Robot CNC feeding and discharging method and device

Abstract

The invention belongs to the technical field of machine vision fusion application, and particularly relates to a robot CNC feeding and discharging method and device. Comprising a composite robot, a CNC machine tool and a teaching workpiece. The composite robot comprises a movable chassis, a mechanical arm, a feeding and discharging clamping jaw and a 2D camera. The 2D camera and the feeding and discharging clamping jaw are installed on an installation platform at the tail end of the mechanical arm. The CNC machine tool is internally provided with a first 2D positioning mark and a CNC material seat which are fixed in relative positions; the top of the teaching workpiece is provided with a second 2D positioning identifier; robot CNC feeding and discharging are divided into a deployment stage and a feeding and discharging stage, in the deployment stage, a first 2D positioning identifier and a second 2D positioning identifier are adopted, the teaching position of the second 2D positioning identifier at the top of a teaching workpiece is recognized through a 2D camera, and the relative position relative to the first 2D positioning identifier is obtained; human eyes do not need to be close to and carefully observe the teaching position of a machined workpiece on a material base in the CNC machine tool, the teaching efficiency in the deployment stage is greatly improved, and robot feeding and discharging deployment in a CNC machine tool scene with a narrow internal space becomes feasible; a first 2D positioning mark is adopted as a base mark of the optimal feeding and discharging pose TCP, so that a 2D camera does not need to photograph a CNC material base in the feeding and discharging stage, and the influence of cutting liquid, metal filings, discharging workpieces and the like on the camera algorithm precision is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of machine vision fusion application, and in particular relates to a robot CNC loading and unloading method and device. Background Art

[0002] As manufacturing automation continues to develop, robots are increasingly used for loading and unloading materials on CNC machine tools. Hybrid robots integrate a movable chassis with a robotic arm, the end of which can carry a loading and unloading gripper and a camera. Cameras, a key 3D positioning sensor, are primarily classified into two types: 2D and 3D cameras. Their operating principles differ significantly, each offering advantages and disadvantages in CNC loading and unloading scenarios. This paper uses a lower-cost 2D camera as an example.

[0003] 2D cameras only capture two-dimensional information. When used for CNC loading and unloading, they require a dedicated 2D feature pattern (i.e., a 2D positioning marker) to obtain 3D information for aligning the material with the CNC material base. This 2D feature pattern has fixed dimensions and a recognizable orientation. It must be fixed near the CNC material base and maintain a fixed spatial relationship with it during each loading and unloading operation. An algorithm uses this fixed dimension to calculate the precise pose (including 3D coordinates x / y / z and three-axis rotation angles rx / ry / rz) in the 2D camera coordinate system.

[0004] When loading and unloading materials based on 2D cameras, it is divided into the deployment phase and the loading and unloading phase. The deployment phase requires teaching to determine the optimal TCP pose for loading and unloading and the pose phase difference of the 2D positioning mark. The subsequent loading and unloading phase uses the 2D camera to photograph and locate the 2D positioning mark, and uses the pose phase difference data saved in the deployment phase to complete accurate loading and unloading. However, each CNC machine tool's material holder must be taught. If there are multiple material holders in a machine tool, the teaching time in the deployment phase will be greatly increased. Most CNC machine tools have relatively small internal spaces. At the same time, the robot CNC loading and unloading process generally needs to be used in conjunction with the loading and unloading tables. Each material table generally has dozens of material positions and a 2D positioning mark. The pose phase difference between the 2D positioning mark and the dozens of material positions on the same material table is also calibrated through teaching.

[0005] Currently, in the field of robotic CNC loading and unloading, the deployment phase of teaching movements is essentially performed with close human observation. This has the following drawbacks: it takes a long time, teaching accuracy is related to human observation ability, and the confined space inside the CNC machine tool is not convenient for human observation. This invention addresses these practical difficulties by using first and second 2D positioning markers and a 2D camera vision algorithm to obtain the teaching pose, improving deployment efficiency and reducing deployment difficulty, thereby promoting the widespread application of this technology. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art, the present invention provides a robot CNC loading and unloading device, comprising a composite robot, a CNC machine tool and a teaching workpiece; The composite robot includes a mobile chassis, a robotic arm, a loading and unloading gripper, and a 2D camera; one end of the robotic arm is mounted on the mobile chassis, and the other end is mounted on the loading and unloading gripper and the 2D camera through a mounting platform at the end of the robotic arm; The CNC machine tool has a CNC material holder and a first 2D positioning mark; the CNC material holder and the first 2D positioning mark on the CNC machine tool are fixed in relative position; the CNC material holder is used to carry and clamp the workpiece to be processed; the first 2D positioning mark is used to identify the relative relationship of the optimal loading and unloading posture of the loading and unloading clamps; The top of the teaching workpiece has a second 2D positioning mark and has the same base as the workpiece to be processed, and can be placed in the CNC material holder like the workpiece to be processed.

[0007] The mobile chassis of the composite robot uses laser SLAM navigation to navigate to a designated position in front of a CNC machine tool; each CNC machine tool is provided with its own navigation site, and all navigation sites are marked on the laser SLAM navigation map. The composite robot is dispatched to the navigation site corresponding to any CNC machine tool with loading and unloading requirements through the laser SLAM navigation system and the navigation sites on the navigation map.

[0008] The first 2D positioning marker and the 2D camera are used in the deployment stage and loading and unloading stage of the CNC machine tool and the composite robot, and the teaching workpiece is used in the deployment stage; in the deployment stage, the first 2D positioning marker fixed inside the CNC machine tool and the second 2D positioning marker located on the top of the teaching workpiece are photographed by the 2D camera, and the relative posture relationship of the second 2D positioning marker relative to the first 2D positioning marker is calculated, and the relative posture relationship between the best loading and unloading posture TCP and the first 2D positioning marker is obtained by using the known fixed offset between the second 2D positioning marker posture and the best loading and unloading posture TCP, and the relative posture relationship between the best loading and unloading posture TCP and the first 2D positioning marker is recorded by the robot arm control software for use in the loading and unloading stage; the robot arm control software also records the robot arm tool center point TCP posture when the composite robot takes a photo of the first 2D positioning marker, for use in the loading and unloading stage.

[0009] At the same time, the present invention proposes a robot CNC loading and unloading method, which is suitable for the above-mentioned robot CNC loading and unloading device, and is characterized in that: in the deployment stage, a 2D camera is used to take pictures of the first 2D positioning mark fixed inside the CNC machine tool and the second 2D positioning mark located on the top of the teaching workpiece, and the relative posture relationship of the second 2D positioning mark relative to the first 2D positioning mark is calculated, and the known fixed deviation between the second 2D positioning mark and the loading and unloading clamping position of the processed workpiece is used to obtain the relative posture relationship of the optimal loading and unloading posture TCP relative to the first 2D positioning mark, and the relative posture relationship data is recorded by the robotic arm control software for use in the loading and unloading stage.

[0010] The deployment phase for each CNC machine tool includes the following steps: Step 1: The laser SLAM navigation system and the navigation station on the navigation map dispatch the composite robot to the navigation station corresponding to the CNC machine tool; Step 2: Manually use the robotic arm control software to adjust the pose relationship of the center of the 2D camera at the end of the robotic arm in the first 2D positioning mark coordinate system to be close to a predetermined ideal value. The 2D camera takes a picture and calculates the actual value Z2D1 of the 2D camera center in the first 2D positioning mark coordinate system. The robotic arm control software records a pose TCP1a of the end of the robotic arm in the robotic arm base coordinate system based on the pose TCP1 of the robotic arm at the time when the composite robot takes a picture of the first 2D positioning mark. Compared with TCP1, TCP1a has a distance deviation in the vertical direction of the first 2D positioning mark. Step 3: Manually use the robotic arm control software to adjust the position relationship of the 2D camera center at the end of the robotic arm in the second 2D positioning mark coordinate system to be close to a predetermined ideal value, take a 2D photo and calculate the actual value Z2D2 of the 2D camera in the second 2D positioning mark coordinate system; Step 4: Using the known fixed offset ΔGJ between the second 2D positioning mark posture and the optimal loading and unloading posture TCP, and taking the second 2D positioning mark coordinate system as the reference coordinate, manually use the robot arm control software to adjust the TCP at the end of the robot arm ΔGJ to the optimal loading and unloading posture; use the robot arm control software to record the posture Z2D3 of the TCP at the end of the robot arm in the first 2D positioning mark coordinate system at this time for use in the loading and unloading stage.

[0011] Each loading and unloading phase of each CNC machine tool includes the following steps: Step 1: The laser SLAM navigation system and the navigation station on the navigation map dispatch the composite robot to the navigation station corresponding to the CNC machine tool; Step 2: Based on TCP1a recorded during the actual deployment phase, the robotic arm control software autonomously guides the end of the robotic arm to the long-distance photo-taking point of the first 2D positioning mark. At this point, a photo is taken to obtain the position relationship Z2D1a of the 2D camera center in the coordinate system of the first 2D positioning mark. Referring to the obtained Z2D1a, the robotic arm is autonomously guided again to the ideal photo-taking pose, and another photo is taken to obtain the position relationship Z2D1n of the 2D camera center in the coordinate system of the first 2D positioning mark. Step 3: Based on the position relationship Z2D3 of the TCP in the first 2D positioning mark coordinate system recorded during the deployment phase, the robot arm control software autonomously guides the end of the robot arm to continue moving Z2D3-Z2D1n with the first 2D positioning mark coordinate system as the reference coordinate system. At this time, the end of the robot arm reaches the predetermined optimal loading and unloading position, and the loading and unloading is completed by opening and closing the loading and unloading jaws.

[0012] The beneficial effects of the present invention are as follows: During the deployment phase of the present invention, a first 2D positioning marker and a second 2D positioning marker are used. A 2D camera is used to identify the teaching position of the second 2D positioning marker on the top of the teaching workpiece, and the relative position relative to the first 2D positioning marker is obtained. There is no need for human eyes to closely observe the teaching position of the workpiece being processed on the material holder inside the CNC machine tool, which greatly improves the teaching efficiency during the deployment phase and makes it feasible to deploy robot loading and unloading in CNC machine tool scenes with small internal space; the first 2D positioning marker is used as the base coordinate of the optimal loading and unloading posture TCP, so that the 2D camera does not need to take pictures of the CNC material holder during the loading and unloading phase, avoiding the influence of cutting fluid, metal chips, unloading workpieces, etc. on the accuracy of the camera algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below with reference to the accompanying drawings.

[0014] Figure 1 The 2D camera and 2D positioning marker used in the present invention; Figure 2 is a teaching workpiece used in the present invention; Figure 3 It is a component device of the deployment stage of the present invention; Figure 4 It is a component device of the loading and unloading stage of the present invention. DETAILED DESCRIPTION

[0015] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0016] Example 1: Figure 1-Figure 3, a robot CNC loading and unloading device used in the deployment stage of the present invention includes a composite robot, a CNC machine tool and a teaching workpiece; Figure 1 The present invention uses a 2D camera and a 2D positioning marker. The 2D positioning marker is a black square with an outer side of 50 mm and an inner side of 40 mm, which is a 2D feature pattern. The TM character inside is used for orientation identification. The first and second 2D positioning markers are of the same specifications.

[0017] Figure 2 This is the teaching workpiece used in this invention. It has a second 2D positioning mark on its top and a base similar to the workpiece being machined, allowing it to be placed in the CNC machine holder like the workpiece being machined. As can be seen, the center position of the second 2D positioning mark has a fixed offset ΔGJ from the workpiece loading and unloading and clamping position, for example (Z = 20mm, Y = 50mm, and all other values ​​are 0).

[0018] Figure 3 It is a component device of the deployment stage of the present invention, including a composite robot, a CNC machine tool, and a teaching workpiece.

[0019] The composite robot consists of a mobile chassis, a robotic arm, a loading and unloading gripper (not shown in the figure, as it varies depending on the material being gripped), and a 2D camera. One end of the robotic arm is mounted on the mobile chassis, while the other end is equipped with a loading and unloading gripper and a 2D camera through the end of the robotic arm.

[0020] Each CNC machine tool has a CNC material holder and a first 2D positioning mark. The relative position relationship between the CNC material holder and the first 2D positioning mark on the CNC machine tool is fixed. The CNC material holder is used to carry and clamp the workpiece being processed by CNC. The first 2D positioning mark is used to identify the relative position of the tool center point TCP at the end of the robot arm in the first 2D positioning mark coordinate system when it is in the optimal loading and unloading position.

[0021] The top of the teaching workpiece has a second 2D positioning mark and has the same base as the workpiece being processed, so it can be placed on the CNC material holder like the workpiece being processed.

[0022] The mobile chassis of the composite robot uses laser SLAM navigation to navigate to a designated position in front of a CNC machine tool; each CNC machine tool is equipped with its own navigation station, and all navigation stations are marked on the laser SLAM navigation map. Through the laser SLAM navigation system and the navigation stations on the navigation map, the composite robot is dispatched to the navigation station corresponding to any CNC machine tool with loading and unloading requirements, and the normal parking accuracy can be guaranteed within + / -10mm.

[0023] The first 2D positioning marker and 2D camera are used during the deployment and loading / unloading phases of the CNC machine tool and composite robot. The teaching workpiece is only used during the deployment phase. During the deployment phase, the 2D camera takes photos of the first 2D positioning marker fixed inside the CNC machine tool and the second 2D positioning marker located on top of the teaching workpiece. The relative position and posture relationship of the second 2D positioning marker with respect to the first 2D positioning marker is calculated. Using the known fixed deviation between the second 2D positioning marker and the loading / unloading clamping position of the workpiece being processed, the relative position and posture relationship of the optimal loading / unloading posture TCP with respect to the first 2D positioning marker is calculated. This relative position and posture relationship data is recorded by the robotic arm control software for use during the loading / unloading phase. The robotic arm control software also records the coordinates of the robotic arm tool center point TCP in the robotic arm coordinate system when the composite robot takes a photo of the first 2D positioning marker for use during the loading / unloading phase.

[0024] A robot CNC loading and unloading method, wherein the deployment phase includes the following steps: Step 1: The laser SLAM navigation system and the navigation station on the navigation map dispatch the composite robot to the navigation station corresponding to a CNC machine tool; Step 2: Manually use the robot arm control software to move the center of the 2D camera at the end of the robot arm to a position relationship in the first 2D positioning mark coordinate system close to a predetermined ideal value (for example, Z=200mm, the others are 0), take a 2D photo and calculate the actual value Z2D1 of the 2D camera in the first 2D positioning mark coordinate system (for example, Z=200.1mm, X=0.1mm, Y=-0.1mm, the others are 0); the robot arm control software records the position TCP1 of the end of the robot arm in the robot arm base coordinate system when the composite robot takes a photo of the first 2D positioning mark; in practice, it is preferred to record the position TCP1a of the end of the robot arm in the robot arm base coordinate system during deployment. Compared with TCP1, TCP1a has a distance deviation in the vertical direction of the first 2D positioning mark, for example, the Y direction of the robot arm coordinate system is reduced by 10cm, which is used to absorb the stopping error of the mobile chassis and is used for the loading and unloading stage; the purpose of reserving this 10cm is that, compared with the deployment stage, the composite robot in the loading and unloading stage The CNC machine tool that is docked for the second time has different parking errors, including errors in front and back and rotation angles. The robot arm first moves according to the TCP1a coordinates. After stopping, the 2D camera takes a picture of the first 2D positioning mark. At this time, the shooting distance is far and the angle may be large. The position relationship Z2D1a of the 2D camera center relative to the first 2D positioning mark is obtained (for example, Z=290mm, X=10mm, Y=8mm, rx=5°, ry=5°, rz=2°). The accuracy of Z2D1a is low. Referring to the obtained low-precision relative position relationship Z2D1a, the robot arm is automatically guided to the ideal photo pose (for example, Z=200mm, and other values ​​are 0) for more accurate photo positioning. The actual value Z2D1 (for example, Z=200.1mm, X=0.1mm, Y=-0.1mm, and other values ​​are 0) of the position relationship of the 2D camera center at the end of the robot arm in the coordinate system of the first 2D positioning mark is close to the predetermined ideal (for example, Z=200mm, and other values ​​are 0). Step 3: Manually use the robot arm control software to move the center of the 2D camera at the end of the robot arm to a predetermined ideal value in the second 2D positioning mark coordinate system (for example, Z = 200mm, and other values ​​are 0). Take a 2D photo and calculate the actual value Z2D2 of the 2D camera in the second 2D positioning mark coordinate system (for example, Z = 200.3mm, X = 0.1mm, Y = -0.1mm, and other values ​​are 0). Step 4: Using the known fixed offset ΔGJ between the second 2D positioning mark pose and the optimal loading and unloading pose TCP (for example, Z=20mm, Y=50mm, and the others are 0), and taking the second 2D positioning mark coordinate system as the reference coordinate, manually use the robot arm control software to adjust the TCP at the end of the robot arm to the optimal loading and unloading pose by ΔGJ; use the robot arm control software to record the pose Z2D3 of the TCP at the end of the robot arm in the first 2D positioning mark coordinate system at this time for use in the loading and unloading stage.

[0025] Example 2: Figure 4 The present invention adopts a robot CNC loading and unloading device, which no longer requires teaching the workpiece compared with the deployment stage. It includes a composite robot and a CNC machine tool.

[0026] A robot CNC loading and unloading method uses the teaching data TCP1a and Z2D3 recorded in the deployment phase, a 2D camera, and a first 2D positioning marker to accurately calculate the loading and unloading posture. Each loading and unloading phase includes the following steps: Step 1: The laser SLAM navigation system and the navigation station on the navigation map dispatch the composite robot to the navigation station corresponding to a CNC machine tool; Step 2: Based on the TCP1a recorded during the actual deployment in the deployment phase, the robotic arm control software autonomously guides the end of the robotic arm to move to the first photo point of the first 2D positioning mark, which is called the long-distance photo point. At this time, the shooting distance is far and the angle may be large. The obtained pose relationship Z2D1an of the 2D camera center in the first 2D positioning mark coordinate system (for example, Z=290mm, X=10mm, Y=8mm, rx=5°, ry=5°, rz=2°) is low in accuracy. Therefore, referring to the obtained low-precision relative pose relationship Z2D1an, the robotic arm is autonomously guided again to the ideal photo position. The Z2D1n obtained from each loading and unloading operation usually has some error from the ideal relative pose (for example, Z=200mm and other values ​​are 0), but the error is generally not large. In this way, the two-shot method of taking photos at the long-distance and close-distance shooting points avoids the risk of collision between the robot and the CNC caused by the parking error of the chassis each time, while also ensuring the high-precision calculation of the relative pose between the 2D camera center at the end of the robot and the first 2D positioning mark. Step 3: Based on the position relationship Z2D3 of the TCP in the first 2D positioning mark coordinate system recorded during the deployment phase, the robot arm control software autonomously guides the end of the robot arm to continue moving Z2D3-Z2D1n with the first 2D positioning mark coordinate system as the reference coordinate system. At this time, the end of the robot arm reaches the predetermined optimal loading and unloading position; loading and unloading are completed by opening and closing the loading and unloading grippers.

[0027] The above two embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A robot CNC loading and unloading device, characterized by: Including composite robots, CNC machine tools, and teaching workpieces; The composite robot includes a mobile chassis, a robotic arm, a loading and unloading gripper, and a 2D camera; one end of the robotic arm is mounted on the mobile chassis, and the other end is mounted on the loading and unloading gripper and the 2D camera through a mounting platform at the end of the robotic arm; The CNC machine tool has a CNC material holder and a first 2D positioning mark; the CNC material holder and the first 2D positioning mark on the CNC machine tool are fixed in relative position; the CNC material holder is used to carry and clamp the workpiece to be processed; the first 2D positioning mark is used to identify the relative relationship of the optimal loading and unloading posture of the loading and unloading clamps; The top of the teaching workpiece has a second 2D positioning mark and has the same base as the workpiece to be processed, and can be placed in the CNC material holder like the workpiece to be processed.

2. A robot CNC loading and unloading device according to claim 1, characterized in that: The mobile chassis of the composite robot uses laser SLAM navigation to navigate to a designated position in front of a CNC machine tool; each CNC machine tool is provided with its own navigation site, and all navigation sites are marked on the laser SLAM navigation map. The composite robot is dispatched to the navigation site corresponding to any CNC machine tool with loading and unloading requirements through the laser SLAM navigation system and the navigation sites on the navigation map.

3. A robot CNC loading and unloading device according to any one of claims 1 to 2, characterized in that: The first 2D positioning marker and the 2D camera are used in the deployment stage and loading and unloading stage of the CNC machine tool and the composite robot, and the teaching workpiece is used in the deployment stage; in the deployment stage, the first 2D positioning marker fixed inside the CNC machine tool and the second 2D positioning marker located on the top of the teaching workpiece are photographed by the 2D camera, and the relative posture relationship of the second 2D positioning marker relative to the first 2D positioning marker is calculated, and the relative posture relationship between the best loading and unloading posture TCP and the first 2D positioning marker is obtained by using the known fixed offset between the second 2D positioning marker posture and the best loading and unloading posture TCP, and the relative posture relationship between the best loading and unloading posture TCP and the first 2D positioning marker is recorded by the robot arm control software for use in the loading and unloading stage; the robot arm control software also records the robot arm tool center point TCP posture when the composite robot takes a photo of the first 2D positioning marker, for use in the loading and unloading stage.

4. A robot CNC loading and unloading method, applicable to the robot CNC loading and unloading device according to any one of claims 1 to 3, characterized in that: During the deployment phase, a 2D camera is used to take photos of the first 2D positioning mark fixed inside the CNC machine tool and the second 2D positioning mark located on top of the teaching workpiece, and the relative posture relationship of the second 2D positioning mark relative to the first 2D positioning mark is calculated. The known fixed deviation between the second 2D positioning mark and the loading and unloading clamping position of the workpiece to be processed is used to obtain the relative posture relationship of the optimal loading and unloading posture TCP relative to the first 2D positioning mark. The relative posture relationship data is recorded by the robotic arm control software for use in the loading and unloading phase.

5. A robot CNC loading and unloading method according to claim 4, characterized in that: The deployment phase for each CNC machine tool includes the following steps: Step 1: The laser SLAM navigation system and the navigation station on the navigation map dispatch the composite robot to the navigation station corresponding to the CNC machine tool; Step 2: Manually use the robotic arm control software to adjust the pose relationship of the center of the 2D camera at the end of the robotic arm in the first 2D positioning mark coordinate system to be close to a predetermined ideal value. The 2D camera takes a picture and calculates the actual value Z2D1 of the 2D camera center in the first 2D positioning mark coordinate system. The robotic arm control software records a pose TCP1a of the end of the robotic arm in the robotic arm base coordinate system based on the pose TCP1 of the robotic arm at the time when the composite robot takes a picture of the first 2D positioning mark. Compared with TCP1, TCP1a has a distance deviation in the vertical direction of the first 2D positioning mark. Step 3: Manually use the robotic arm control software to adjust the position relationship of the 2D camera center at the end of the robotic arm in the second 2D positioning mark coordinate system to be close to a predetermined ideal value, take a 2D photo and calculate the actual value Z2D2 of the 2D camera in the second 2D positioning mark coordinate system; Step 4: Using the known fixed offset ΔGJ between the second 2D positioning mark posture and the optimal loading and unloading posture TCP, and taking the second 2D positioning mark coordinate system as the reference coordinate, manually use the robot arm control software to adjust the TCP at the end of the robot arm ΔGJ to the optimal loading and unloading posture; use the robot arm control software to record the posture Z2D3 of the TCP at the end of the robot arm in the first 2D positioning mark coordinate system at this time for use in the loading and unloading stage.

6. A robot CNC loading and unloading method according to claim 5, characterized in that: Each loading and unloading phase of each CNC machine tool includes the following steps: Step 1: The laser SLAM navigation system and the navigation station on the navigation map dispatch the composite robot to the navigation station corresponding to the CNC machine tool; Step 2: Based on TCP1a recorded during the actual deployment phase, the robotic arm control software autonomously guides the end of the robotic arm to the long-distance photo-taking point of the first 2D positioning mark. At this point, a photo is taken to obtain the position relationship Z2D1a of the 2D camera center in the coordinate system of the first 2D positioning mark. Referring to the obtained Z2D1a, the robotic arm is autonomously guided again to the ideal photo-taking pose, and another photo is taken to obtain the position relationship Z2D1n of the 2D camera center in the coordinate system of the first 2D positioning mark. Step 3: Based on the position relationship Z2D3 of the TCP in the first 2D positioning mark coordinate system recorded during the deployment phase, the robot arm control software autonomously guides the end of the robot arm to continue moving Z2D3-Z2D1n with the first 2D positioning mark coordinate system as the reference coordinate system. At this time, the end of the robot arm reaches the predetermined optimal loading and unloading position, and the loading and unloading is completed by opening and closing the loading and unloading jaws.

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