STOCKER storage position teaching method and system, storage medium, electronic equipment and teaching device

Abstract

The invention discloses a STOCKER storage location teaching method and system, a storage medium, electronic equipment and a teaching device.According to the STOCKER storage location teaching method, automatic teaching can be achieved through a 2D camera, the cost of manual teaching is greatly saved, compared with manual teaching, the efficiency and accuracy are greatly improved, and the teaching efficiency is greatly improved. Meanwhile, compared with 3D camera teaching, the teaching equipment cost and the implementation difficulty are greatly reduced, the teaching method can be implemented by adding a simple teaching tool structure on the basis of existing equipment, popularization and application on an existing STOCKER are facilitated, further, due to the fact that automatic teaching can improve the storage position teaching precision, the storage position teaching efficiency is improved, and the storage position teaching efficiency is improved. And therefore, the requirement on the mounting precision of the storage position can be reduced to a certain extent, and the difficulty of equipment assembly and debugging is reduced.

Description

Technical Field

[0001] The present invention relates to the field of STOCKER in an AMHS system, in particular to a STOCKER storage position teaching method, system, storage medium, electronic equipment and teaching device. Background Art

[0002] In the AMHS system, STOCKER is an important device for storing containers such as FOUP.

[0003] In STOCKER, the FOUP is picked and placed at each storage location by a pick-and-place robot. Therefore, the pick-and-place robot needs to accurately know the location of each storage location to achieve accurate picking and placement.

[0004] The existing technology usually adopts manual teaching when performing storage position teaching. This method is very time-consuming and heavily relies on the operator's experience, and there are problems with the teaching accuracy.

[0005] There is also a solution that uses 3D cameras for storage location teaching, but the cost of using 3D cameras is high, the technical threshold is also high, and it is difficult to implement. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a STOCKER storage position teaching method, system, storage medium, electronic equipment and teaching device.

[0007] The purpose of the present invention is achieved through the following technical solutions: The present invention first discloses a STOCKER storage position teaching method, comprising the following steps: Get the storage location to be taught; Controlling the end effector on the pick-and-place robot to move to a first position corresponding to the rough position coordinates of the storage location to be taught; controlling a 2D image collector on an end effector to collect a first image of the storage location and determining whether a degree of matching between the first image and a standard image meets requirements; If so, storing the coarse position coordinates as the teaching position of the storage position; If not, determining an angular deviation between the feature area of ​​the first image and the standard image; controlling the end effector to move to a second position to compensate for the angular deviation; Controlling the end effector to move up and down and determining the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; Control the end effector to move along the Z axis to a third position corresponding to the target Z axis coordinate; controlling the 2D image collector to acquire a second image of the storage location and determining whether a degree of matching between the second image and the standard image meets requirements; If so, storing the coordinates of the third position as the teaching position of the storage position; If not, determining an X-axis deviation and a Y-axis deviation of the feature area of ​​the second image and the standard image; Controlling the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation; controlling the 2D image collector to acquire a third image of the storage location and determining whether a matching degree between the third image and the standard image meets requirements; If so, storing the coordinates of the fourth position as the teaching position of the storage position; If not, the teaching is terminated and an alarm is issued or the teaching is repeated.

[0008] Preferably, before controlling the end effector to move to the first position, the pick-and-place robot is first controlled to drive its end effector to move to the detection position to detect whether there is material on the storage location. If so, an alarm is issued and teaching is stopped. If not, the end effector is controlled to move to the first position.

[0009] Preferably, whether there is material on the storage location is determined by a through-beam sensor or a reflective plate provided on the end effector and the storage location in cooperation with a self-reflective sensor.

[0010] Preferably, the coarse position coordinates corresponding to each storage location that needs to be taught are determined based on the reference coordinates obtained by calibrating the standard storage location and the position parameters between the storage location and the standard storage location.

[0011] Preferably, the 2D image collector is arranged on a bracket, and the bracket is quickly detachably arranged on the end effector via a quick clamp.

[0012] Preferably, a reflective sheet matching the laser sensor on the end effector is provided at the end of each storage location facing the pick-and-place robot; The target Z-axis coordinate to which the end effector is to move is determined according to the following process: Controlling the end effector to move upward, when it is determined that the laser sensor signal mutates, recording the first height coordinate Z1 of the end effector when the signal mutates; Controlling the end effector to move downward, when it is determined that the laser sensor signal mutates, the second height coordinate Z2 of the end effector is recorded when the signal mutates; The end effector is to move to the target Z-axis coordinate Z 目 =(Z1+Z2) / 2.

[0013] Preferably, after acquiring the first image, if it is determined that the matching degree between the first image and the feature area of ​​the standard image does not meet the requirements, determining whether the matching degree between the two is greater than a set threshold; If so, continue to determine the angular deviation of the feature area; If not, the 2D image collector is controlled to recapture the image and perform feature area matching again; If multiple images are recaptured and the matching degree obtained by each feature area matching is less than or equal to the threshold, the teaching is stopped and an alarm is issued.

[0014] The present invention also discloses another STOCKER storage position teaching method, comprising the following steps: Get the storage location to be taught; Controlling the pick-and-place robot to drive the end effector thereon to move to position 1 corresponding to the coarse position coordinates of the storage location to be taught; Controlling the end effector to move up and down, and determining the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; Control the end effector to move along the Z axis to a second position corresponding to the target Z axis coordinate; controlling the 2D image collector on the end effector to collect the image of the storage location and determine whether the matching degree between the image and the standard image meets the requirements; If so, storing the coordinates of the second position as the teaching position of the storage position; If not, determining an angular deviation between the feature area of ​​the first image and the standard image; Controlling the end effector to move to position three to compensate for the angle deviation; controlling the 2D image collector to collect the second image of the storage location and determining whether the matching degree between the second image and the standard image meets the requirements; If so, storing the coordinates of the position three as the teaching position of the storage position; If not, determining an X-axis deviation and a Y-axis deviation of the feature area between the second image and the standard image; Controlling the end effector to move to position four to compensate for X-axis deviation and Y-axis deviation; controlling the 2D image collector to collect the third image of the storage location and determining whether the matching degree between the third image and the standard image meets the requirements; If so, storing the coordinates of the position 4 as the teaching position of the storage position; If not, the teaching is terminated and an alarm is issued or the teaching is repeated.

[0015] The present invention also discloses another STOCKER storage position teaching method, comprising the following steps: Get the rough position coordinates of the storage location to be taught; Controlling the pick-and-place robot to drive the end effector thereon to move to a first position corresponding to the coarse position coordinates and sending a request to the industrial computer to capture a first image; When receiving the angle deviation compensation value fed back by the industrial computer, controlling the end effector to move to the second position to compensate for the angle deviation; Controlling the end effector to move up and down and determining the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; After controlling the end effector to move along the Z axis to a third position corresponding to the target Z axis coordinate, a request to capture a second image is sent to the industrial computer; upon receiving the X-axis deviation compensation value and the Y-axis deviation compensation value of the feature area of ​​the second image and the standard image fed back by the industrial computer, controlling the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation, and then sending a request to the industrial computer to capture a third image; When receiving a message indicating that teaching is completed from the industrial computer, the end effector is controlled to retract.

[0016] The present invention also discloses another STOCKER storage position teaching method, comprising the following steps: Get the storage location to be taught; Sending a teaching task about the storage location to be taught to the controller; receiving a first shooting request sent by a controller, controlling a 2D image collector on an end effector of a pick-and-place robot to capture a first image or image one and matching the first image or image one with a standard image, wherein when the first image is captured, the end effector is in a first position; and when the image one is captured, the end effector is in a second position; When it is determined that the first image or the first image successfully matches the standard image, the coordinates of the first position or the coordinates of the second position are stored as the teaching position of the storage position, and a message indicating that the teaching is completed is fed back to the controller; When it is determined that the first image or the first image does not match the standard image successfully, determining an angular deviation compensation value between the first image or the first image and the characteristic area of ​​the standard image and feeding it back to the controller; receiving a second shooting request sent by the controller, controlling the 2D image collector to capture a second image or image 2, and matching the second image or image 2 with a standard image; when the second image is captured, the end effector is in the third position, and when the image 2 is captured, the end effector is in the third position; When it is determined that the second image or the second image successfully matches the standard image, the coordinates of the third position or the coordinates of the third position are stored as the teaching position of the storage position, and a message indicating that the teaching is completed is fed back to the controller; When it is determined that the second image or the second image does not match the standard image successfully, the X-axis deviation compensation value X of the feature area of ​​the second image or the second image and the standard image is determined. 补 and Y-axis deviation compensation value Y 补 And feed back to the controller; receiving a third shooting request sent by the controller, controlling the 2D image collector to capture a third image or a third image, and matching the third image or the third image with the standard image; when the third image is captured, the end effector is in a fourth position, and when the third image is captured, the end effector is in a fourth position; When it is determined that the third image or the third image successfully matches the standard image, the coordinates of the fourth position or the coordinates of the fourth position are stored as the teaching position of the storage position, and a message indicating that the teaching is completed is fed back to the controller; When it is determined that the third image or image three does not match the standard image successfully, the teaching is terminated and an alarm is issued or the teaching is repeated.

[0017] The present invention also discloses a STOCKER storage position teaching system, comprising: A storage location determination unit, used to obtain a storage location to be taught; a first movement control unit, for controlling the end effector on the pick-and-place robot to move to a first position corresponding to the coarse position coordinates of the storage location to be taught; a first image matching unit, configured to control a 2D image collector on the end effector to acquire a first image of the storage location and determine whether a degree of matching between the first image and a standard image meets requirements; a first teaching position storage unit, configured to store the coarse position coordinates as the teaching position of the storage position when it is determined that the matching degree between the first image and the standard image meets the requirements; an angle deviation determining unit, configured to determine an angle deviation between a feature area of ​​the first image and the standard image when it is determined that the matching degree between the first image and the standard image does not meet the requirement; an angle compensation unit, configured to control the end effector to move to a second position to compensate for the angle deviation; A Z-axis coordinate determination unit, configured to control the end effector to move up and down and determine a target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; A Z-axis compensation unit, used for controlling the end effector to move along the Z-axis to a third position corresponding to the target Z-axis coordinate; a second image matching unit, configured to control the 2D image collector to acquire a second image of the storage location and determine whether a degree of matching between the second image and the standard image meets requirements; a second teaching position storage unit, configured to store the coordinates of the third position as the teaching position of the storage position when it is determined that the matching degree between the second image and the standard image does not meet the requirements; An X-axis and Y-axis deviation determining unit, configured to determine an X-axis deviation and a Y-axis deviation of a feature area between the second image and the standard image when it is determined that the degree of matching between the second image and the standard image does not meet the requirements; An X-axis and Y-axis deviation compensation unit is used to control the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation; a third image matching unit, configured to control the 2D image collector to acquire a third image of the storage location and determine whether a degree of matching between the third image and the standard image meets requirements; a third teaching position storage unit, configured to store the coordinates of the fourth position as the teaching position of the storage position when it is determined that the matching degree between the third image and the standard image meets the requirements; The failure processing unit is used to end the teaching and issue an alarm or re-teach when it is determined that the matching degree between the third image and the standard image does not meet the requirements.

[0018] The present invention also discloses another STOCKER storage location teaching system, comprising: A coarse position coordinate acquisition unit, used to acquire the coarse position coordinates of the storage position to be taught; a first moving unit, configured to control the pick-and-place robot to drive the end effector thereon to a first position corresponding to the coarse position coordinates and send a request to the industrial computer to capture a first image; an angle deviation compensation unit, configured to control the end effector to move to a second position to compensate for the angle deviation when receiving the angle deviation compensation value fed back by the industrial computer; a target Z-axis coordinate determining unit, configured to control the end effector to move up and down and determine the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; A Z-axis adjustment unit, configured to control the end effector to move along the Z-axis to a third position corresponding to the target Z-axis coordinate, and then send a request to the industrial computer to capture a second image; an X-axis and Y-axis deviation compensation unit, configured to, upon receiving an X-axis deviation compensation value and a Y-axis deviation compensation value of a feature area of ​​the second image and the standard image fed back by the industrial computer, control the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation, and then send a request to the industrial computer to capture a third image; The reset unit is used to control the end effector to retract when receiving a message indicating that the teaching is completed from the industrial computer.

[0019] The present invention also discloses another STOCKER storage location teaching system, comprising: An acquisition unit, used for acquiring a storage location to be taught; A task sending unit, configured to send a teaching task regarding the storage location to be taught to the controller; a first matching unit, configured to receive a first shooting request sent by the controller, control a 2D image collector on an end effector of the pick-and-place robot to capture a first image or image one and match the first image or image one with a standard image, wherein when the first image is captured, the end effector is in a first position; and when the image one is captured, the end effector is in a second position; a first teaching position storage unit, configured to store the coordinates of the first position or the coordinates of the second position as the teaching position of the storage position when it is determined that the first image or the first image successfully matches the standard image, and to feed back a teaching completion message to the controller; an angle deviation feedback unit, configured to determine an angle deviation compensation value between the first image or the first image and the characteristic area of ​​the standard image and feed the compensation value back to the controller when it is determined that the first image or the first image does not match the standard image successfully; a second matching unit, configured to receive a second shooting request sent by the controller, control the 2D image collector to capture a second image or image 2, and match the second image or image 2 with the standard image; when the second image is captured, the end effector is in a third position, and when the second image is captured, the end effector is in a third position; a second teaching position storage unit, configured to store the coordinates of the third position or the coordinates of the third position as the teaching position of the storage position when it is determined that the second image or the second image successfully matches the standard image, and to feed back a message indicating that the teaching is completed to the controller; The X-axis and Y-axis deviation feedback unit is used to determine the X-axis deviation compensation value X of the feature area of ​​the second image or the second image and the standard image when it is determined that the second image or the second image does not match the standard image successfully. 补 and Y-axis deviation compensation value Y 补 And feed back to the controller; a third matching unit, configured to receive a third shooting request sent by the controller, control the 2D image collector to capture a third image or a third image, and match the third image or the third image with the standard image; when the third image is captured, the end effector is in a fourth position, and when the third image is captured, the end effector is in a fourth position; A third teaching position storage unit is configured to store the coordinates of the fourth position or the coordinates of the fourth position as the teaching position of the storage position when it is determined that the third image or the third image matches the standard image successfully, and feed back a message of teaching completion to the controller; A matching failure processing unit is configured to end the teaching and alarm or re-teach when it is determined that the third image or the third image does not match the standard image successfully.

[0020] A storage medium is configured to store an executable program, and the executable program is configured to implement the method according to any one of the above when executed.

[0021] An electronic device is configured to include a memory and a processor, the memory is configured to store a program that can be processed by the processor, and the program is configured to implement the method according to any one of the above when executed.

[0022] A STOCKER storage position teaching device is configured to include: A control system is configured to be connected with a pick-and-place robot in the STOCKER and control the work of the pick-and-place robot; A 2D image collector is configured to be arranged on an end effector of the pick-and-place robot and controlled by the control system to collect images of the storage position; A laser sensor is configured to be arranged on the end effector and connected with the control system; The control system is configured to teach the storage position according to the method according to any one of the above.

[0023] The advantages of the technical scheme of the present application mainly include: The present application can realize automatic teaching by using a 2D camera, greatly saving the cost of manual teaching, greatly improving the efficiency and accuracy compared with manual teaching, and greatly reducing the equipment cost and implementation difficulty of teaching compared with 3D camera teaching. Moreover, the teaching method of the present application can be realized by adding a simple teaching tool structure based on the existing equipment, which is convenient for popularization and use on the existing STOCKER. Furthermore, the automatic teaching of the present application can improve the teaching accuracy of the storage position, thereby reducing the requirement for the installation accuracy of the storage position to a certain extent, and reducing the difficulty of equipment assembly and debugging. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a perspective view of the teaching tool of the present application installed on the end effector for teaching; Figure 2 is a schematic view of the connection of the 2D image collector, industrial computer, PLC and laser sensor of the present application; Figure 3 is a partial top view of the STOCKER of the present application; Figure 4It is a top view of the positional relationship between the 2D image collector and the storage position during teaching in the present invention; Figure 5 is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0025] The objects, advantages, and features of the present invention are illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of the application of the technical solutions of the present invention, and any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

[0026] In the description of the scheme, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplification. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] Example 1 The following describes the STOCKER storage position teaching method disclosed by the present invention in conjunction with the accompanying drawings. The teaching method is based on a teaching tool 100, as shown in the accompanying drawings. Figure 1 As shown, the teaching tool 100 includes a bracket 110. The bracket 110 is, for example, a "匚"-shaped frame. Of course, the bracket 110 can also be of other shapes, which is not limited here. An image acquisition component 120 is provided on the top plate of the bracket 110. The image acquisition component 120 includes a 2D image collector 121, a lens 122 and a light source 123. The 2D image collector 121 can be a known camera. The 2D image collector 121 collects images downward and its optical axis extends in the vertical direction. The light source 123 is a ring light source 123 and is connected to the periphery of the lens 122. A connecting component for connecting the end effector 211 of the pick-and-place robot 210 of the STOCKER 200 is provided on the bottom plate 111 of the bracket 110.

[0028] In order to facilitate the rapid disassembly and assembly of the teaching tool 100 and the end effector 211, as shown in the attached Figure 1As shown, the connection assembly includes at least three leveling assemblies 130 arranged in a polygonal pattern on the base plate 111, and at least one locking assembly 140. The locking assembly 140 utilizes a known quick-release clamp 141 to lock the teaching tool 100 to the end effector 211. During installation, the leveling assembly 130 rests against the top of the base plate 111. The clamping head of the quick-release clamp 141 on the locking assembly 140 then presses against the bottom of the end effector 211, thereby connecting the teaching tool 100 to the end effector 211. To disassemble, the teaching tool 100 and the end effector 211 can be separated by simply loosening the clamping head of the quick-release clamp. Furthermore, the leveling bolts of the leveling assembly 130 can be used to level the bracket 110, thereby ensuring the camera is level. The specific structures of the leveling assembly 130 and the quick-release clamp are known in the art and are not described in detail here.

[0029] As attached Figure 2 As shown, the 2D image acquisition device 121 is connected to a control system, which includes an industrial computer 220 in the stocker and a controller that communicates with it. Preferably, the 2D image acquisition device 121 is connected to the industrial computer 220 via a wireless network. The industrial computer 220 uses the QT platform and is connected to the OpenCV algorithm library for image processing. The controller can be, for example, a PLC, a single-chip microcomputer, or a microcontroller. The industrial computer 220 and the controller can be two separate devices; however, they can also be integrated into a single device.

[0030] As attached Figure 3 As shown, the controller below is explained using PLC230 as an example. The PLC is connected to multiple servo drive units that realize the X-axis, Y-axis, Z-axis and T-axis movements of the pick-and-place robot 210, wherein the X-axis direction is defined as the arrangement direction of a row of storage locations 240 in STOCKER200, the Y-axis direction is perpendicular to the X-axis direction, the Z-axis direction is the plumb direction, and the T-axis is the plumb axis around which the end effector of the pick-and-place robot 210 rotates horizontally.

[0031] As attached Figure 1 , Attachment Figure 2 As shown, the PLC is also connected to a laser sensor 300, which is arranged above the end effector 211 and close to the inner end of the end effector. Correspondingly, in the two fork arms of each storage position 240, at least one end plate outer surface facing the pick-and-place robot 210 is also provided with a reflective sheet 400 corresponding to the laser sensor 300. The reflective sheet 400 is preferably a 10×10mm reflective sticker, and of course it can also be a reflective plate, a mirror, etc.

[0032] Before teaching, the teaching tool 100 is fixed to a designated position on the end effector 211. The specific setting can be as needed and is not limited here. Then, the conversion relationship between the camera coordinate system and the robot coordinate system is established using the known 9-point calibration method, and the actual physical size corresponding to each pixel is calculated.

[0033] Then, the pick-and-place robot 210 can be manually operated to calibrate a standard location in the STOCKER to obtain a standard image of the standard location. In the specific operation, the X-axis coordinate X of the position to which the end effector 211 is to be moved when the standard image is taken can be determined in advance. 标 , Y-axis coordinate Y 标 and T axis coordinate T 标 , the end effector 211 moves to the X-axis coordinate X 标 , Y-axis coordinate Y 标 and T axis coordinate T 标 When the FOUP is in the corresponding position, the end effector 211 is moved up and down to accurately remove the FOUP from the standard storage location or place the FOUP on the end effector 211 on the standard storage location.

[0034] Furthermore, during calibration, when the end effector 211 is at the X-axis coordinate X 标 , Y-axis coordinate Y 标 and T axis coordinate T 标 After the location, as attached Figure 1 , Attachment Figure 4 As shown, the end effector 211 is located below the standard storage location, and the 2D image collector 121 is located above the standard storage location. Then, the pick-and-place robot 210 is controlled to slowly move the end effector 211 upward until the distance between the lens 122 on the 2D image collector 121 and the standard storage location is between 165-175 mm, preferably 170 mm. The movement is stopped and the Z-axis coordinate Z of the end effector 211 at this time is recorded. 标 At this time, the field of view 124 of the 2D image collector 121 is 220mm×200mm, so the image collected can be used for teaching better. In addition, at this time, the light spot of the laser sensor 300 is at the middle height on the reflective sheet 400. At this time, the coordinates (X 标、 Y 标、 Z 标、 T 标 ), which is the reference coordinate.

[0035] After the reference coordinates are determined, since the position parameters (theoretical horizontal distance and theoretical height difference, etc.) between each storage location in the STOCKER 200 are determined, the rough position coordinates (X) to which the end effector 211 is to move when the 2D image collector 121 collects images at other storage locations can be determined based on the reference coordinates and the position parameters between the storage location to be taught and the standard storage location. 粗 ,Y 粗 ,T 粗 ,Z 粗 ) and stored in the industrial computer 220.

[0036] When storage location teaching is required, the storage location that needs to be taught can be manually selected on the manual interaction interface of the industrial control computer 220.

[0037] Correspondingly, as shown in the attached Figure 5 As shown, the teaching method includes the following steps: After the industrial computer 220 determines the manually selected storage location that needs to be taught, it sends a teaching task for teaching the storage location to the PLC. The teaching task at least includes the rough position coordinates (X 粗 ,Y 粗 ,T 粗 ,Z 粗 ), and can also include information such as the number of the storage location that needs to be taught.

[0038] The PLC obtains the rough position coordinates (X 粗 ,Y 粗 ,T 粗 ,Z 粗 ), the pick-and-place robot 210 is controlled to drive the end effector 211 thereon to move to the first position corresponding to the coarse position coordinate and send a shooting request to the industrial computer 220.

[0039] After receiving the shooting request, the industrial computer 220 controls the 2D image acquisition device 121 on the end effector 211 to acquire the first image of the storage location and determines whether the matching degree between the first image and the standard image meets the requirements; during the specific image processing, the first image is first pre-processed, including performing denoising, white balancing, color correction and other operations on the first image to optimize the image quality; and the target and background are separated by binarization and Gaussian filtering.

[0040] Then, feature extraction and contour recognition are performed on the preprocessed first image: specifically, the findContours function of OpenCV is used to connect discrete edge points into a continuous contour curve. The corresponding technology is known technology and will not be described in detail here. Then, the matching degree of the first image and the standard image can be determined by comparing their feature areas. When the matching degree reaches a predetermined value, it can be determined that the matching degree of the currently acquired image and the standard image meets the requirements and the two are successfully matched. The predetermined value can be set as needed, for example, to 99%, which is not limited here. In OpenCV, the method for determining the matching degree of two images is known technology and is not an innovation of the present invention and will not be described in detail here.

[0041] If so, that is, the matching degree of the feature area of ​​the first image and the standard image meets the requirements, the industrial computer 220 feeds back information that the two images (the first image and the standard image) are successfully matched to the PLC, the industrial computer 220 stores the coarse position coordinates as the teaching position of the storage position, and feeds back a message of teaching completion to the controller, and the PLC controls the end effector to move at least along the Y-axis direction so as to retract from the top of the storage position to the outside of the storage position to avoid affecting subsequent actions.

[0042] If not, that is, the matching degree between the first image and the characteristic area of ​​the standard image does not meet the requirements, the matching between the two fails, the industrial computer 220 determines the angular deviation between the characteristic area of ​​the first image and the standard image, and obtains the angular deviation compensation value T by inverting the angular deviation. 补 In OpenCV, the specific method for determining the angular deviation of the feature areas of two images is a known technology. For example, the deviation value from the center of mass of the feature areas of the two images to the image center can be determined, and the angular deviation can be obtained by determining the directional angle between the deviation values ​​of the two images. The corresponding method is not an innovation of the present invention and will not be described in detail here.

[0043] The industrial computer 220 calculates the angle deviation compensation value T 补 Feedback to the PLC.

[0044] The PLC controls the pick-and-place robot 210 to drive the end effector 211 to move to a second position to compensate for the angle deviation. The coordinates of the second position are (X 粗 ,Y 粗 ,T 粗 +T 补 ,Z 粗 ), even if the end effector 211 is in the first position, only the T-axis is adjusted.

[0045] After the above adjustments are made, the PLC controls the pick-and-place robot 210 to drive the end effector 211 to move up and down to determine the target Z-axis coordinate to which the end effector 211 is to move according to the signal of the laser sensor 300 on the end effector 211 .

[0046] Specifically, the target Z-axis coordinate to which the end effector 211 is to move is determined according to the following process: The PLC controls the pick-and-place robot 210 to drive the end effector 211 to move upward. When it is determined that the signal of the laser sensor 300 has a sudden change, that is, the light spot emitted by the laser sensor 300 has just moved above the reflective sheet 400, the first height coordinate Z1 of the end effector 211 when the signal has a sudden change is recorded.

[0047] The PLC controls the pick-and-place robot 210 to drive the end effector 211 to move downward. When it is determined that the signal of the laser sensor 300 has a sudden change, that is, the light spot emitted by the laser sensor 300 has just moved below the reflective sheet 400, the second height coordinate Z2 of the end effector 211 when the signal has a sudden change is recorded.

[0048] The order in which the PLC controls the end effector 211 to move upward and downward can be determined as needed and is not limited here.

[0049] The end effector 211 is to move to the target Z-axis coordinate Z 目 =(Z1+Z2) / 2.

[0050] The PLC controls the pick-and-place robot 210 to drive the end effector 211 to move to the third position along the Z axis according to the target Z axis coordinate to be moved to and sends a shooting request to the industrial computer 220. The coordinates of the third position are (X 粗 ,Y 粗 ,T 粗 +T 补 ,Z 目 ), that is, in this step, based on the above-mentioned second position, the end effector 211 is adjusted only in the Z-axis direction.

[0051] The industrial computer 220 controls the 2D image collector 121 to collect the second image of the storage location and determines whether the matching degree between the second image and the standard image meets the requirements.

[0052] If so, that is, it is determined that the second image matches the standard image successfully, the industrial computer 220 stores the coordinates of the third position as the teaching position of the storage position, and feeds back a message of teaching completion to the PLC. The PLC controls the end effector to retract at least from the top of the storage position to the outside of the storage position to avoid affecting subsequent actions, thereby completing the teaching of the storage position.

[0053] If not, that is, it is determined that the second image and the standard image are not matched successfully, the industrial computer 220 determines the X-axis deviation compensation value X of the feature area of ​​the second image and the standard image. 补 and Y-axis deviation compensation value Y 补 .

[0054] The X-axis deviation compensation value X between the second image and the standard image 补 and Y-axis deviation compensation value Y 补 Determine according to the following process: Determine the deviation value (X 偏 , Y 偏 ); Multiply the deviation value by the physical size S corresponding to each pixel 像 Get the actual deviation size (X 偏 *S 像 , Y 偏 *S 像 ); The actual deviation size is converted into the X-axis deviation value X through the conversion relationship 差 And Y axis deviation value Y 差 , specifically according to the following conversion relationship, X 差 =X 偏 *S 像 *cosT 补 +Y 偏 *S 像 sinT 补 , Y 差 =-X 偏 *S 像 *sinT 补 +Y 偏 *S 像 2cosT 补 .

[0055] The X-axis deviation value X 差 And Y axis deviation value Y 差 The X-axis deviation compensation value X can be obtained by taking the inverse 补 and Y-axis deviation compensation value Y 补 .

[0056] The industrial computer 220 converts the X-axis deviation compensation value X 补 and Y-axis deviation compensation value Y 补 Feedback to PLC.

[0057] The PLC controls the pick-and-place robot 210 to drive the end effector 211 to move to the fourth position to compensate for the X-axis deviation and the Y-axis deviation. The coordinates of the fourth position are (X粗 +X 补 ,Y 粗 +Y 补 ,T 粗 +T 补 ,Z 目 ).

[0058] The industrial computer 220 controls the 2D image collector 121 to collect the third image of the storage location and determines whether the matching degree between the third image and the standard image meets the requirements; If so, the industrial computer 220 stores the coordinates of the fourth position as the teaching position of the storage position, and feeds back a message of teaching completion to the PLC. The PLC controls the end effector to retract at least from the top of the storage position to the outside of the storage position to avoid affecting subsequent actions, thereby completing the teaching of the storage position.

[0059] If not, the industrial computer 220 ends the teaching and issues an alarm or performs the teaching again.

[0060] Furthermore, in order to improve the safety of teaching and avoid the camera colliding with the FOUP on the storage location when the end effector 211 moves to the storage location that needs teaching, before controlling the pick-and-place robot 210 to drive the end effector 211 thereon to move to the first position, the pick-and-place robot 210 is first controlled to drive its end effector 211 to move to the detection position to detect whether there is material (FOUP) on the storage location. If so, an alarm is issued and teaching is stopped; if not, the pick-and-place robot 210 is controlled to drive the end effector 211 thereon to move to the first position.

[0061] When determining whether there is material on the storage location, it is determined by cooperating with a reflective sensor or a reflective plate and a self-reflective sensor set on the end effector 211 and the storage location. Preferably, a reflective plate 241 is set on the top of each storage location, and the reflective plate 241 is located on the side of the storage location facing away from the pick-and-place robot 210. The end effector 211 is provided with a self-reflective sensor corresponding to the reflective plate. When there is a FOUP on the storage location, the light emitted by the self-reflective sensor is blocked, so that the self-reflective sensor cannot receive the reflected light, thereby determining that there is a FOUP on the storage location. Otherwise, it can be determined that there is no FOUP on the storage location.

[0062] The detection position satisfies that the X-axis coordinate and T-axis coordinate of the position of the end effector 211 are the same as the X-axis coordinate and T-axis coordinate of the first position, and at the detection position, the Y-axis coordinate of the end effector 211 corresponds to the position when the end effector 211 has not yet extended to the storage position, and the Z-axis coordinate of the end effector 211 satisfies that the self-reflection sensor corresponds to the position of the reflector.

[0063] Furthermore, in order to improve the teaching efficiency, when the matching degree between the feature area of ​​the first image acquired at the first position and the feature area of ​​the standard image does not meet the requirements, it is further determined whether the matching degree between the feature areas of the two is greater than a set threshold. If the matching degree between the feature areas of the two is greater than the set threshold, the angular deviation of the feature area is further determined to obtain the angular deviation compensation value T. 补 .

[0064] If the matching degree of the feature regions of the two is less than or equal to the threshold, the 2D image collector 121 is controlled to recapture the image and perform feature region matching again; If multiple images are recaptured and the matching degree obtained from each feature area matching is less than or equal to the threshold, the teaching is stopped and an alarm is issued. The number of repeated image acquisitions can be set as needed and is not limited here.

[0065] Example 2 This embodiment also discloses a STOCKER storage location teaching system, including: A storage location determination unit, used to obtain the storage location to be taught; a first movement control unit, for controlling the end effector on the pick-and-place robot to move to a first position corresponding to the coarse position coordinates of the storage location to be taught; a first image matching unit, configured to control a 2D image collector on the end effector to acquire a first image of the storage location and determine whether a degree of matching between the first image and a standard image meets requirements; a first teaching position storage unit, configured to store the coarse position coordinates as the teaching position of the storage position when it is determined that the matching degree between the first image and the standard image meets the requirements; an angle deviation determining unit, configured to determine an angle deviation between a feature area of ​​the first image and the standard image when it is determined that the matching degree between the first image and the standard image does not meet the requirement; an angle compensation unit, configured to control the end effector to move to a second position to compensate for the angle deviation; A Z-axis coordinate determination unit, configured to control the end effector to move up and down and determine a target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; A Z-axis compensation unit, used for controlling the end effector to move along the Z-axis to a third position corresponding to the target Z-axis coordinate; a second image matching unit, configured to control the 2D image collector to acquire a second image of the storage location and determine whether a degree of matching between the second image and the standard image meets requirements; a second teaching position storage unit, configured to store the coordinates of the third position as the teaching position of the storage position when it is determined that the matching degree between the second image and the standard image does not meet the requirements; An X-axis and Y-axis deviation determining unit, configured to determine an X-axis deviation and a Y-axis deviation of a feature area between the second image and the standard image when it is determined that the degree of matching between the second image and the standard image does not meet the requirements; An X-axis and Y-axis deviation compensation unit is used to control the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation; a third image matching unit, configured to control the 2D image collector to acquire a third image of the storage location and determine whether a degree of matching between the third image and the standard image meets requirements; a third teaching position storage unit, configured to store the coordinates of the fourth position as the teaching position of the storage position when it is determined that the matching degree between the third image and the standard image meets the requirements; The failure processing unit is used to end the teaching and issue an alarm or re-teach when it is determined that the matching degree between the third image and the standard image does not meet the requirements.

[0066] Example 3 This embodiment discloses another stocker storage position teaching method. Different from the above embodiment 1, the present invention first performs Z-axis compensation, then T-axis compensation, and finally X-axis and Y-axis compensation. It includes the following steps: Get the storage location to be taught; Control the pick-and-place robot to drive the end effector thereon to move to position 1 corresponding to the rough position coordinate of the storage location to be taught, where the rough position coordinate is (X 粗 ,Y 粗 ,T 粗 ,Z 粗 ); Control the end effector to move up and down, and determine the target Z-axis coordinate Z to which the end effector is to move based on the signal of the laser sensor on the end effector 目 ; Control the end effector to move along the Z axis to position 2 corresponding to the target Z axis coordinate. The coordinate of position 2 is (X 粗 ,Y 粗 ,T 粗 ,Z 目 ); controlling the 2D image collector on the end effector to collect the image of the storage location and determine whether the matching degree between the image and the standard image meets the requirements; If so, storing the coordinates of the second position as the teaching position of the storage position; If not, determining an angular deviation between the feature area of ​​the first image and the standard image; Control the end effector to move to position three to compensate for the angle deviation. The coordinates of position three are (X 粗 ,Y 粗 ,T粗 +T 补 ,Z 目 ); controlling the 2D image collector to collect image two of the storage location and determining whether the matching degree of image two and the standard image meets the requirement; if yes, storing the coordinates of the position three as the teaching position of the storage location; if no, determining the X-axis deviation and Y-axis deviation of the image two and the feature area of the standard image; controlling the end effector to move to position four to compensate for the X-axis deviation and Y-axis deviation, the coordinates of position four being (X 粗 +X 补 ,Y 粗 +Y 补 ,T 粗 +T 补 ,Z 目 ); controlling the 2D image collector to collect image three of the storage location and determining whether the matching degree of image three and the standard image meets the requirement; if yes, storing the coordinates of the position four as the teaching position of the storage location; if no, ending the teaching and alarming or re-teaching.

[0067] Embodiment 4 The embodiment discloses a STOCKER storage location teaching method, which mainly reflects the control logic of a controller (PLC), and includes the following steps: obtaining the coarse position coordinates (X 粗 ,Y 粗 ,T 粗 ,Z 粗 ) of the storage location to be taught; controlling the pick-and-place robot to drive the end effector thereon to move to a first position corresponding to the coarse position coordinates and sending a request for shooting a first image to the industrial computer 220 in the industrial computer 220; when receiving the angle deviation T 补 fed back by the industrial computer 220, controlling the pick-and-place robot to drive the end effector to move to a second position to compensate for the angle deviation, the coordinates of the second position being (X 粗 ,Y 粗 ,T 粗 +T 补 ,Z 粗 ); controlling the pick-and-place robot to drive the end effector to move up and down and determining the target Z-axis coordinates to which the end effector is to be moved according to the signal of the laser sensor on the end effector; After controlling the pick-and-place robot to drive the end effector to move along the Z axis to the third position corresponding to the target Z axis coordinate, a request for capturing a second image is sent to the industrial computer 220. The coordinates of the third position are (X 粗 ,Y 粗 ,T 粗 +T 补 ,Z 目 ); When receiving the X-axis deviation compensation value X of the feature area of ​​the second image and the standard image fed back by the industrial computer 220, 补 and Y-axis deviation compensation value Y 补 When the pick-and-place robot is controlled to drive the end effector to move to the fourth position to compensate for the X-axis deviation and the Y-axis deviation, a request for capturing a third image is sent to the industrial computer 220. The coordinates of the fourth position are (X 粗 +X 补 ,Y 粗 +Y 补 ,T 粗 +T 补 ,Z 目 ); When receiving a message indicating that teaching is completed from the industrial computer, the end effector is controlled to retract.

[0068] Example 5 This embodiment discloses a STOCKER storage position teaching system, corresponding to the method of embodiment 4, which includes: A coarse position coordinate acquisition unit, used to acquire the coarse position coordinates of the storage position to be taught; a first moving unit, configured to control the pick-and-place robot to drive the end effector thereon to move to a first position corresponding to the coarse position coordinates and send a request to the industrial computer 220 to capture a first image; an angle deviation compensation unit, configured to control the end effector to move to a second position to compensate for the angle deviation when receiving the angle deviation compensation value fed back by the industrial computer 220; a target Z-axis coordinate determining unit, configured to control the end effector to move up and down and determine the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; A Z-axis adjustment unit, configured to control the end effector to move along the Z-axis to a third position corresponding to the target Z-axis coordinate, and then send a request to the industrial computer 220 to capture a second image; an X-axis and Y-axis deviation compensation unit, configured to, upon receiving an X-axis deviation compensation value and a Y-axis deviation compensation value of a feature area of ​​the second image and the standard image fed back by the industrial computer 220, control the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation, and then send a request to the industrial computer 220 to capture a third image; The reset unit is used to control the end effector to retract when receiving a message indicating that the teaching is completed from the industrial computer.

[0069] Example 6 This embodiment discloses a stocker storage position teaching method, which mainly reflects the control flow of the industrial computer 220 during the stocker storage position teaching process, including the following steps: Get the storage location to be taught.

[0070] A teaching request regarding the storage location to be taught is sent to the controller.

[0071] Receive a first shooting request sent by the controller, control the 2D image collector on the end effector of the pick-and-place robot to capture a first image or image 1 and match the first image or image 1 with a standard image. When the first image is captured, the end effector is at a first position, and the first position coordinate is (X 粗 ,Y 粗 ,T 粗 ,Z 粗 When the image is collected, the end effector is in position 2, and the coordinates of the position 2 are (X 粗 ,Y 粗 ,T 粗 ,Z 目 ).

[0072] When it is determined that the first image or image 1 successfully matches the standard image, the coordinates of the first position or the coordinates of position 2 are stored as the teaching position of the storage position, a message of teaching completion is fed back to the controller, and an instruction of teaching completion is fed back to the controller.

[0073] When it is determined that the first image or the first image does not match the standard image successfully, an angular deviation compensation value between the feature area of ​​the first image or the first image and the standard image is determined and fed back to the controller.

[0074] Receive the second shooting request sent by the controller, control the 2D image collector to collect the second image or the second image, and match the second image or the second image with the standard image; when collecting the second image, the end effector is in the third position, and when collecting the second image, the end effector is in the third position, and the coordinates of the third position and the third position are the same, which is (X 粗 ,Y粗 ,T 粗 +T 补 , Z 目 ).

[0075] When it is determined that the second image or the second image successfully matches the standard image, the coordinates of the third position or the coordinates of the third position are stored as the teaching position of the storage position, and a message indicating that the teaching is completed is fed back to the controller.

[0076] When it is determined that the second image or image 2 does not match the standard image successfully, the X-axis deviation compensation value Xcompensation and the Y-axis deviation compensation value Ycompensation of the feature area of ​​the second image or image 2 and the standard image are determined and fed back to the controller.

[0077] Receive the third shooting request sent by the controller, control the 2D image collector to collect the third image or the third image, and match the third image or the third image with the standard image; when collecting the third image, the end effector is in the fourth position, and when collecting the third image, the end effector is in the fourth position, and the coordinates of the fourth position and the fourth position are the same, and the coordinates of the third position are (X 粗 ,Y 粗 ,T 粗 +T 补 , Z 目 ).

[0078] When it is determined that the third image or the third image successfully matches the standard image, the coordinates of the fourth position or the coordinates of the fourth position are stored as the teaching position of the storage position, and a message indicating that the teaching is completed is fed back to the controller.

[0079] When it is determined that the third image or image three does not match the standard image successfully, the teaching is terminated and an alarm is issued or the teaching is repeated.

[0080] Example 7 This embodiment discloses a STOCKER storage location teaching system, corresponding to the teaching method corresponding to embodiment 6, which includes: An acquisition unit, used for acquiring a storage location to be taught; A task sending unit, configured to send a teaching task regarding the storage location to be taught to the controller; a first matching unit, configured to receive a first shooting request sent by the controller, control a 2D image collector on an end effector of the pick-and-place robot to capture a first image or image one and match the first image or image one with a standard image, wherein when the first image is captured, the end effector is in a first position; and when the image one is captured, the end effector is in a second position; The first teaching position storage unit is configured to store the coordinates of the first position or the coordinates of the second position as the teaching position of the storage position when it is determined that the first image or the first image matches the standard image, and feed back a message of teaching completion to the controller. The angle deviation feedback unit is configured to determine the angle deviation compensation value of the first image or the first image from the feature region of the standard image and feed back to the controller when it is determined that the first image or the first image does not match the standard image. The second matching unit is configured to receive a second shooting request sent by the controller, control the 2D image collector to collect a second image or a second image, and match the second image or the second image with the standard image; the end effector is in a third position when the second image is collected, and the end effector is in a third position when the second image is collected. The second teaching position storage unit is configured to store the coordinates of the third position or the coordinates of the third position as the teaching position of the storage position when it is determined that the second image or the second image matches the standard image, and feed back a message of teaching completion to the controller. The X-axis and Y-axis deviation feedback unit is configured to determine the X-axis deviation compensation value X 补 and the Y-axis deviation compensation value Y 补 of the second image or the second image from the feature region of the standard image and feed back to the controller when it is determined that the second image or the second image does not match the standard image. The third matching unit is configured to receive a third shooting request sent by the controller, control the 2D image collector to collect a third image or a third image, and match the third image or the third image with the standard image; the end effector is in a fourth position when the third image is collected, and the end effector is in a fourth position when the third image is collected. The third teaching position storage unit is configured to store the coordinates of the fourth position or the coordinates of the fourth position as the teaching position of the storage position when it is determined that the third image or the third image matches the standard image, and feed back a message of teaching completion to the controller. The matching failure processing unit is configured to end the teaching and alarm or re-teach when it is determined that the third image or the third image does not match the standard image.

[0081] Embodiment 8 The embodiment discloses a storage medium storing an executable program, which is executed to implement the method of any one of the above.

[0082] Embodiment 9 This embodiment discloses an electronic device including a memory and a processor, wherein the memory stores a program that can be processed by the processor, and when the program is executed, any of the above methods is implemented. The electronic device is, for example, the control system, industrial computer 220, or controller in the above embodiments.

[0083] Example 10 This embodiment discloses a STOCKER storage position teaching device, including: A control system, communicating with the pick-and-place robot in the STOCKER and controlling the operation of the pick-and-place robot; a 2D image collector, disposed on the end effector of the pick-and-place robot and controlled by the control system to collect images of storage locations; a laser sensor, disposed on the end effector and connected to the control system; The control system performs storage position teaching according to the methods described in Examples 1 and 3 above.

[0084] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. STOCKER storage position teaching method, characterized in that: The steps include: Get the storage location to be taught; Controlling the end effector on the pick-and-place robot to move to a first position corresponding to the rough position coordinates of the storage location to be taught; controlling a 2D image collector on an end effector to collect a first image of the storage location and determining whether a degree of matching between the first image and a standard image meets requirements; If so, storing the coarse position coordinates as the teaching position of the storage position; If not, determining an angular deviation between the feature area of ​​the first image and the standard image; controlling the end effector to move to a second position to compensate for the angular deviation; Controlling the end effector to move up and down and determining the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; Control the end effector to move along the Z axis to a third position corresponding to the target Z axis coordinate; controlling the 2D image collector to acquire a second image of the storage location and determining whether a degree of matching between the second image and the standard image meets requirements; If so, storing the coordinates of the third position as the teaching position of the storage position; If not, determining an X-axis deviation and a Y-axis deviation of the feature area of ​​the second image and the standard image; Controlling the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation; controlling the 2D image collector to acquire a third image of the storage location and determining whether a matching degree between the third image and the standard image meets requirements; If so, storing the coordinates of the fourth position as the teaching position of the storage position; If not, the teaching is terminated and an alarm is issued or the teaching is repeated.

2. The STOCKER storage position teaching method according to claim 1, characterized in that: Before controlling the end effector to move to the first position, the end effector is first controlled to move to the detection position to detect whether there is material on the storage location. If so, an alarm is issued and teaching is stopped. If not, the end effector is controlled to move to the first position.

3. The STOCKER storage position teaching method according to claim 2, characterized in that: Whether there is material on the storage location is determined by the cooperation of a through-beam sensor or a reflector and a self-reflection sensor provided on the end effector and the storage location.

4. The STOCKER storage position teaching method according to claim 1, characterized in that: The coarse position coordinates corresponding to each storage position that needs to be taught are determined based on the reference coordinates obtained by calibrating the standard storage position and the position parameters between the storage position and the standard storage position.

5. The STOCKER storage position teaching method according to claim 1, characterized in that: The 2D image collector is arranged on a bracket, and the bracket is quickly detachably arranged on the end effector through a quick clamp.

6. The STOCKER storage position teaching method according to claim 1, characterized in that: A reflective sheet matching the laser sensor on the end effector is provided at the end of each storage location facing the pick-and-place robot; The target Z-axis coordinate to which the end effector is to move is determined according to the following process: Controlling the end effector to move upward, when it is determined that the laser sensor signal mutates, recording the first height coordinate Z1 of the end effector when the signal mutates; Controlling the end effector to move downward, when it is determined that the laser sensor signal mutates, the second height coordinate Z2 of the end effector is recorded when the signal mutates; The end effector is to move to the target Z-axis coordinate Z 目 =(Z1+Z2) / 2.

7. The STOCKER storage position teaching method according to claim 1, characterized in that: After the first image is acquired, if it is determined that the matching degree between the first image and the feature area of ​​the standard image does not meet the requirements, determining whether the matching degree between the two is greater than a set threshold; If so, continue to determine the angular deviation of the feature area; If not, the 2D image collector is controlled to recapture the image and perform feature area matching again; If multiple images are recaptured and the matching degree obtained by each feature area matching is less than or equal to the threshold, the teaching is stopped and an alarm is issued.

8. STOCKER storage position teaching method, characterized in that: The steps include: Get the storage location to be taught; Controlling the pick-and-place robot to drive the end effector thereon to move to position one corresponding to the coarse position coordinate; Controlling the end effector to move up and down, and determining the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; Control the end effector to move along the Z axis to a second position corresponding to the target Z axis coordinate; controlling the 2D image collector on the end effector to collect the image of the storage location and determine whether the matching degree between the image and the standard image meets the requirements; If so, storing the coordinates of the second position as the teaching position of the storage position; If not, determining an angular deviation between the feature area of ​​the first image and the standard image; Controlling the end effector to move to position three to compensate for the angle deviation; controlling the 2D image collector to collect the second image of the storage location and determining whether the matching degree between the second image and the standard image meets the requirements; If so, storing the coordinates of the position three as the teaching position of the storage position; If not, determining an X-axis deviation and a Y-axis deviation of the feature area between the second image and the standard image; Controlling the end effector to move to position four to compensate for X-axis deviation and Y-axis deviation; controlling the 2D image collector to collect the third image of the storage location and determining whether the matching degree between the third image and the standard image meets the requirements; If so, storing the coordinates of the position 4 as the teaching position of the storage position; If not, the teaching is terminated and an alarm is issued or the teaching is repeated.

9. STOCKER storage position teaching method, characterized in that: The steps include: Get the rough position coordinates of the storage location to be taught; Controlling the pick-and-place robot to drive the end effector thereon to move to a first position corresponding to the coarse position coordinates and sending a request to the industrial computer to capture a first image; When receiving the angle deviation compensation value fed back by the industrial computer, controlling the end effector to move to a second position to compensate for the angle deviation; Controlling the end effector to move up and down and determining the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; After controlling the end effector to move along the Z axis to a third position corresponding to the target Z axis coordinate, a request to capture a second image is sent to the industrial computer; upon receiving the X-axis deviation compensation value and the Y-axis deviation compensation value of the feature area of ​​the second image and the standard image fed back by the industrial computer, controlling the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation, and then sending a request to the industrial computer to capture a third image; When receiving a message indicating that teaching is completed from the industrial computer, the end effector is controlled to retract.

10. STOCKER storage position teaching method, characterized in that: The steps include: Get the storage location to be taught; Sending a teaching task about the storage location to be taught to the controller; receiving a first shooting request sent by a controller, controlling a 2D image collector on an end effector of a pick-and-place robot to capture a first image or image one and matching the first image or image one with a standard image, wherein when the first image is captured, the end effector is in a first position; and when the image one is captured, the end effector is in a second position; When it is determined that the first image or the first image successfully matches the standard image, the coordinates of the first position or the coordinates of the second position are stored as the teaching position of the storage position, and a message indicating that the teaching is completed is fed back to the controller; When it is determined that the first image or the first image does not match the standard image successfully, determining an angle deviation compensation value between the feature area of ​​the first image or the first image and the standard image and feeding it back to the controller; receiving a second shooting request sent by the controller, controlling the 2D image collector to capture a second image or image 2, and matching the second image or image 2 with a standard image; when the second image is captured, the end effector is in the third position, and when the image 2 is captured, the end effector is in the third position; When it is determined that the second image or the second image successfully matches the standard image, the coordinates of the third position or the coordinates of the third position are stored as the teaching position of the storage position, and a teaching completion message is fed back to the controller; When it is determined that the second image or the second image does not match the standard image successfully, the X-axis deviation compensation value X of the feature area of ​​the second image or the second image and the standard image is determined. 补 and Y-axis deviation compensation value Y 补 And feed back to the controller; receiving a third shooting request sent by the controller, controlling the 2D image collector to capture a third image or a third image, and matching the third image or the third image with the standard image; when the third image is captured, the end effector is in a fourth position, and when the third image is captured, the end effector is in a fourth position; When it is determined that the third image or the third image successfully matches the standard image, the coordinates of the fourth position or the coordinates of the fourth position are stored as the teaching position of the storage position, and a teaching completion message is fed back to the controller; When it is determined that the third image or image three does not match the standard image successfully, the teaching is terminated and an alarm is issued or the teaching is repeated. 11.STOCKER storage teaching system, characterized by: include: A storage location determination unit, used to obtain the storage location to be taught; a first movement control unit, for controlling the end effector on the pick-and-place robot to move to a first position corresponding to the coarse position coordinates of the storage location to be taught; a first image matching unit, configured to control a 2D image collector on the end effector to acquire a first image of the storage location and determine whether a degree of matching between the first image and a standard image meets requirements; a first teaching position storage unit, configured to store the coarse position coordinates as the teaching position of the storage position when it is determined that the matching degree between the first image and the standard image meets the requirements; an angle deviation determining unit, configured to determine an angle deviation between a feature area of ​​the first image and the standard image when it is determined that the matching degree between the first image and the standard image does not meet the requirement; an angle compensation unit, configured to control the end effector to move to a second position to compensate for the angle deviation; A Z-axis coordinate determination unit, configured to control the end effector to move up and down and determine a target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; A Z-axis compensation unit, used for controlling the end effector to move along the Z-axis to a third position corresponding to the target Z-axis coordinate; a second image matching unit, configured to control the 2D image collector to acquire a second image of the storage location and determine whether a degree of matching between the second image and the standard image meets requirements; a second teaching position storage unit, configured to store the coordinates of the third position as the teaching position of the storage position when it is determined that the matching degree between the second image and the standard image does not meet the requirements; An X-axis and Y-axis deviation determining unit, configured to determine an X-axis deviation and a Y-axis deviation of a feature area between the second image and the standard image when it is determined that the degree of matching between the second image and the standard image does not meet the requirements; An X-axis and Y-axis deviation compensation unit is used to control the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation; a third image matching unit, configured to control the 2D image collector to acquire a third image of the storage location and determine whether a degree of matching between the third image and the standard image meets requirements; a third teaching position storage unit, configured to store the coordinates of the fourth position as the teaching position of the storage position when it is determined that the matching degree between the third image and the standard image meets the requirements; The failure processing unit is used to end the teaching and issue an alarm or re-teach when it is determined that the matching degree between the third image and the standard image does not meet the requirements. 12.STOCKER storage location teaching system, characterized by: include: A coarse position coordinate acquisition unit, used to acquire the coarse position coordinates of the storage position to be taught; a first moving unit, configured to control the pick-and-place robot to drive the end effector thereon to a first position corresponding to the coarse position coordinates and send a request to the industrial computer to capture a first image; an angle deviation compensation unit, configured to control the end effector to move to a second position to compensate for the angle deviation when receiving the angle deviation compensation value fed back by the industrial computer; a target Z-axis coordinate determining unit, configured to control the end effector to move up and down and determine the target Z-axis coordinate to which the end effector is to move based on a signal from a laser sensor on the end effector; A Z-axis adjustment unit, configured to control the end effector to move along the Z-axis to a third position corresponding to the target Z-axis coordinate, and then send a request to the industrial computer to capture a second image; an X-axis and Y-axis deviation compensation unit, configured to, upon receiving an X-axis deviation compensation value and a Y-axis deviation compensation value of a feature area of ​​the second image and the standard image fed back by the industrial computer, control the end effector to move to a fourth position to compensate for the X-axis deviation and the Y-axis deviation, and then send a request to the industrial computer to capture a third image; The reset unit is used to control the end effector to retract when receiving a message indicating that the teaching is completed from the industrial computer. 13.STOCKER storage location teaching system, characterized by: include: An acquisition unit, used for acquiring a storage location to be taught; A task sending unit, configured to send a teaching task regarding the storage location to be taught to the controller; a first matching unit, configured to receive a first shooting request sent by the controller, control a 2D image collector on an end effector of the pick-and-place robot to capture a first image or image one and match the first image or image one with a standard image, wherein when the first image is captured, the end effector is in a first position; and when the image one is captured, the end effector is in a second position; a first teaching position storage unit, configured to store the coordinates of the first position or the coordinates of the second position as the teaching position of the storage position when it is determined that the first image or the first image successfully matches the standard image, and to feed back a teaching completion message to the controller; an angle deviation feedback unit, configured to determine an angle deviation compensation value between the first image or the first image and the characteristic area of ​​the standard image and feed the compensation value back to the controller when it is determined that the first image or the first image does not match the standard image successfully; a second matching unit, configured to receive a second shooting request sent by the controller, control the 2D image collector to capture a second image or image 2, and match the second image or image 2 with the standard image; when the second image is captured, the end effector is in a third position, and when the second image is captured, the end effector is in a third position; a second teaching position storage unit, configured to store the coordinates of the third position or the coordinates of the third position as the teaching position of the storage position when it is determined that the second image or the second image successfully matches the standard image, and to feed back a message indicating that the teaching is completed to the controller; The X-axis and Y-axis deviation feedback unit is used to determine the X-axis deviation compensation value X of the feature area of ​​the second image or the second image and the standard image when it is determined that the second image or the second image does not match the standard image successfully. 补 and Y-axis deviation compensation value Y 补 And feed back to the controller; a third matching unit, configured to receive a third shooting request sent by the controller, control the 2D image collector to capture a third image or a third image, and match the third image or the third image with the standard image; when the third image is captured, the end effector is in a fourth position, and when the third image is captured, the end effector is in a fourth position; a third teaching position storage unit, configured to store the coordinates of the fourth position or the fourth position as the teaching position of the storage position when it is determined that the third image or the third image successfully matches the standard image, and to feed back a message indicating that the teaching is completed to the controller; The matching failure processing unit is used to end the teaching and issue an alarm or re-teach when it is determined that the third image or image three does not match the standard image successfully.

14. A storage medium storing an executable program, characterized in that: When the program is executed, the method according to any one of claims 1 to 10 is implemented.

15. An electronic device comprising a memory and a processor, wherein the memory stores a program that can be processed by the processor, wherein: When the program is executed, the method according to any one of claims 1 to 10 is implemented. 16.STOCKER storage position teaching device, characterized in that: include: A control system, communicating with the pick-and-place robot in the STOCKER and controlling the operation of the pick-and-place robot; a 2D image collector, disposed on the end effector of the pick-and-place robot and controlled by the control system to collect images of storage locations; a laser sensor, disposed on the end effector and connected to the control system; The control system performs storage position teaching according to any one of the methods described in claims 1-8.

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