Mounting guide for a delivery device

Abstract

The application relates to a mounting guide device for a conveying device, belonging to the field of electromechanical installation, comprising: a portal; a lifting mechanism installed on a portal beam and used for lifting a conveying device workpiece; an execution mechanism installed on a portal column and used for assembling the conveying device workpiece; a visual acquisition module installed on the portal column and used for collecting a conveying device workpiece state image in real time; and a control module configured to control the lifting mechanism to lift the conveying device workpiece, control the execution mechanism to assemble the conveying device workpiece according to a planned mounting path when the conveying device workpiece is lifted to a set mounting position, compare a quality parameter in the recognized conveying device workpiece state image with a standard parameter, judge whether the conveying device workpiece installation is up to standard, and control the lifting mechanism and the execution mechanism to adjust the position of the conveying device workpiece until the installation is up to standard when the installation is not up to standard. The application has low professional technical requirements, high mounting precision and efficiency, and low mounting cost and safety risk.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical and electrical installation, in particular to an installation guiding device for conveying equipment. BACKGROUND

[0002] When installing conveying equipment, each workpiece needs to be sequentially installed according to the process. When installing each workpiece, the position of the workpiece to be installed needs to be adjusted to the correct position for installation. The traditional installation process of conveying equipment mainly relies on the experience of installers and simple measuring tools such as level and tape measure. The positioning reference of this method depends on the experience of installers, and there is a certain error. The workpiece position is adjusted manually, which requires a lot of manpower and time. There is no real-time feedback on quality inspection during installation, which leads to a high rework rate after installation. This manual method not only consumes a lot of manpower, is low in efficiency, and is high in safety risk, but also has the problems of low installation precision, high rework rate, and high time cost. SUMMARY

[0003] Therefore, it is necessary to provide an installation guiding device for conveying equipment to solve the problems of low efficiency, low precision, and high rework rate in the traditional installation process of conveying equipment.

[0004] In a first aspect, an installation guiding device for conveying equipment is provided, comprising:

[0005] a portal frame comprising at least three upright columns and a cross beam connected to the top of two adjacent upright columns, the upright columns and the cross beam forming a self-balancing truss, and a laser range finder for detecting the height of the workpiece of the conveying equipment is installed on each cross beam;

[0006] a lifting mechanism installed on the cross beam for lifting the workpiece of the conveying equipment to reach a set installation position;

[0007] an execution mechanism installed on the upright column for assembling the workpiece of the conveying equipment;

[0008] a vision acquisition module installed on the upright column for real-time acquisition of the state image of the workpiece of the conveying equipment;

[0009] a control module installed on the portal frame and connected to the lifting mechanism, the execution mechanism, and the vision acquisition module, the control module being configured to:

[0010] control the lifting mechanism to lift the workpiece of the conveying equipment to the set installation position, and adjust the levelness of the workpiece of the conveying equipment according to the height of the workpiece of the conveying equipment during lifting of the workpiece of the conveying equipment, so that the workpiece of the conveying equipment is maintained horizontal;

[0011] According to the acquired installation process and the standard parameters of installation quality, a planned installation path is generated, and when the workpiece of the conveying device reaches the set installation position, the control execution mechanism is controlled to install the workpiece of the conveying device according to the planned installation path;

[0012] The quality parameters in the state image of the workpiece of the conveying device are identified, and the quality parameters are compared with the standard parameters to determine whether the installation of the workpiece of the conveying device meets the standard, and when the workpiece of the conveying device does not meet the standard, the lifting mechanism and the execution mechanism are controlled to adjust the position of the workpiece of the conveying device until the installation of the workpiece of the conveying device meets the standard.

[0013] In an embodiment of the present application, an inclination sensor connected with the control module is installed on the column, the inclination sensor is used to detect the inclination angle of the portal and send it to the control module, and the control module is configured to generate a deformation or overturning alarm signal according to the size of the inclination angle of the portal.

[0014] In an embodiment of the present application, a weight sensor and an acceleration sensor connected with the control module are installed on the lifting mechanism, the weight sensor is used to detect the weight of the workpiece of the conveying device and send it to the control module, the acceleration sensor is used to detect the acceleration of the workpiece of the conveying device and send it to the control module, and the control module is configured to:

[0015] According to whether the difference between the detected weight of the workpiece of the conveying device and the actual weight of the workpiece of the conveying device exceeds a set weight threshold value or whether the acceleration of the workpiece of the conveying device exceeds a set acceleration threshold value, it is determined whether the workpiece of the conveying device shakes, and when it is determined that the workpiece of the conveying device shakes, the lifting mechanism is controlled to move in the opposite direction of the shaking direction.

[0016] In an embodiment of the present application, the control module comprises:

[0017] An interaction submodule is used to acquire the installation process and the standard parameters of installation quality of the workpiece of the conveying device;

[0018] A path planning submodule connected with the interaction submodule, the path planning submodule is configured to generate a planned installation path according to the installation process and the standard parameters of installation quality;

[0019] A leveling control submodule connected with the laser range finder and the lifting mechanism, the leveling control submodule is configured to adjust the levelness of the workpiece of the conveying device according to the height of the workpiece of the conveying device, so that the workpiece of the conveying device is maintained horizontal;

[0020] a swing judgment submodule connected with the weight sensor and the acceleration sensor, configured to judge whether the workpiece of the conveying device swings according to whether the difference between the detected workpiece weight of the conveying device and the actual workpiece weight of the conveying device exceeds a set weight threshold, or according to whether the workpiece acceleration of the conveying device exceeds a set acceleration threshold;

[0021] a posture control submodule connected with the swing judgment submodule and the lifting mechanism, configured to control the lifting mechanism to move in the opposite direction of the swinging direction when the workpiece of the conveying device swings;

[0022] a strain feedback submodule connected with the inclination sensor, configured to generate a deformation or overturning alarm signal according to the size of the inclination angle of the portal frame;

[0023] an analysis submodule connected with the visual acquisition module and the interaction submodule, configured to identify a quality parameter in the workpiece state image of the conveying device, compare the quality parameter with the standard parameter, and judge whether the installation of the workpiece of the conveying device meets the standard;

[0024] a closed-loop control submodule connected with the lifting mechanism, the execution mechanism, the path planning submodule, and the analysis submodule, configured to:

[0025] control the lifting mechanism to lift the workpiece of the conveying device to a set installation position, and control the execution mechanism to install the workpiece of the conveying device according to the planned installation path when the workpiece of the conveying device reaches the set installation position;

[0026] when the workpiece of the conveying device does not meet the standard, control the lifting mechanism and the execution mechanism to adjust the position of the workpiece of the conveying device until the installation of the workpiece of the conveying device meets the standard.

[0027] In an embodiment of the present application, the control module further comprises an installation guide submodule, configured to provide installation instructions and real-time voice prompts when the workpiece of the conveying device is installed.

[0028] In an embodiment of the present application, the lifting mechanism comprises:

[0029] a driving motor installed on the cross beam, connected with the control module;

[0030] a transmission submodule connected with the output shaft of the driving motor;

[0031] a hook connected with the transmission submodule, used to hang the workpiece of the conveying device; the weight sensor and the acceleration sensor are installed on the hook.

[0032] In an embodiment of the present application, the visual acquisition module comprises:

[0033] An acquisition submodule is configured to acquire the workpiece state image of the conveying device;

[0034] A processing submodule is connected to the acquisition submodule and configured to perform illumination compensation on the acquired workpiece state image of the conveying device to obtain an illumination-compensated workpiece state image of the conveying device.

[0035] In an embodiment of the present application, the acquisition submodule comprises:

[0036] A camera is configured to acquire a two-dimensional state image of the workpiece of the conveying device;

[0037] A depth sensor is configured to acquire a three-dimensional state image of the workpiece of the conveying device;

[0038] A light sensor is configured to monitor ambient light intensity change data.

[0039] In an embodiment of the present application, the processing submodule is configured to: analyze and calculate the ambient light intensity change data by using an ambient light adaptive compensation algorithm to obtain compensation parameters, perform illumination compensation on the two-dimensional state image and the three-dimensional state image according to the compensation parameters, and obtain the illumination-compensated workpiece state image of the conveying device.

[0040] In an embodiment of the present application, when the processing submodule performs illumination compensation on the two-dimensional state image and the three-dimensional state image according to the compensation parameters, the characteristic differences between the camera and the depth sensor are considered and closed-loop verification is performed.

[0041] In an embodiment of the present application, the portal frame further comprises a pulley mounted at the bottom of the column, and the pulley is used for moving the device.

[0042] Compared with the prior art, the mounting guide device for the conveying device of the present application can control the lifting mechanism to lift the workpiece of the conveying device to a set mounting position, and when the workpiece of the conveying device reaches the set mounting position, control the execution mechanism to mount the workpiece of the conveying device according to a planned mounting path; the visual acquisition module is used to monitor the mounting position of each component of the conveying device in real time, and then the control module is used to detect whether the mounting of the workpiece of the conveying device meets the standard; when the workpiece of the conveying device does not meet the standard, the lifting mechanism and the execution mechanism are controlled to adjust the position of the workpiece of the conveying device until the mounting of the workpiece of the conveying device meets the standard, so that dynamic adjustment of the mounting process is realized. On the one hand, human measurement and installation errors are effectively eliminated, the installation precision meets the design requirements, and the stability and reliability of the equipment operation are improved. On the other hand, large-scale rework in the later stage is avoided, the installation cost and time cost are reduced, the installation cycle of the conveying device is greatly shortened, and the installation efficiency is improved.

[0043] The application is used for the installation guiding device of conveying equipment, which can adjust the levelness of the workpiece of the conveying equipment according to the detected height of the workpiece of the conveying equipment during the lifting of the conveying equipment, so that the workpiece of the conveying equipment can be smoothly lifted and quickly and accurately lifted to the installation station.

[0044] The application is used for the installation guiding device of conveying equipment, which can detect the inclination angle of the portal through the inclination sensor arranged on the portal column, and generate a deformation or overturning alarm signal according to the inclination angle of the portal. When the inclination angle of the portal exceeds the set safety threshold, the alarm signal is generated to alarm, so that the staff can stop the work of the installation guiding device or adjust the posture of the workpiece of the conveying equipment, thereby avoiding the sudden deformation or overturning of the portal during the operation, which can cause the operation to be forced to stop and the completed part of the process to be reworked.

[0045] The application is used for the installation guiding device of conveying equipment, which can detect the weight of the workpiece of the conveying equipment through the weight sensor arranged on the lifting mechanism and the acceleration of the workpiece of the conveying equipment through the acceleration sensor, and determine whether the workpiece of the conveying equipment shakes according to whether the difference between the detected weight of the workpiece of the conveying equipment and the actual weight of the workpiece of the conveying equipment exceeds the set weight threshold or whether the acceleration of the workpiece of the conveying equipment exceeds the set acceleration threshold. When it is determined that the workpiece of the conveying equipment shakes, the lifting mechanism is controlled to move in the opposite direction of the shaking direction to offset the shaking, so that the workpiece of the conveying equipment can be smoothly lifted.

[0046] The application is used for the installation guiding device of conveying equipment, which can analyze and calculate the compensation parameters of the environmental light intensity change data through the environmental light self-adaptive compensation algorithm of the visual acquisition module, and perform light compensation on the state image according to the compensation parameters to obtain the state image of the workpiece of the conveying equipment after light compensation. Through the light compensation, the accuracy of the identification of the state parameters of the workpiece of the conveying equipment can be improved.

[0047] In summary, the application is used for the installation guiding device of conveying equipment, which reduces the requirement for the professional skills of the operator, improves the precision and efficiency of the installation of the conveying equipment, and reduces the installation cost and safety risk.

[0048] The details of one or more embodiments of the application are presented in the following drawings and description to make other features, objects and advantages of the application more apparent. BRIEF DESCRIPTION OF DRAWINGS

[0049] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The schematic embodiments of the application and the description thereof are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0050] Figure 1 is a structural schematic diagram of the installation guiding device of conveying equipment described in the embodiments of the application.

[0051] Figure 2 is a control principle block diagram of the installation guide device for the conveying equipment described in the embodiments of the present application.

[0052] Figure 3 is a method flowchart for generating a deformation or overturning alarm signal according to the size of the gantry inclination angle described in the embodiments of the present application.

[0053] Figure 4 is a specific method flowchart for the mechanical arm using force-position hybrid control described in the embodiments of the present application.

[0054] Figure 5 is a structure block diagram of the vision acquisition module described in the embodiments of the present application.

[0055] In the figure, 1, gantry, 11, pulley, 2, lifting mechanism, 3, actuator, 4, vision acquisition module, 41, acquisition submodule, 411, camera, 412, depth sensor, 413, light sensor, 42, processing submodule, 5, control module, 51, interaction submodule, 52, path planning submodule, 53, leveling control submodule, 54, swing judgment submodule, 55, situation control submodule, 56, strain feedback submodule, 57, analysis submodule, 58, closed-loop control submodule, 59, installation guide submodule, 6, laser range finder, 7, inclination sensor, 8, weight sensor, 9, acceleration sensor. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is described and explained below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0057] Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those of ordinary skill in the art, the present application can also be applied to other similar scenarios without making creative efforts based on these drawings. In addition, it can be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacture or production changes based on the technical content disclosed in the present application are only routine technical means and should not be understood as insufficient disclosure of the present application.

[0058] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0059] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0060] This invention provides an installation guidance device for conveying equipment, such as... Figures 1 to 2 As shown, the installation guidance device includes a gantry 1, a lifting mechanism 2, an actuator 3, a vision acquisition module 4, and a control module 5.

[0061] The gantry 1 is used for supporting and positioning the workpieces of the conveying equipment. The gantry 1 includes at least three columns and crossbeams connected to the tops of two adjacent columns. The columns and crossbeams form a self-balancing truss. Each crossbeam is equipped with a laser rangefinder 6 for detecting the height of the workpieces of the conveying equipment.

[0062] Specifically, in an embodiment of the present application, the portal frame 1 comprises four upright columns and cross beams connected to the top of two adjacent upright columns, and the four upright columns and four cross beams form a self-balanced truss. The bottom of each upright column is provided with a pulley 11 for moving the installation guide device.

[0063] Specifically, in an embodiment of the present application, an inclination sensor 7 connected to the control module 5 is installed on the upright column, the inclination sensor 7 is used to detect the inclination angle of the portal frame and send it to the control module; the control module 5 is configured to generate a deformation or overturning alarm signal according to the size of the inclination angle of the portal frame.

[0064] Specifically, referring to Figure 3 , the method for generating a deformation or overturning alarm signal according to the size of the inclination angle of the portal frame is:

[0065] S1, judging whether the inclination angle of the portal frame is greater than a first set safety inclination threshold value;

[0066] S2, when the inclination angle of the portal frame is greater than the first set safety inclination threshold value, judging whether the inclination angle of the portal frame is greater than a second set safety inclination threshold value, the second set safety inclination threshold value is greater than the first set safety inclination threshold value; when the inclination angle of the portal frame is less than or equal to the first set safety inclination threshold value, no alarm signal is generated;

[0067] S3, when the inclination angle of the portal frame is less than or equal to the second set safety inclination threshold value, a deformation alarm signal is generated; when the inclination angle of the portal frame is greater than the second set safety inclination threshold value, an overturning alarm signal is generated.

[0068] When the inclination angle of the portal frame exceeds the set safety threshold value, an alarm signal is generated to alarm, so that the staff can stop the installation guide device work or adjust the workpiece posture of the conveying equipment, avoiding the sudden deformation or overturning of the portal frame during the work, causing the work to be forced to stop, and the completed part of the process may need to be reworked.

[0069] The lifting mechanism 2 is installed on the cross beam of the portal frame 1 and is used to lift the workpiece of the conveying equipment so that the workpiece of the conveying equipment reaches the set installation position.

[0070] Specifically, in an embodiment of the present application, the lifting mechanism 2 is provided with a weight sensor 8 and an acceleration sensor 9 connected to the control module 5, the weight sensor 8 is used to detect the weight of the workpiece of the conveying equipment and send it to the control module 5, the acceleration sensor 9 is used to detect the acceleration of the workpiece of the conveying equipment and send it to the control module 5, and the control module 5 is configured to:

[0071] According to whether the difference between the detected workpiece weight of the conveying equipment and the actual workpiece weight of the conveying equipment exceeds a set weight threshold value, or according to whether the workpiece acceleration of the conveying equipment exceeds a set acceleration threshold value, it is judged whether the workpiece of the conveying equipment shakes; when it is judged that the workpiece of the conveying equipment shakes, the lifting mechanism 2 is controlled to move in the opposite direction of the shaking direction.

[0072] Specifically, the control module 5 receives the weight data sent by the weight sensor 8 and the acceleration data sent by the acceleration sensor 9, and obtains the weight (gravity) change according to the weight data and the actual workpiece weight of the conveying equipment. For example, if the data change amplitude (i.e. the difference between the detected workpiece weight of the conveying equipment and the actual workpiece weight of the conveying equipment) does not exceed the set weight threshold value, it indicates that the lifting is stable, and if the change amplitude exceeds the set weight threshold value, it proves that there is shaking. According to the acceleration data, if the acceleration data does not exceed the set acceleration value, it indicates that the lifting is stable, and if the acceleration data exceeds the set acceleration value, it proves that there is shaking. When it is judged that there is shaking, the lifting mechanism 2 is controlled to move in the opposite direction of the shaking direction for fine adjustment to offset the shaking.

[0073] Specifically, the method for determining the shaking direction is as follows: a three-dimensional coordinate system is established (the Z axis is the lifting direction, and the X / Y axis is the horizontal transverse / longitudinal direction), the weight sensor 8 outputs three-dimensional gravity components, and the acceleration sensor 9 outputs three-dimensional acceleration components. By comparing the difference between the gravity components and the actual workpiece gravity, if the difference exceeds the set threshold value, the shaking direction is determined in combination with the positive and negative components; then the acceleration data is verified: the acceleration of a certain axis exceeds the threshold value and the direction is consistent with the gravity determination, and the shaking direction is confirmed; if they are not consistent, the acceleration data is used as the criterion. When there is compound shaking, the spatial direction is determined by vector composition.

[0074] Specifically, in an embodiment of the present application, the lifting mechanism 2 includes a driving motor, a transmission sub-module, and a hook. The driving motor is installed on the cross beam. The transmission sub-module is connected with the output shaft of the driving motor. The hook is connected with the transmission sub-module and is used to hang the workpiece of the conveying equipment. The weight sensor and the acceleration sensor are installed on the hook.

[0075] Specifically, in an embodiment of the present application, two lifting mechanisms 2 are installed on each side of the cross beam of the portal frame 1, so as to ensure the balance of the lifted material.

[0076] The actuator 3 is installed on the upright column of the portal frame 1 and is used to assemble the workpiece of the conveying equipment.

[0077] Specifically, in an embodiment of the present application, the actuator 3 includes a mechanical arm, a clamping jaw, and a control module 5. The front end of the mechanical arm is installed on the upright column of the portal frame 1, and the mechanical arm adopts force-position hybrid control. The clamping jaw is installed at the tail end of the mechanical arm and is electrically connected with the mechanical arm and is used to grab the parts.

[0078] Specifically, referring to Figure 4 , the specific method steps of the force-position hybrid control of the mechanical arm include:

[0079] S1, parameter calibration step: calibrate the grasping pose parameters (such as gripper target position, angle, etc.) and contact force threshold (set according to part material / size, such as flexible part ≤50N, rigid part ≤100N) of the workpiece parts of the conveying equipment, and input to the mechanical arm control system.

[0080] S2, position control step: after the mechanical arm receives the grasping instruction, it moves in position control mode, drives the end gripper to move towards the part according to the calibrated pose, and real-time feedback of the actual position and the target position deviation, the deviation ≤0.1mm, when the force control preparation stage is entered.

[0081] S3, force-position switching control step: the gripper contacts the part, and the force sensor detects the contact force, and the mechanical arm control system switches to the force-position hybrid mode - maintains force control along the main direction of grasping (such as vertical direction), and maintains the contact force within the contact force threshold ±5N range; maintain position control along the auxiliary direction (such as horizontal direction) to avoid part deviation.

[0082] S4, dynamic adjustment step: during the grasping process, if the contact force feedback exceeds the contact force threshold, the mechanical arm control system pauses the position movement and fine-tunes the gripper pressure to within the contact force threshold; if the position deviation exceeds 0.1mm, fine-tune the position to the calibrated range without exceeding the contact force threshold, and complete stable grasping.

[0083] In the specific implementation manner of the first embodiment of the application, the actuator 3 adopts a six-axis collaborative mechanical arm and a torque feedback type electric gripper.

[0084] The vision acquisition module 4 is installed on the column of the portal frame 1, and is used to acquire the workpiece state image of the conveying equipment in real time.

[0085] Specifically, in an embodiment of the application, one vision acquisition module 4 is installed on each of the four columns of the portal frame 1, ensuring that there is no dead angle, and avoiding the influence of identification due to the shielding of the component shape.

[0086] In an embodiment of the application, as Figure 5 shown, the vision acquisition module 4 includes an acquisition submodule 41 and a processing submodule 42.

[0087] The acquisition submodule 41 is installed on the column of the portal frame 1, and is used to acquire the state image of the workpiece of the conveying equipment.

[0088] Specifically, in the embodiment one of the present application, the acquisition sub-module 41 includes a camera 411, a depth sensor 412 and a light sensor 413. Wherein: the camera 411 is used to collect the two-dimensional state image of the workpiece of the conveying device, the depth sensor 412 is used to collect the three-dimensional state image of the workpiece of the conveying device, and the light sensor 413 is used to detect the ambient light intensity change data.

[0089] Specifically, in the embodiment one of the present application, the camera adopts a binocular industrial camera, and the depth sensor adopts a TOF depth sensor (i.e. a time of flight depth sensor).

[0090] The processing sub-module 42 is connected with the acquisition sub-module 41, and is used to perform illumination compensation on the collected state image of the workpiece of the conveying device to obtain the illumination compensated state image of the workpiece of the conveying device.

[0091] In an embodiment of the present application, the processing sub-module 42 is configured to: analyze and calculate the ambient light intensity change data by using an ambient light adaptive compensation algorithm to obtain a compensation parameter, perform illumination compensation on the two-dimensional state image and the three-dimensional state image according to the compensation parameter, and obtain the illumination compensated state image of the workpiece of the conveying device.

[0092] The illumination compensation on the state image by using the ambient light adaptive compensation algorithm (such as a histogram equalization method, a gamma correction method, an algorithm based on statistics and model, etc.) can effectively offset the problem of uneven brightness of the image caused by the ambient light fluctuation (such as direct sunlight, shadow shielding, light gradient, etc.), so that the brightness of each region of the compensated state image is consistent, and the details of the workpiece are clear and distinguishable.

[0093] Specifically, when the processing sub-module 42 performs illumination compensation on the two-dimensional state image and the three-dimensional state image according to the compensation parameter, the characteristic differences between the camera and the depth sensor are considered, and closed loop verification is performed.

[0094] Specifically, the method of closed loop verification includes:

[0095] In a standard illumination environment of 500-800 lux without direct light / shadow, combined with the characteristic differences between the two-dimensional camera and the three-dimensional depth sensor, the two-dimensional reference image brightness (such as 80-120 cd / m²) and the three-dimensional reference point cloud gray uniformity of the calibration workpiece are collected.

[0096] The compensation parameters of the two-dimensional camera and the three-dimensional depth sensor are calculated by the compensation algorithm to complete the illumination compensation, and the compensated data is extracted. Specifically, for the two-dimensional camera, a multi-scale Retinex illumination compensation algorithm is used for illumination compensation, and the principle is that: the light intensity of the two-dimensional image is decomposed into illumination component and reflectance component (the light source shines on the pixel position (Intensity) and reflection component (Object surface at pixel position) The ability to reflect light, that is: The illumination component is estimated using Gaussian filtering, and then weighted to compensate the depth data in low-confidence areas based on the confidence map of the depth sensor (high-confidence areas correspond to stable depth values). The compensation formula is as follows: ,in, pixel position depth, For depth confidence weights, For the reflection component, The reference reflection component is taken from a uniformly illuminated area. For 3D depth sensors, an illumination attenuation model compensation algorithm is used for illumination supplementation. The principle is: establishing a distance-illumination attenuation compensation model. Taking a ToF camera as an example, the depth value... With reflected light intensity satisfy , The wavelength of the emitted light, The ambient light coefficient is used to construct a compensation function by calibrating the light intensity attenuation coefficient at different distances. , To compensate for the depth value, This is the illumination compensation value, which corrects the depth value drift caused by illumination attenuation.

[0097] The deviation is calculated based on the compensated data and the baseline data. A correction coefficient is introduced to eliminate the inherent error of the equipment. If the deviation exceeds the threshold (e.g., brightness ≤ 10 cd / m², grayscale uniformity ≤ 5%), the correction parameter is recompensated. The iteration verification is carried out until the deviation meets the standard for three consecutive times and the fluctuation of the correction coefficient is ≤ ±0.01, thus completing the closed-loop verification.

[0098] It should be noted that there are characteristic differences between the binocular industrial camera and the TOF depth sensor. The TOF depth sensor has the characteristics of high precision, high speed, non-contact measurement, strong anti-light interference capability (using near-infrared light), but transparent objects (such as glass) and strong reflective surfaces will cause measurement deviation, and the measurement precision is high at medium and long distances, but the measurement precision is low at short distances. The binocular industrial camera has high measurement precision at medium and short distances, and the farther the distance, the more obvious the precision decay. The image quality requirement is high. If the image is blurred or has noise, it may affect the measurement precision, and it is easily affected by light changes (such as strong light, shadows, etc.) and reflections. The binocular industrial camera and the TOF depth sensor can be combined to use an ambient light adaptive compensation algorithm to compensate for the two-dimensional state image collected by the binocular industrial camera and the three-dimensional state image collected by the TOF depth sensor. Through mutual verification of the compensated two-dimensional state image and the three-dimensional state image, the complex and variable environmental light conditions can be effectively adapted to ensure that the binocular industrial camera and the TOF depth sensor work stably under the requirement of high precision (for example: 0.22mm@5m).

[0099] The control module 5 is installed on the portal 1 and connected with the lifting mechanism 2, the execution mechanism 3 and the vision acquisition module 4. The control module 5 is configured to:

[0100] The lifting mechanism is controlled to lift the workpiece of the conveying device to a set installation position; and during lifting the workpiece of the conveying device, the levelness of the workpiece of the conveying device is adjusted according to the height of the workpiece of the conveying device, so that the workpiece of the conveying device is maintained horizontal;

[0101] A planned installation path is generated according to the obtained installation process and standard parameters of installation quality, and when the workpiece of the conveying device reaches the set installation position, the execution mechanism is controlled to install the workpiece of the conveying device according to the planned installation path;

[0102] Quality parameters in a state image of the workpiece of the conveying device are recognized, the quality parameters are compared with the standard parameters, and it is judged whether the installation of the workpiece of the conveying device meets the standard. When the workpiece of the conveying device does not meet the standard, the lifting mechanism and the execution mechanism are controlled to adjust the position of the workpiece of the conveying device until the installation of the workpiece of the conveying device meets the standard.

[0103] Specifically, in an embodiment of the present application, the control module 5 includes an interaction submodule 51, a path planning submodule 52, a leveling control submodule 53, a swing judgment submodule 54, a situation control submodule 55, a strain feedback submodule 56, an analysis submodule 57 and a closed-loop control submodule 58.

[0104] The interaction submodule 51 is used to obtain the installation process and standard parameters of installation quality of the workpiece of the conveying device. Through the interaction submodule 51, the installation process and standard parameters of installation quality of the workpiece of the conveying device can be manually input.

[0105] The path planning submodule 52 is connected with the interaction submodule 51, and the path planning submodule is configured to generate a planned installation path according to installation procedures and standard parameters of installation quality.

[0106] Specifically, in an embodiment of the present application, the path planning submodule 52 is further configured to analyze the moving path images collected by the visual collection module 4 by a dynamic obstacle avoidance strategy, analyze the motion speed, motion trajectory prediction, and real-time distance from the device of the dynamic obstacle (i.e., an object in motion), and then generate a new motion speed and motion trajectory of the dynamic obstacle, and generate a new planned moving path based on the new motion speed and motion trajectory of the dynamic obstacle to avoid the dynamic obstacle. When planning the installation path, the dynamic obstacle avoidance strategy can avoid the dynamic obstacle, prevent stopping moving due to avoiding the dynamic obstacle, or the situation of needing to rework due to collision with the dynamic obstacle, and improve the installation efficiency.

[0107] Specifically, in an embodiment of the present application, the path planning submodule 52 is further configured to determine whether the distance between the device and the construction personnel obtained in real time is less than a set safety distance. When the distance between the device and the construction personnel is less than a set installation distance, the path planning submodule generates a safety alarm signal to alarm and controls the device to stop working. The path planning submodule uses a work safety protection mechanism to ensure the safety of the construction personnel.

[0108] In an embodiment of the present application, the distance between the device and the construction personnel is detected by a position sensor arranged on the portal. The position sensor is arranged on the cross beams of the portal, and one position sensor is arranged on each cross beam. Specifically, the position sensor can be an optical sensor (for example, a laser range finder), or an electromagnetic induction sensor (for example, an inductive proximity switch or a Hall sensor).

[0109] The leveling control submodule 53 is connected with the laser range finder 6 and the lifting mechanism 2, and the leveling control submodule 53 is configured to adjust the levelness of the workpiece of the conveying device according to the height of the workpiece of the conveying device, so that the workpiece of the conveying device is maintained horizontal.

[0110] Specifically, each laser range finder 6 corresponds to a lifting point (i.e., a point at which the lifting mechanism hangs the workpiece of the conveying device) of the output device workpiece. The height of each lifting point of the workpiece of the conveying device is detected by the laser range finder 6 in real time and uploaded to the leveling control submodule 53. The leveling control submodule 53 compares and analyzes the heights of the lifting points. When the height of a certain lifting point is too high or too low, the corresponding lifting mechanism 2 is controlled to lower or raise the lifting point, so that the lifting height is finely adjusted until the heights of the lifting points are consistent, and the leveling work is completed.

[0111] The swing judgment submodule 54 is connected with the weight sensor 8 and the acceleration sensor 9, and is configured to judge whether the workpiece of the conveying device swings according to whether the difference between the detected workpiece weight and the actual workpiece weight exceeds a set weight threshold value, or whether the workpiece acceleration exceeds a set acceleration threshold value.

[0112] Specifically, the swing judgment submodule 54 receives the workpiece weight detected by the weight sensor 8 and the workpiece acceleration detected by the acceleration sensor 9, and judges whether the workpiece of the conveying device swings according to whether the weight (gravity) change amplitude (i.e. the difference between the detected workpiece weight and the actual workpiece weight) exceeds a set weight threshold value. If the weight change amplitude does not exceed the set weight threshold value, it indicates that the lifting is stable, and if the change amplitude exceeds the set weight threshold value, it proves that there is a swing. According to whether the workpiece acceleration of the conveying device exceeds a set acceleration threshold value, it is judged whether the workpiece of the conveying device swings. If the acceleration data does not exceed the set acceleration value, it indicates that the lifting is stable, and if the acceleration data exceeds the set acceleration value, it proves that there is a swing.

[0113] The posture control submodule 55 is connected with the swing judgment submodule 54 and the lifting mechanism 2. The posture control submodule 55 is configured to control the lifting mechanism 2 to move in the opposite direction of the swing direction when the workpiece of the conveying device swings. When it is determined that there is a swing, the posture control submodule 55 controls the lifting mechanism 2 to move in the opposite direction of the swing direction for fine adjustment to offset the swing and enable the workpiece of the conveying device to be lifted smoothly.

[0114] The strain feedback submodule 56 is connected with the inclination sensor 7, and is configured to generate a deformation or overturning alarm signal according to the size of the gantry inclination.

[0115] The analysis submodule 57 is connected with the visual acquisition module 4 and the interaction submodule 51, and is configured to identify the quality parameters in the workpiece state image of the conveying device, compare the quality parameters with the standard parameters, and judge whether the installation of the workpiece of the conveying device meets the standard.

[0116] Specifically, by inputting the standard parameters through the human-computer interaction sub-module 51, the quality parameters (such as the component height, the seam deviation, the number of exposed threads of the bolt, etc.) in the image collected by the visual acquisition module 4 are compared with the standard parameters, for example, whether the lifting height of the material is in place, whether the bolt is fastened in place, whether the center line of the equipment assembly has a deviation, whether the apparent quality is qualified, etc. When the deviation between the quality parameters and the standard parameters is less than or equal to the set deviation, it is determined that the installation of the conveying equipment workpiece meets the standard, and when the deviation between the quality parameters and the standard parameters is greater than the set deviation, it is determined that the installation of the conveying equipment workpiece does not meet the standard.

[0117] Specifically, in an embodiment of the present application, the analysis sub-module 57 is further configured to generate an installation quality detection report according to the quality parameters and the standard parameters and send it to the interaction sub-module 51, so that the installation quality detection report is displayed through the interaction sub-module 51. The installation quality detection report generated can intuitively show whether the installation of the conveying color workpiece meets the standard.

[0118] The closed-loop control sub-module 58 is connected with the lifting mechanism 2, the execution mechanism 3, the path planning sub-module 52, and the analysis sub-module 57. The closed-loop control sub-module 58 is configured to:

[0119] control the lifting mechanism 2 to lift the conveying equipment workpiece to a set installation position; and control the execution mechanism 3 to install the conveying equipment workpiece according to the planned installation path when the conveying equipment workpiece reaches the set installation position.

[0120] When the installation of the conveying equipment workpiece does not meet the standard, control the lifting mechanism 2 and the execution mechanism 3 to adjust the position of the conveying equipment workpiece until the installation of the conveying equipment workpiece meets the standard.

[0121] Specifically, in an embodiment of the present application, the control module 5 further includes an installation guiding sub-module 59, which is configured to provide installation instructions and real-time voice prompts during the installation of the conveying equipment workpiece.

[0122] Specifically, the installation guiding sub-module 59 is connected with the path planning sub-module 52, the leveling control sub-module 53, the swing judgment sub-module 54, the situation control sub-module 55, the strain feedback sub-module 56, the analysis sub-module 57, and the closed-loop control sub-module 58. When each module completes the corresponding operation, it will send a trigger instruction to trigger the installation guiding sub-module 59 to prompt the installation operation completed by each module and the next installation operation.

[0123] In one exemplary embodiment, the specific process of installing the workpiece of the conveyor using the embodiment of the present application is as follows:

[0124] The device is moved to the installation site, and installation parameters (such as the model of the conveying equipment, the installation position) are input through the interaction submodule 51. The interaction submodule automatically jumps to the pre-set installation step process and the standard parameters of the installation quality (which can be manually adjusted).

[0125] The control module 5 reminds the first step of work content through voice. After the worker hangs the conveying equipment workpiece to the lifting mechanism 2 according to the reminder, the lifting mechanism 2 is automatically controlled to be lifted to a specified height (which can also be manually controlled through the control handle). At the same time, the leveling control submodule fine-tunes the height of each lifting point, so that the conveying equipment workpiece is located horizontally. Then it is automatically and smoothly moved to the pre-set installation position, and the automatic control execution mechanism 3 is controlled to install (which can also be manually controlled through the control handle).

[0126] After the installation is completed, the installation quality is checked through the vision acquisition module 4 and the analysis submodule 57. According to the conveying equipment workpiece state image collected by the vision acquisition module 4, the analysis submodule 57 identifies the quality parameters in the image and compares and analyzes them with the standard parameters to determine whether the conveying equipment workpiece installation meets the standard. According to the quality parameters and the standard parameters, an installation quality detection report is generated and sent to the interaction submodule 51, and the interaction submodule 51 displays the installation quality detection report. At the same time, when the conveying equipment workpiece installation meets the standard, the closed-loop control submodule 58 controls the lifting hook of the lifting mechanism 2 to slowly fall to the set hanging position, and the installation guide submodule 59 reminds the operator of the next step of work content through voice.

[0127] If the conveying equipment workpiece installation does not meet the standard, the lifting mechanism 2 and the execution mechanism 3 are adjusted to adjust the position of the conveying equipment workpiece until the conveying equipment workpiece installation meets the standard. At the same time, the worker can also manually correct the construction content that does not meet the requirements according to the installation quality inspection report.

[0128] It should be understood that although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the direction of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, there is no strict order limitation for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0129] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, as long as there is no conflict, any combination of the technical features should be considered within the scope of the present disclosure.

[0130] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. An installation guiding device for conveying equipment, characterized in that, include: The gantry includes at least three columns and a crossbeam connected to the top of two adjacent columns. The columns and crossbeams form a self-balancing truss. Each crossbeam is equipped with a laser rangefinder for detecting the height of the workpiece in the conveying equipment. A lifting mechanism, installed on the crossbeam, is used to lift the workpiece of the conveying equipment so that the workpiece of the conveying equipment reaches the set installation position; The actuator, mounted on the column, is used to assemble the workpieces of the conveying equipment; A vision acquisition module, installed on the column, is used to acquire real-time images of the workpiece status of the conveying equipment. The control module, mounted on the gantry, is connected to the lifting mechanism, the actuator, and the vision acquisition module. The control module is configured as follows: The control lifting mechanism lifts the workpiece of the conveying equipment to the set installation position; and during the lifting process, the level of the workpiece is adjusted according to its height to keep it level. Based on the obtained installation process and standard parameters for installation quality, a planned installation path is generated. When the workpiece of the conveying equipment arrives at the set installation position, the control actuator installs the workpiece of the conveying equipment according to the planned installation path. The quality parameters in the workpiece status image of the conveying equipment are identified, and the quality parameters are compared with the standard parameters to determine whether the installation of the workpiece of the conveying equipment meets the standards. If the workpiece of the conveying equipment does not meet the standards, the lifting mechanism and the execution mechanism are controlled to adjust the position of the workpiece of the conveying equipment until the installation of the workpiece of the conveying equipment meets the standards. The column is equipped with an angle sensor connected to the control module, and the lifting mechanism is equipped with a weight sensor and an acceleration sensor connected to the control module. The control module includes: The interactive submodule is used to obtain the standard parameters for the installation process and installation quality of the workpieces in the conveying equipment. The path planning submodule is connected to the interaction submodule. The path planning submodule is configured to generate a planned installation path based on standard parameters of the installation process and installation quality. A leveling control submodule is connected to the laser rangefinder and the lifting mechanism. The leveling control submodule is configured to adjust the levelness of the conveying equipment workpiece according to the height of the workpiece, so as to keep the workpiece of the conveying equipment level. The swaying judgment submodule is connected to the weight sensor and the acceleration sensor. The swaying judgment submodule is configured to: determine whether the conveying equipment workpiece is swaying based on whether the difference between the detected weight of the conveying equipment workpiece and the actual weight of the conveying equipment workpiece exceeds a set weight threshold, or based on whether the acceleration of the conveying equipment workpiece exceeds a set acceleration threshold. The situation control submodule is connected to the sway judgment submodule and the lifting mechanism. The situation control submodule is configured to control the lifting mechanism to move in the opposite direction of the sway when the workpiece of the conveying equipment sways. A strain feedback submodule is connected to the tilt sensor, and the strain feedback submodule is configured to generate a deformation or overturning alarm signal based on the size of the gantry tilt angle. An analysis submodule, connected to the vision acquisition module and the interaction submodule, is configured to: identify quality parameters in the workpiece status image of the conveying equipment, compare the quality parameters with the standard parameters, and determine whether the installation of the workpiece of the conveying equipment meets the standards. A closed-loop control submodule is connected to the lifting mechanism, the execution mechanism, the path planning submodule, and the analysis submodule. The closed-loop control submodule is configured as follows: The control lifting mechanism lifts the workpiece of the conveying equipment to the set installation position; when the workpiece of the conveying equipment reaches the set installation position, the control actuator installs the workpiece of the conveying equipment according to the planned installation path; When the workpiece in the conveying equipment does not meet the standards, the control lifting mechanism and the actuator adjust the position of the workpiece in the conveying equipment until the workpiece is installed to meet the standards.

2. The apparatus according to claim 1, characterized in that, The tilt sensor is used to detect the tilt angle of the gantry and send it to the control module; the control module is configured to generate a deformation or overturning alarm signal based on the size of the tilt angle of the gantry.

3. The apparatus according to claim 1, characterized in that, The weight sensor is used to detect the weight of the workpiece on the conveying equipment and send it to the control module; the acceleration sensor is used to detect the acceleration of the workpiece on the conveying equipment and send it to the control module; the control module is configured to: The system determines whether the conveyor workpiece is swaying based on whether the difference between the detected weight of the workpiece and its actual weight exceeds a set weight threshold, or whether the acceleration of the workpiece exceeds a set acceleration threshold. If the system determines that the workpiece is swaying, it controls the lifting mechanism to move in the opposite direction of the swaying.

4. The apparatus according to claim 1, characterized in that, The control module also includes an installation guidance submodule, which is configured to provide installation instructions and real-time voice prompts during the installation of workpieces on the conveying equipment.

5. The apparatus according to claim 1, characterized in that, The lifting mechanism includes: A drive motor is mounted on the crossbeam and is connected to the control module; The transmission submodule is connected to the output shaft of the drive motor; The hook is connected to the transmission submodule and is used to suspend the workpiece of the conveying equipment; the weight sensor and the acceleration sensor are mounted on the hook.

6. The apparatus according to claim 1, characterized in that, The visual acquisition module includes: The acquisition submodule is used to acquire images of the workpiece status on the conveying equipment; The processing submodule, connected to the acquisition submodule, is used to perform illumination compensation on the acquired workpiece status image of the conveying equipment to obtain an illumination-compensated workpiece status image of the conveying equipment.

7. The apparatus according to claim 6, characterized in that, The acquisition submodule includes: A camera used to acquire two-dimensional images of the workpieces on conveying equipment; Depth sensors are used to acquire three-dimensional images of the workpieces in conveying equipment; A light sensor is used to monitor changes in ambient light intensity.

8. The apparatus according to claim 7, characterized in that, The processing submodule is configured to: analyze and calculate the ambient light intensity change data using an ambient light adaptive compensation algorithm to obtain compensation parameters, and perform illumination compensation on the two-dimensional and three-dimensional state images based on the compensation parameters to obtain the illumination-compensated workpiece state image of the conveying equipment.

9. The apparatus according to claim 1, characterized in that, The implementing mechanism includes: A robotic arm, the front end of which is mounted on the column, and the robotic arm is connected to the control module; The gripper, installed at the end of the robotic arm and electrically connected to the robotic arm, is used to grasp parts.

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