Workpiece leveling method and system

Abstract

This invention provides a workpiece leveling method and system. The method includes: determining two groups of leveling devices from a plurality of leveling devices; determining four marker points on the workpiece's leveling reference surface, each corresponding to one of the four leveling devices, such that the marker points are directly above their respective leveling devices during the leveling process; acquiring the heights of the four marker points and determining the highest marker point, using this as a reference for two virtual adjustments; determining the required height adjustment value for each marker point based on the height change value during the two virtual adjustments, and determining the adjustment amount of the corresponding leveling device based on the height adjustment value, thereby leveling the workpiece. This invention, based on the principle of pairwise leveling, determines the required adjustment amount for each leveling device during an actual leveling process through two virtual leveling adjustments, achieving automatic and accurate leveling of large rigid workpieces.

Description

Technical Field

[0001] This invention relates to the field of large workpiece processing technology, and in particular to a workpiece leveling method and system. Background Technology

[0002] For existing large workpieces, if the bottom surface of the workpiece has not been machined before processing on the machine tool, or if it has been machined but cannot be used as a leveling reference, a leveling operation is required.

[0003] The conventional leveling method is to determine the horizontal error of the workpiece by manually using dial gauges based on the scribing or machining reference, and then manually adjust the adjusting shims at the bottom of the workpiece based on experience.

[0004] This leveling method takes a long time to level, requires a high level of human experience, and has a low level of automation in the clamping and alignment process. Summary of the Invention

[0005] This invention provides a workpiece leveling method and system to address the shortcomings of insufficient automation in the leveling process during the processing of large workpieces in the prior art, and to achieve a workpiece leveling method that is accurate and automated.

[0006] This invention provides a workpiece leveling method, comprising:

[0007] Two groups of leveling devices are determined by grouping two leveling devices together. The four leveling devices in the two groups are located on the same common circle. The straight line where two leveling devices in each group are located is taken as the intersection line. The intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle.

[0008] Before leveling the workpiece, four marking points are determined on the leveling reference surface of the workpiece, each corresponding to one of the four leveling devices. During the leveling process, the marking points are located directly above the corresponding leveling devices, resulting in two sets of marking points.

[0009] The heights of the four marker points are obtained, and the highest marker point is determined. Based on this, two virtual adjustments are made. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower marker point in another group to the same height as the higher marker point, based on the first virtual adjustment.

[0010] Based on the height change value of each marker point in the two virtual adjustments, the required height adjustment value for each marker point is determined, and the adjustment amount of the leveling device at the corresponding position is determined according to the height adjustment value, so as to level the workpiece.

[0011] According to a workpiece leveling method provided by the present invention, the step of determining the required height adjustment value for each marker point based on the height change value of each marker point in two virtual adjustments specifically includes:

[0012] Determine the relative positional relationship between two marker points in the other group of marker points and the highest marker point or another marker point in the same group as the highest marker point;

[0013] Calculate the first type of change value of two marker points in another set of marker points in the first virtual adjustment based on trigonometric functions and the relative positional relationship;

[0014] Calculate the highest marker point and the second type of change value of the marker point in the second virtual adjustment based on trigonometric functions and the relative positional relationship;

[0015] The required height adjustment value for each marker point is determined based on the first type of variation value and the second type of variation value.

[0016] According to a workpiece leveling method provided by the present invention, before the step of obtaining the height of the four marked points, the method further includes:

[0017] This causes the output ends of all leveling devices to rise to a preset height.

[0018] According to a workpiece leveling method provided by the present invention, after the step of determining the adjustment amount of the leveling device at the corresponding position based on the height adjustment value to level the workpiece, the method further includes:

[0019] Obtain the height of the four marked points after leveling. If the elevation error of the four marked points does not meet the preset standard, take the height of the four marked points after leveling as the height of the four marked points and level them again.

[0020] According to a workpiece leveling method provided by the present invention, the step of obtaining the height of four marked points specifically includes:

[0021] Targets are affixed to the four marked points on the workpiece;

[0022] The position of each target in the camera coordinate system is obtained using a visual measurement device;

[0023] Based on the coordinate transformation matrix between the camera coordinate system and the coordinate system of the leveling device, the height of the four marker points is determined according to the position of each target in the camera coordinate system.

[0024] The present invention also provides a workpiece leveling system, comprising:

[0025] At least four leveling devices are used to determine two groups of leveling devices, with the four leveling devices in the two groups located on the same common circle. The straight line containing two leveling devices in each group is used as the intersection line, and the intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle.

[0026] Four targets are respectively affixed to four marked points on the workpiece, wherein the marked points are located on the leveling reference surface of the workpiece and correspond one-to-one with the positions of the four leveling devices in the two sets of leveling devices.

[0027] A visual measurement device is used to obtain the height of four marked points;

[0028] The controller is used to determine the highest marker point and make two virtual adjustments based on it. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower point in the other group of marker points to the same height as the higher point, based on the first virtual adjustment.

[0029] Based on the height change value of each marker point in the two virtual adjustments, the required height adjustment value for each marker point is determined, and the adjustment amount of the leveling device at the corresponding position is determined based on the height adjustment value, so as to level the workpiece.

[0030] The present invention also provides a workpiece leveling device, comprising:

[0031] The acquisition module is used to acquire the height of four marker points and determine the highest marker point. Based on this, two virtual adjustments are made. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower marker point in the other group to the same height as the higher marker point based on the first virtual adjustment.

[0032] The determination module is used to determine the required height adjustment value for each marker point based on the height change value of each marker point in two virtual adjustments, and to determine the adjustment amount of the leveling device at the corresponding position based on the height adjustment value, so as to level the workpiece.

[0033] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the workpiece leveling method as described above.

[0034] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the workpiece leveling method as described above.

[0035] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the workpiece leveling method as described above.

[0036] The workpiece leveling method and system provided by the present invention determines the corresponding mark point on the leveling reference surface of the workpiece placed on the leveling device, thereby converting the height change of the mark point into the adjustment amount of the corresponding leveling device, and based on the principle of pairwise leveling, determines the adjustment amount required for each leveling device in an actual leveling process through two virtual levelings, thus realizing automatic and accurate leveling of large rigid workpieces. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating the workpiece leveling method provided by the present invention;

[0039] Figure 2 This is a schematic diagram illustrating the process of determining the height adjustment value in the workpiece leveling method provided by the present invention;

[0040] Figure 3 This is a schematic diagram of the workpiece leveling system provided by the present invention;

[0041] Figure 4 This is a schematic diagram of the workpiece leveling device provided by the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0043] Figure label:

[0044] 1. Leveling device; 2. Unloading device; 3. Clamping device; 4. Supporting device; 5. Target. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0046] The following is combined Figures 1 to 3 The workpiece leveling method of the present invention is introduced, such as... Figure 1 As shown, it includes:

[0047] Step 101: Among the multiple leveling devices, two leveling devices are selected as a group to determine two groups of leveling devices. The four leveling devices in the two groups are located on the same common circle. The straight line where the two leveling devices in each group are located is taken as the intersection line. The intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle.

[0048] It is understandable that the leveling device can be a linear drive component such as a cylinder, hydraulic cylinder, or electric push rod. Multiple leveling devices are installed on the workpiece's processing platform. The output ends of the multiple leveling devices are pre-adjusted to be coplanar in the vertical direction. This means that when a rigid workpiece with a theoretically flat bottom surface is placed on multiple leveling devices and supported by the leveling devices, the workpiece's own leveling reference surface is in a horizontal state.

[0049] In the actual workpiece processing process, even if the processing platform has been pre-leveled, there may be uneven bottom surfaces of the workpiece, or the bottom surface of the workpiece may be flat but the leveling reference surface during processing may not be parallel to the bottom surface of the workpiece. Therefore, after the workpiece is placed on the leveling device, it is still necessary to drive the output ends of the leveling device to extend and retract to adjust the height of the workpiece at various points until the leveling reference surface of the workpiece is horizontal.

[0050] For large workpieces, multiple leveling devices can be deployed to achieve stable support. However, if too many leveling devices are considered during the leveling process, it is difficult to construct a stable leveling logic for automated leveling operation. Therefore, this invention identifies two groups of leveling devices among multiple leveling devices to achieve automatic leveling of the workpiece.

[0051] It should be noted that the two groups of four leveling devices must be located on the same common circle, and the straight line containing the two leveling devices in each group is taken as the intersection line. The intersection point of the two intersecting lines corresponding to the two groups of leveling devices coincides with the center of the common circle.

[0052] Step 102: Before leveling the workpiece, determine four marking points on the leveling reference surface of the workpiece that correspond one-to-one with the four leveling devices, so that the marking points are located directly above the corresponding leveling devices during the leveling process, thus obtaining two sets of marking points.

[0053] Based on this, it is also necessary to determine a corresponding mark point for each of the four selected leveling devices on the leveling reference surface of the workpiece, so as to obtain four mark points in pairs.

[0054] The four marker points are located above the output end of their corresponding leveling devices in the vertical direction, so that the amount of vertical movement of the marker points is the amount of vertical movement of the output end of their corresponding leveling devices.

[0055] Based on this, after placing the workpiece on the leveling device and determining four marker points, the initial height of the four marker points can be obtained to determine whether the leveling reference surface of the workpiece is in a horizontal state. If the leveling reference surface of the workpiece needs to be leveled, the goal of leveling the workpiece is to make the height of the four marker points the same. The change value and direction of each marker point from the initial height to the height of the workpiece after leveling is the length and direction that the output end of the corresponding leveling device needs to be adjusted.

[0056] Step 103: Obtain the height of the four marker points and determine the highest marker point. Based on this, perform two virtual adjustments. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower marker point in another group to the same height as the higher marker point based on the first virtual adjustment.

[0057] Therefore, before the formal leveling, it is necessary to obtain the height of four marker points in order to determine the adjustment value of each leveling device based on the height of the four marker points.

[0058] To achieve automated adjustment, this invention constructs an automatic leveling operation logic based on pairwise leveling logic. Specifically, pairwise leveling refers to adjusting a group of marker points in relative positions to the same height. In this embodiment, the leveling is performed by two sets of adjustment devices, namely, the first virtual adjustment and the second virtual adjustment.

[0059] Furthermore, in order to ensure that the output of the leveling device only rises as much as possible during the leveling process in order to control the leveling accuracy, in this embodiment, during the process of achieving pairwise leveling, the highest marker point (denoted as Y1) is used as the reference for the first virtual adjustment. The goal of the first virtual adjustment is to adjust the other marker point (denoted as Y3) in the same group as Y1 to the same height as Y1.

[0060] Based on the first virtual adjustment, a second virtual adjustment is performed. The goal of the second virtual adjustment is to adjust the lower marker point (denoted as Y4) in the other set of two marker points after the first virtual adjustment to the same height as the higher marker point (denoted as Y2).

[0061] After two virtual adjustments, it can be assumed that the four marked points have been leveled in pairs, meaning that the leveling reference planes where the four marked points are located are now in a horizontal state.

[0062] Step 104: Based on the height change value of each marker point in the two virtual adjustments, determine the required height adjustment value for each marker point, and determine the adjustment amount of the leveling device at the corresponding position based on the height adjustment value, so as to level the workpiece.

[0063] It is understandable that, since the four adjustment devices are concentric and the two adjustment devices in each group are set in correspondence, when making the first virtual adjustment, in addition to adjusting Y3 to Y1, Y2 and Y4 also need to be adjusted accordingly; when making the second virtual adjustment, in addition to adjusting Y4 to Y2, Y1 and Y3 also need to be adjusted accordingly.

[0064] Therefore, for each marked point, the height change value generated in the two virtual adjustments is taken as the height adjustment value required for a single actual adjustment. This height adjustment value is the adjustment amount required for the corresponding leveling device in a single actual adjustment.

[0065] Based on the above, to achieve automatic leveling of the workpiece, the controller obtains the height of four marked points and calculates the height adjustment value of each marked point based on the height and the logic of two virtual adjustments. The height adjustment value of each marked point is output to the leveling device as the adjustment amount of the corresponding leveling device, and the output of the four leveling devices is controlled to make corresponding adjustments. In this way, a large rigid workpiece can be adjusted to a leveling reference plane in a single actual leveling, which means that automatic, fast and accurate leveling of the workpiece is achieved.

[0066] This invention determines the corresponding mark point on the leveling reference surface of the workpiece placed on the leveling device, thereby converting the height change of the mark point into the adjustment amount of the corresponding leveling device. Based on the principle of pairwise leveling, the adjustment amount required for each leveling device in an actual leveling process is determined through two virtual leveling processes, thus realizing automatic and accurate leveling of large rigid workpieces.

[0067] In the workpiece leveling method of the present invention, the step of determining the required height adjustment value for each marker point based on the height change value of each marker point in two virtual adjustments specifically includes:

[0068] Determine the relative positional relationship between two marker points in the other group of marker points and the highest marker point or another marker point in the same group as the highest marker point;

[0069] Calculate the first type of change value of two marker points in another set of marker points in the first virtual adjustment based on trigonometric functions and the relative positional relationship;

[0070] During the first virtual adjustment, another set of marker points (Y2 and Y4) need to be adjusted accordingly as Y3 is adjusted towards Y1. The amount of adjustment in this process can be determined based on the relative positional relationship between Y2, Y4 and Y1 or Y3.

[0071] by Figure 2 The following explanation uses four marked points (B, D, C, and A correspond to Y1, Y2, Y3, and Y4 respectively) as an example. A, B, C, and D are four corresponding marked points determined from six adjustment devices evenly distributed along the circumference. A and D form one group, and B and C form another group. Figure 2 The circles in the diagram represent the leveling reference planes at the four marked points. During the first virtual adjustment process, that is, when C is adjusted to be at the same height as B, A and D are adjusted accordingly.

[0072] Specifically, draw a perpendicular line from point A to BC, intersecting BC at point E. In the first virtual adjustment, the adjustment amount from point E to B is the same as the adjustment amount from A to B. Since ∠AEE is 60°, CE is 3 / 4CB. Let BF be the adjustment amount when C is adjusted to B, then EG is 3 / 4BF, and the adjustment amount from E to B is 1 / 4BF.

[0073] Similarly, during the adjustment from C to B, the adjustment from D to B is 3 / 4BF.

[0074] In other words, after the first virtual adjustment, the first type of change value for each marked point is:

[0075] ;

[0076] In the formula, YA to YD represent the initial heights of points A to D.

[0077] Calculate the highest marker point and the second type of change value of the marker point in the second virtual adjustment based on trigonometric functions and the relative positional relationship;

[0078] After the first adjustment, the heights of the four marker points were updated as follows:

[0079] ;

[0080] Based on this, a second virtual adjustment is made, which is to... and The adjustment moves from lower to higher values. In this example, it is pre-assuming that YD is higher than YA. Higher than ,exist Towards During the adjustment process, similar to the above, the second type of change value for each marked point is calculated based on positional relationships and trigonometric functions:

[0081] ;

[0082] Using the above method, the height change value of each marked point in the first and second virtual adjustments can be calculated.

[0083] The required height adjustment value for each marker point is determined based on the first type of variation value and the second type of variation value.

[0084] By summing the first and second type of change values ​​from the two virtual adjustments, the required height adjustment value for each marker point in one adjustment can be determined:

[0085] ;

[0086] Based on this, the same pre-height adjustment value is made for each marked point, and the workpiece can be leveled in one adjustment.

[0087] It is understandable that, based on the above method, the relative positions of the four adjustment devices can be predetermined, and the height adjustment formula of each adjustment device based on the original height of the corresponding mark point can be directly calculated according to the positional relationship and the assumed height relationship.

[0088] In the process of achieving automated adjustment based on the above method, the height adjustment relationship and corresponding judgment conditions are predefined in the controller. After receiving the initial height of the four marker points, the controller first determines the highest marker point and calls the corresponding relationship to calculate the height of each marker point after the first virtual adjustment. Then, based on the height relationship between two marker points in another set of marker points, the corresponding height adjustment value relationship is called to directly calculate the height adjustment value through the initial height of each marker point and generate control commands to drive the four adjustment devices to adjust accordingly, thereby achieving automatic leveling of the workpiece.

[0089] In another feasible implementation, taking only four adjustment devices as an example, and the four adjustment devices are evenly distributed along the circumference, let the four marked points corresponding to the four adjustment devices be Y1, Y2, Y3 and Y4, with Y1 being the highest point. After the first virtual adjustment... Higher In this case, the calculated relationship between the height adjustment values ​​of the four marker points is as follows:

[0090] .

[0091] In the workpiece leveling method of the present invention, before the step of obtaining the height of the four marked points, the method further includes: driving the output end of all leveling devices to rise to a preset height.

[0092] Although the leveling method of the present invention has made every effort to ensure that the four leveling devices in the two groups are only adjusting upwards during the leveling process, in actual adjustment, the output ends of all the leveling devices can be raised to a preset height first to leave a certain margin for downward adjustment.

[0093] Optionally, the preset height can be set between 5 mm and 10 mm.

[0094] In the workpiece leveling method of the present invention, after the step of determining the adjustment amount of the leveling device at the corresponding position based on the height adjustment value to level the workpiece, the method further includes:

[0095] Obtain the height of the four marked points after leveling. If the elevation error of the four marked points does not meet the preset standard, take the height of the four marked points after leveling as the height of the four marked points and level them again.

[0096] If the workpiece to be leveled is an ideal rigid workpiece, that is, no deformation occurs during the adjustment process, it can usually be in a leveled state after one leveling in the above way. However, if the rigid workpiece to be leveled still has some deformation during the leveling process, that is, it is not an ideal rigid workpiece, then after one leveling, the workpiece may still be in a state that needs to be leveled.

[0097] Therefore, in this embodiment, after leveling once, the height of the four marked points is checked again. If the height error of the four marked points does not meet the preset standard, that is, the workpiece is not in a leveled state, the above method is used to level the workpiece again.

[0098] Understandably, the preset standards are determined based on the type of workpiece and / or machining accuracy, etc.

[0099] In the workpiece leveling method of the present invention, the step of obtaining the height of the four marked points specifically includes:

[0100] Targets are affixed to the four marked points on the workpiece;

[0101] The position of each target in the camera coordinate system is obtained using a visual measurement device;

[0102] Based on the coordinate transformation matrix between the camera coordinate system and the coordinate system of the leveling device, the height of the four marker points is determined according to the position of each target in the camera coordinate system.

[0103] In order to facilitate obtaining the height of the four marker points, in this embodiment, after the workpiece is placed on the adjustment device, the markers are attached to the marker points determined on the surface of the workpiece according to the leveling reference.

[0104] Based on this, this embodiment uses a visual measurement device, such as an industrial camera, to photograph and identify each target. First, the position of each target in the camera coordinate system is determined. Then, using a pre-calibrated coordinate transformation matrix between the camera coordinate system and the coordinate system of the leveling device (in this embodiment, the machine tool coordinate system), the coordinates of each target in the camera coordinate system are transformed to their coordinates in the coordinate system of the leveling device, thereby obtaining the height of the marked point for calculating the height adjustment value. After leveling, the target can be directly torn off.

[0105] In other feasible implementations, if the leveling reference of the workpiece is the top surface, other feasible methods can also be selected to directly determine the height of the marked point.

[0106] The workpiece leveling system provided by the present invention is described below. The workpiece leveling system described below and the workpiece leveling method described above can be referred to in correspondence.

[0107] At least four leveling devices are used to determine two groups of leveling devices, with the four leveling devices in the two groups located on the same common circle. The straight line containing two leveling devices in each group is used as the intersection line, and the intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle.

[0108] Four targets are respectively affixed to four marked points on the workpiece, wherein the marked points are located on the leveling reference surface of the workpiece and correspond one-to-one with the positions of the four leveling devices in the two sets of leveling devices.

[0109] A visual measurement device is used to obtain the height of four marked points;

[0110] The controller is used to determine the highest marker point and make two virtual adjustments based on it. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower point in the other group of marker points to the same height as the higher point, based on the first virtual adjustment.

[0111] Based on the height change value of each marker point in the two virtual adjustments, the required height adjustment value for each marker point is determined, and the adjustment amount of the leveling device at the corresponding position is determined based on the height adjustment value, so as to level the workpiece.

[0112] like Figure 3 As shown, in one specific embodiment, four leveling devices are pre-installed on the indexing plate. Each leveling device 1, together with an unloading mechanism 2, a support mechanism 4, and two clamping mechanisms 3, forms a group, and four groups are provided along the circumference of the indexing plate.

[0113] The leveling device 1 in each group is used to level the workpiece after it is placed, while the other mechanisms are used to support and limit the workpiece.

[0114] The workpiece leveling system in this embodiment is preferably used for leveling large cylindrical rigid workpieces. Four marking points are determined on the leveling reference surface of the workpiece. Specifically, the workpiece can be hoisted on the indexing plate and supported by the leveling device. The leveling reference surface of the workpiece is then determined, and a target 5 is attached to the leveling reference surface at the position corresponding to the leveling device, thereby determining the marking point corresponding to each leveling device.

[0115] Before leveling, the visual measurement device is used to capture images containing the target. The height of the target 5 is determined based on computer image technology and used as the height of the marker point.

[0116] To achieve automated adjustment, this invention constructs an automatic leveling operation logic based on pairwise leveling logic. Specifically, pairwise leveling refers to adjusting a group of marker points in relative positions to the same height. In this embodiment, the leveling is performed by two sets of adjustment devices, namely, the first virtual adjustment and the second virtual adjustment.

[0117] Furthermore, in order to ensure that the output of the leveling device only rises as much as possible during the leveling process in order to control the leveling accuracy, in this embodiment, during the process of achieving pairwise leveling, the highest marker point (denoted as Y1) is used as the reference for the first virtual adjustment. The goal of the first virtual adjustment is to adjust the other marker point (denoted as Y3) in the same group as Y1 to the same height as Y1.

[0118] Based on the first virtual adjustment, a second virtual adjustment is performed. The goal of the second virtual adjustment is to adjust the lower marker point (denoted as Y4) in the other set of two marker points after the first virtual adjustment to the same height as the higher marker point (denoted as Y2).

[0119] After two virtual adjustments, it can be assumed that the four marked points have been leveled in pairs, meaning that the leveling reference planes where the four marked points are located are now in a horizontal state.

[0120] It is understandable that, since the four adjustment devices are concentric and the two adjustment devices in each group are set in correspondence, when making the first virtual adjustment, in addition to adjusting Y3 to Y1, Y2 and Y4 also need to be adjusted accordingly; when making the second virtual adjustment, in addition to adjusting Y4 to Y2, Y1 and Y3 also need to be adjusted accordingly.

[0121] Therefore, for each marked point, the height change value generated in the two virtual adjustments is taken as the height adjustment value required for a single actual adjustment. This height adjustment value is the adjustment amount required for the corresponding leveling device in a single actual adjustment.

[0122] Based on the above, to achieve automatic leveling of the workpiece, the controller obtains the height of four marked points and calculates the height adjustment value of each marked point based on the height and the logic of two virtual adjustments. The height adjustment value of each marked point is output to the leveling device as the adjustment amount of the corresponding leveling device, and the output of the four leveling devices is controlled to make corresponding adjustments. In this way, a large rigid workpiece can be adjusted to a leveling reference plane in a single actual leveling, which means that automatic, fast and accurate leveling of the workpiece is achieved.

[0123] This invention determines the corresponding mark point on the leveling reference surface of the workpiece placed on the leveling device, thereby converting the height change of the mark point into the adjustment amount of the corresponding leveling device. Based on the principle of pairwise leveling, the adjustment amount required for each leveling device in an actual leveling process is determined through two virtual leveling processes, thus realizing automatic and accurate leveling of large rigid workpieces.

[0124] The workpiece leveling device provided by the present invention is described below. The workpiece leveling device described below and the workpiece leveling method described above can be referred to in correspondence.

[0125] like Figure 4 As shown, the workpiece leveling device includes an acquisition module 401 and a determination module 402.

[0126] The acquisition module 401 is used to acquire the height of four marker points and determine the highest marker point. Based on this, two virtual adjustments are made. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower point in another group of marker points to the same height as the higher point, based on the first virtual adjustment.

[0127] Before the formal leveling, it is necessary to obtain the height of four marker points in order to determine the adjustment value of each leveling device based on the height of the four marker points.

[0128] To achieve automated adjustment, this invention constructs an automatic leveling operation logic based on pairwise leveling logic. Specifically, pairwise leveling refers to adjusting a group of marker points in relative positions to the same height. In this embodiment, the leveling is performed by two sets of adjustment devices, namely, the first virtual adjustment and the second virtual adjustment.

[0129] Furthermore, in order to ensure that the output of the leveling device only rises as much as possible during the leveling process in order to control the leveling accuracy, in this embodiment, during the process of achieving pairwise leveling, the highest marker point (denoted as Y1) is used as the reference for the first virtual adjustment. The goal of the first virtual adjustment is to adjust the other marker point (denoted as Y3) in the same group as Y1 to the same height as Y1.

[0130] Based on the first virtual adjustment, a second virtual adjustment is performed. The goal of the second virtual adjustment is to adjust the lower marker point (denoted as Y4) in the other set of two marker points after the first virtual adjustment to the same height as the higher marker point (denoted as Y2).

[0131] After two virtual adjustments, it can be assumed that the four marked points have been leveled in pairs, meaning that the leveling reference planes where the four marked points are located are now in a horizontal state.

[0132] The determining module 402 is used to determine the required height adjustment value for each marker point based on the height change value of each marker point in the two virtual adjustments, and to determine the adjustment amount of the leveling device at the corresponding position based on the height adjustment value, so as to level the workpiece.

[0133] It is understandable that, since the four adjustment devices are concentric and the two adjustment devices in each group are set in correspondence, when making the first virtual adjustment, in addition to adjusting Y3 to Y1, Y2 and Y4 also need to be adjusted accordingly; when making the second virtual adjustment, in addition to adjusting Y4 to Y2, Y1 and Y3 also need to be adjusted accordingly.

[0134] Therefore, for each marked point, the height change value generated in the two virtual adjustments is taken as the height adjustment value required for a single actual adjustment. This height adjustment value is the adjustment amount required for the corresponding leveling device in a single actual adjustment.

[0135] Based on the above, to achieve automatic leveling of the workpiece, the controller obtains the height of four marked points and calculates the height adjustment value of each marked point based on the height and the logic of two virtual adjustments. The height adjustment value of each marked point is output to the leveling device as the adjustment amount of the corresponding leveling device, and the output of the four leveling devices is controlled to make corresponding adjustments. In this way, a large rigid workpiece can be adjusted to a leveling reference plane in a single actual leveling, which means that automatic, fast and accurate leveling of the workpiece is achieved.

[0136] This invention determines the corresponding mark point on the leveling reference surface of the workpiece placed on the leveling device, thereby converting the height change of the mark point into the adjustment amount of the corresponding leveling device. Based on the principle of pairwise leveling, the adjustment amount required for each leveling device in an actual leveling process is determined through two virtual leveling processes, thus realizing automatic and accurate leveling of large rigid workpieces.

[0137] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include a processor 510, a communication interface 520, a memory 530, and a communication bus 540. The processor 510, communication interface 520, and memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a workpiece leveling method. This method includes: determining two groups of leveling devices, with two leveling devices forming a group among multiple leveling devices. The four leveling devices in the two groups are located on the same common circle, with the straight line containing two leveling devices in each group serving as the intersection line. The intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle. Before workpiece leveling, four marker points corresponding to each of the four leveling devices are determined on the workpiece's leveling reference surface, ensuring that the marker points are directly above the corresponding leveling devices during the leveling process, thus obtaining two sets of markers. The system obtains the heights of four marker points and determines the highest marker point. Based on this, two virtual adjustments are performed. The first virtual adjustment adjusts another marker point in the same group as the highest marker point to the same height. The second virtual adjustment, based on the first virtual adjustment, adjusts a lower marker point in another group to the same height as the higher marker point. Based on the height change of each marker point during the two virtual adjustments, the required height adjustment value for each marker point is determined. The adjustment amount of the leveling device at the corresponding position is then determined based on the height adjustment value to level the workpiece.

[0138] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the workpiece leveling method provided by the above methods. The method includes: determining two groups of leveling devices by grouping two leveling devices into a group, wherein the four leveling devices in the two groups are located on the same common circle, and the straight line containing two leveling devices in each group is taken as the intersection line, and the intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle; before leveling the workpiece, determining four marking points on the leveling reference surface of the workpiece, each corresponding to one of the four leveling devices. During the leveling process, the marked points are positioned directly above the corresponding leveling devices to obtain two sets of marked points. The heights of the four marked points are obtained, and the highest marked point is determined. Based on this, two virtual adjustments are performed. The first virtual adjustment is used to adjust another marked point in the same group as the highest marked point to the same height. The second virtual adjustment is used to adjust a lower marked point in the other group to the same height as the higher marked point, based on the first virtual adjustment. According to the height change value of each marked point in the two virtual adjustments, the required height adjustment value for each marked point is determined, and the adjustment amount of the leveling device at the corresponding position is determined according to the height adjustment value to level the workpiece.

[0140] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the workpiece leveling method provided by the above methods. The method includes: determining two groups of leveling devices from a plurality of leveling devices, with two leveling devices forming a group, wherein the four leveling devices in the two groups are located on the same common circle, with the straight line containing two leveling devices in each group serving as the intersection line, and the intersection point of the two intersection lines corresponding to the two groups of leveling devices coinciding with the center of the circle; before workpiece leveling, determining four marker points on the workpiece's leveling reference surface, each corresponding to one of the four leveling devices, such that the marker points are located at their corresponding positions during the leveling process. Two sets of marker points are obtained directly above the leveling device. The heights of the four marker points are acquired, and the highest marker point is determined. Based on this, two virtual adjustments are performed. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height. The second virtual adjustment is used to adjust a lower marker point in another group to the same height as the higher marker point, based on the first virtual adjustment. According to the height change value of each marker point in the two virtual adjustments, the required height adjustment value for each marker point is determined, and the adjustment amount of the leveling device at the corresponding position is determined according to the height adjustment value to level the workpiece.

[0141] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0142] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of leveling a workpiece, comprising: include: Two groups of leveling devices are determined by grouping two leveling devices together. The four leveling devices in the two groups are located on the same common circle. The straight line where two leveling devices in each group are located is taken as the intersection line. The intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle. Before leveling the workpiece, four marking points are determined on the leveling reference surface of the workpiece, each corresponding to one of the four leveling devices. During the leveling process, the marking points are located directly above the corresponding leveling devices, resulting in two sets of marking points. The heights of the four marker points are obtained, and the highest marker point is determined. Based on this, two virtual adjustments are made. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower marker point in another group to the same height as the higher marker point, based on the first virtual adjustment. Based on the height change value of each marker point in the two virtual adjustments, the required height adjustment value for each marker point is determined, and the adjustment amount of the leveling device at the corresponding position is determined based on the height adjustment value, so as to level the workpiece. The step of determining the required height adjustment value for each marker point based on the height change value of each marker point in the two virtual adjustments specifically includes: Determine the relative positional relationship between two marker points in the other group of marker points and the highest marker point or another marker point in the same group as the highest marker point; Calculate the first type of change value of two marker points in another set of marker points in the first virtual adjustment based on trigonometric functions and the relative positional relationship; Calculate the highest marker point and the second type of change value of the marker point in the second virtual adjustment based on trigonometric functions and the relative positional relationship; The required height adjustment value for each marker point is determined based on the first type of variation value and the second type of variation value.

2. The workpiece leveling method according to claim 1, characterized in that, Before the step of obtaining the height of the four marked points, the method further includes: This causes the output ends of all leveling devices to rise to a preset height.

3. The workpiece leveling method according to claim 1, characterized in that, After the step of determining the adjustment amount of the leveling device at the corresponding position based on the height adjustment value to level the workpiece, the method further includes: Obtain the height of the four marked points after leveling. If the elevation error of the four marked points does not meet the preset standard, take the height of the four marked points after leveling as the height of the four marked points and level them again.

4. The workpiece leveling method according to claim 1, characterized in that, The step of obtaining the height of the four marked points specifically includes: Targets are affixed to the four marked points on the workpiece; The position of each target in the camera coordinate system is obtained using a visual measurement device; Based on the coordinate transformation matrix between the camera coordinate system and the coordinate system of the leveling device, the height of the four marker points is determined according to the position of each target in the camera coordinate system.

5. A workpiece leveling system, characterized in that, To implement the workpiece leveling method as described in any one of claims 1-4, comprising: At least four leveling devices are used to determine two groups of leveling devices, with the four leveling devices in the two groups located on the same common circle. The straight line containing two leveling devices in each group is used as the intersection line, and the intersection point of the two intersection lines corresponding to the two groups of leveling devices coincides with the center of the circle. Four targets are respectively affixed to four marked points on the workpiece, wherein the marked points are located on the leveling reference surface of the workpiece and correspond one-to-one with the positions of the four leveling devices in the two sets of leveling devices. A visual measurement device is used to obtain the height of four marked points; The controller is used to determine the highest marker point and make two virtual adjustments based on it. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower point in the other group of marker points to the same height as the higher point, based on the first virtual adjustment. Based on the height change value of each marker point in the two virtual adjustments, the required height adjustment value for each marker point is determined, and the adjustment amount of the leveling device at the corresponding position is determined based on the height adjustment value, so as to level the workpiece.

6. A workpiece leveling device, characterized in that, The method for leveling a workpiece as described in any one of claims 1-4 includes: The acquisition module is used to acquire the height of four marker points and determine the highest marker point. Based on this, two virtual adjustments are made. The first virtual adjustment is used to adjust another marker point in the same group as the highest marker point to the same height as the highest marker point. The second virtual adjustment is used to adjust the lower marker point in the other group to the same height as the higher marker point based on the first virtual adjustment. The determination module is used to determine the required height adjustment value for each marker point based on the height change value of each marker point in two virtual adjustments, and to determine the adjustment amount of the leveling device at the corresponding position based on the height adjustment value, so as to level the workpiece.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the workpiece leveling method as described in any one of claims 1 to 4.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the workpiece leveling method as described in any one of claims 1 to 4.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the workpiece leveling method as described in any one of claims 1 to 4.

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