and correct the clock of the real-time operating system based on the second time acquisition request and the second response information;

[0080] an acquisition module 303 for acquiring a point cloud of an object from the line laser sensor and acquiring position information of a machine tool from the real-time operating system;

[0081] The coordinate determination module 304 is configured to determine the target machine tool coordinates corresponding to the point cloud based on the point cloud and the position information.

[0082] Optionally, the first time acquisition request includes a first time when the first time acquisition request is sent, and the first response information includes a second time when the line laser sensor receives the first time acquisition request and a third time when the first response information is fed back. The first clock correction module 301 corrects the clock of the line laser sensor based on the first time acquisition request and the first response information, including:

[0083] Acquire a fourth time when the first response information is received;

[0084] determining a first clock error of the line laser sensor according to the first time, the second time, the third time, and the fourth time;

[0085] A clock of the line laser sensor is corrected according to the first clock error.

[0086] Optionally, the first clock correction module 301 determines a first clock error of the line laser sensor according to the first time, the second time, the third time, and the fourth time, including:

[0087] Substitute the first time, the second time, the third time, and the fourth time into a first clock error calculation formula to obtain the first clock error. The first clock error calculation formula is:

[0088]

[0089] Wherein, Offset1 represents the first clock error, T1 represents the first time, T2 represents the second time, T3 represents the third time, and T4 represents the fourth time.

[0090] Optionally, the second time acquisition request includes a fifth time when the second time acquisition request is sent, and the second clock correction module 302 corrects the clock of the real-time operating system based on the second time acquisition request and the second response information, including:

[0091] Acquire a sixth time when the second response information is received;

[0092] determining a second clock error of the real-time operating system according to the fifth time and the sixth time;

[0093] The clock of the real-time operating system is corrected according to the second clock error.

[0094] Optionally, the second clock correction module 302 determines a second clock error of the real-time operating system according to the fifth time and the sixth time, including:

[0095] Substitute the fifth time and the sixth time into the second clock error calculation formula to obtain the second clock error. The second clock error calculation formula is:

[0096] Offset2=T5-T6

[0097] Wherein, Offset2 represents the second clock error, T5 represents the fifth time, and T6 represents the sixth time.

[0098] Optionally, the first time and the fifth time are the same.

[0099] Optionally, the point cloud includes a point cloud image and a first timestamp corresponding to the point cloud image, and the position information includes coordinates and a second timestamp corresponding to the coordinates. The coordinate determination module 304 is specifically configured to:

[0100] Performing timestamp matching on the first timestamp and the second timestamp to obtain a matching result;

[0101] When the matching result is successful, the coordinates corresponding to the second timestamp are determined as the target machine tool coordinates of the point cloud image corresponding to the first timestamp.

[0102] Optionally, the first time acquisition request, the first response information and the point cloud are data transmitted through a communication interface, and the communication interface is connected to the line laser sensor through a single Ethernet cable.

[0103] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0104] The coordinate determination device provided in the embodiment of the present invention can compensate for the transmission time between the line laser sensor and the real-time operating system by synchronizing the clock of the line laser sensor with the clock of the real-time operating system, that is, eliminating the transmission time between the line laser sensor and the real-time operating system. Then, the point cloud of the object is obtained from the line laser sensor, and the position information of the machine tool is obtained from the real-time operating system; based on the point cloud and position information, the target machine tool coordinates corresponding to the point cloud are determined, and the line laser sensor is not required to convert the three-dimensional spatial coordinates of the object in the line laser sensor coordinate system into the machine tool coordinates of the object in the machine tool coordinate system, thereby eliminating the calculation time of the line laser sensor. That is, the coordinate determination method provided by the present invention eliminates the calculation time of the line laser sensor and the communication time between the line laser sensor and the real-time operating system, thereby effectively improving the accuracy and real-time performance of the target machine tool coordinates (the machine tool coordinates of the object) determined based on the point cloud and position information.

[0105] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0106] Please refer to Figure 8 , provides an electronic device 50, comprising:

[0107] processor 51; and

[0108] a memory 52 for storing executable instructions of the processor;

[0109] The processor 51 is configured to execute the above-mentioned method by executing the executable instructions.

[0110] The processor 51 can communicate with the memory 52 via a bus 53 .

[0111] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method when executed by a processor.

[0112] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coordinate determination method, characterized in that: The method comprises: Sending a first time acquisition request to the line laser sensor, so that the line laser sensor feeds back first response information according to the first time acquisition request, and correcting a clock of the line laser sensor based on the first time acquisition request and the first response information; Sending a second time acquisition request to the real-time operating system, so that the real-time operating system feeds back second response information, and correcting a clock of the real-time operating system based on the second time acquisition request and the second response information; Acquire a point cloud of an object from the line laser sensor, and acquire position information of a machine tool from the real-time operating system; Based on the point cloud and the position information, target machine tool coordinates corresponding to the point cloud are determined.

2. The method according to claim 1, characterized in that The first time acquisition request includes a first time when the first time acquisition request is sent, the first response information includes a second time when the line laser sensor receives the first time acquisition request and a third time when the first response information is fed back, and the correcting the clock of the line laser sensor based on the first time acquisition request and the first response information includes: Acquire a fourth time when the first response information is received; determining a first clock error of the line laser sensor according to the first time, the second time, the third time, and the fourth time; A clock of the line laser sensor is corrected according to the first clock error.

3. The method according to claim 2, characterized in that The determining a first clock error of the line laser sensor according to the first time, the second time, the third time, and the fourth time includes: Substitute the first time, the second time, the third time, and the fourth time into a first clock error calculation formula to obtain the first clock error. The first clock error calculation formula is: Wherein, Offset1 represents the first clock error, T1 represents the first time, T2 represents the second time, T3 represents the third time, and T4 represents the fourth time.

4. The method according to claim 2, characterized in that The second time acquisition request includes a fifth time when the second time acquisition request is sent, and the correcting the clock of the real-time operating system based on the second time acquisition request and the second response information includes: Acquire a sixth time when the second response information is received; determining a second clock error of the real-time operating system according to the fifth time and the sixth time; The clock of the real-time operating system is corrected according to the second clock error.

5. The method according to claim 4, characterized in that Determining a second clock error of the real-time operating system according to the fifth time and the sixth time includes: Substitute the fifth time and the sixth time into the second clock error calculation formula to obtain the second clock error. The second clock error calculation formula is: Offset2=T5-T6 Wherein, Offset2 represents the second clock error, T5 represents the fifth time, and T6 represents the sixth time.

6. The method according to claim 4, characterized in that The first time and the fifth time are the same.

7. The method according to claim 1, characterized in that The point cloud includes a point cloud image and a first timestamp corresponding to the point cloud image, the position information includes coordinates and a second timestamp corresponding to the coordinates, and determining the target machine tool coordinates corresponding to the point cloud based on the point cloud and the position information includes: Performing timestamp matching on the first timestamp and the second timestamp to obtain a matching result; When the matching result is successful, the coordinates corresponding to the second timestamp are determined as the target machine tool coordinates of the point cloud image corresponding to the first timestamp.

8. The method according to claim 1, characterized in that The first time acquisition request, the first response information and the point cloud are data transmitted via a communication interface, and the communication interface is connected to the line laser sensor via a single Ethernet cable.

9. A coordinate determination device, characterized in that: The device comprises: a first clock correction module, configured to send a first time acquisition request to the line laser sensor, so that the line laser sensor feeds back first response information according to the first time acquisition request, and correct the clock of the line laser sensor based on the first time acquisition request and the first response information; a second clock correction module, configured to send a second time acquisition request to the real-time operating system, so that the real-time operating system feeds back second response information, and correct the clock of the real-time operating system based on the second time acquisition request and the second response information; an acquisition module, configured to acquire a point cloud of an object from the line laser sensor and acquire position information of a machine tool from the real-time operating system; A coordinate determination module is used to determine the target machine tool coordinates corresponding to the point cloud based on the point cloud and the position information.

10. An electronic device, characterized in that: Including processor and memory, The memory is used to store codes and related data; The processor is configured to execute the code in the memory to implement the coordinate determination method according to any one of claims 1 to 8.

11. A storage medium storing a computer program, wherein when the program is executed by a processor, the coordinate determination method according to any one of claims 1 to 8 is implemented.

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