Robot-assisted workpiece feeding and discharging method and system based on multi-source data fusion

Abstract

The invention discloses a robot-assisted workpiece feeding and discharging method and system based on multi-source data fusion, and relates to the technical field of robot intelligent control, and the robot-assisted workpiece feeding and discharging method comprises the steps: based on an intelligent analysis terminal, according to a deviation value between an initial set parameter and a position coordinate, carrying out parameter adjustment processing on the initial set parameter of an auxiliary robot; and acquiring final set parameters of the auxiliary robot. According to the method, firstly, the grabbing position coordinates of the auxiliary robot with parameters not adjusted are obtained, then, the parameter setting coordinate system of the auxiliary robot is reversely constructed according to the grabbing position coordinates of the auxiliary robot with parameters not adjusted, and then the position information of the workpiece is placed in the parameter setting coordinate system of the auxiliary robot; and finally, the position coordinate data of the workpiece is compared with the initial set parameters of the auxiliary robot, whether the initial set parameters of the auxiliary robot are accurate or not is determined, it is guaranteed that the auxiliary robot can accurately grab the workpiece, and the workpiece carrying time is shortened.

Description

Technical Field

[0001] This invention relates to the field of robot intelligent control technology, specifically to a robot-assisted workpiece loading and unloading method and system based on multi-source data fusion. Background Technology

[0002] Assistive robots are intelligent devices that provide support for human life, rehabilitation, and care in a semi-autonomous or fully autonomous manner. They are not intended to completely replace human labor, but rather to serve as "enhancing tools" to fill care gaps and improve quality of life.

[0003] After production, the workpieces are placed in a fixed area. Using auxiliary robots to move the workpieces can reduce the workload of workers. Since the auxiliary robots move the workpieces according to the set parameters, if the set parameters are not accurate, the auxiliary robots will not be able to accurately identify the position of the workpieces, which will prolong the workpiece handling time. Summary of the Invention

[0004] To address the aforementioned technical problems, a robot-assisted workpiece loading and unloading method and system based on multi-source data fusion is provided. This technical solution solves the problems mentioned in the background section.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A robot-assisted workpiece loading and unloading method based on multi-source data fusion includes: Acquire historical operating data of the assistive robot, and perform data analysis and processing on the historical operating data of the assistive robot based on the intelligent analysis terminal to determine the parameter setting rules of the assistive robot; The position information of the workpiece is obtained. Based on the intelligent analysis terminal, the position information of the workpiece is processed by coordinate matching according to the parameter setting rules of the auxiliary robot to obtain the position coordinate data of the workpiece. The initial setting parameters of the auxiliary robot are obtained. Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are compared with the position coordinate data of the workpiece to obtain the offset value between the initial setting parameters and the position coordinates. Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are adjusted according to the offset value between the initial setting parameters and the position coordinates to obtain the final setting parameters of the auxiliary robot.

[0006] Preferably, the step of acquiring historical operating data of the auxiliary robot, and performing data analysis and processing on the historical operating data of the auxiliary robot based on an intelligent analysis terminal to determine the parameter setting rules of the auxiliary robot specifically includes the following steps: Based on the intelligent analysis terminal, data is retrieved and processed from the database system to obtain historical operating data of the auxiliary robot; Based on the intelligent analysis terminal, the historical operation data of the auxiliary robot is classified and processed to obtain the data of the tasks completed by the auxiliary robot. Based on the intelligent analysis terminal, the data of the completed tasks of the auxiliary robot is compared and analyzed to obtain the completed task data of the auxiliary robot without adjusting the parameters; Based on the intelligent analysis terminal, the completed task data of the auxiliary robot without adjusted parameters is processed to obtain the parameter setting rules of the auxiliary robot.

[0007] Preferably, the step of performing data comparison and analysis on the completed task data of the auxiliary robot based on the intelligent analysis terminal to obtain the completed task data of the auxiliary robot without adjusting parameters specifically includes the following steps: Based on the intelligent analysis terminal, the data of the tasks completed by the auxiliary robot is read and processed to obtain the grasping time of each workpiece; Based on the intelligent analysis terminal, the grasping time and set grasping time threshold of each workpiece are judged and processed. If the gripping time of the workpiece is greater than or equal to the set gripping time threshold, the set parameters of the auxiliary robot corresponding to the gripping time of the workpiece are inaccurate. If the gripping time of the workpiece is less than the set gripping time threshold, the set parameters of the auxiliary robot corresponding to the gripping time of the workpiece are accurate. Based on the intelligent analysis terminal, the completed task data of the auxiliary robot corresponding to the gripping time of the workpiece is set as the completed task data of the auxiliary robot without adjusted parameters.

[0008] Preferably, the step of performing data calculation and processing on the completed task data of the unadjusted auxiliary robot based on the intelligent analysis terminal to obtain the parameter setting rules of the auxiliary robot specifically includes the following steps: Based on the intelligent analysis terminal, the completed task data of the auxiliary robot with unadjusted parameters is read and processed to obtain the set of workpiece gripping position coordinates; Based on the intelligent analysis terminal, the set of workpiece gripping position coordinates is classified and processed to determine the X-axis, Y-axis and Z-axis parameters of the workpiece gripping position. Based on the intelligent analysis terminal, the X-axis, Y-axis and Z-axis of the parameter setting coordinate system of the auxiliary robot are plotted according to the X-axis parameters, Y-axis parameters and Z-axis parameters of the workpiece gripping position. Based on the intelligent analysis terminal, the intersection of the X-axis, Y-axis and Z-axis of the parameter setting coordinate system of the auxiliary robot is set as the origin of the parameter setting coordinate system of the auxiliary robot.

[0009] Preferably, the acquisition of workpiece position information, based on an intelligent analysis terminal, involves coordinate matching processing of the workpiece position information according to the parameter setting rules of the auxiliary robot to obtain the workpiece position coordinate data, specifically including the following steps: Based on the intelligent analysis terminal, the industrial camera is controlled to acquire and process images of the workpiece placement warehouse, and obtain internal image data of the workpiece placement warehouse. Based on the intelligent analysis terminal, feature extraction processing is performed on the internal image data of the workpiece placement warehouse to determine the placement location of the workpiece. Based on the intelligent analysis terminal, the coordinate system set according to the parameters of the auxiliary robot is used to perform position coordinate matching processing on the placement position of the workpiece to obtain the position coordinate data of the workpiece.

[0010] Preferably, the step of using an intelligent analysis terminal to perform position coordinate matching processing on the placement position of the workpiece according to the parameter setting coordinate system of the auxiliary robot, and obtaining the position coordinate data of the workpiece, specifically includes the following steps: Based on the intelligent analysis terminal, the placement position of the workpiece is set in the parameter setting coordinate system of the auxiliary robot; Based on the intelligent analysis terminal, the coordinate information of the workpiece placement position is extracted and processed in the parameter setting coordinate system of the auxiliary robot to obtain the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the workpiece. Based on the intelligent analysis terminal, the X-axis, Y-axis, and Z-axis coordinates of the workpiece are integrated to obtain the workpiece's position coordinate data.

[0011] Preferably, the process of obtaining the initial setting parameters of the auxiliary robot, based on an intelligent analysis terminal, involves comparing the initial setting parameters of the auxiliary robot with the workpiece's position coordinate data to obtain the offset value between the initial setting parameters and the position coordinates. This specifically includes the following steps: Based on the intelligent analysis terminal, data retrieval and processing are performed on the auxiliary robot to obtain the initial setting parameters of the auxiliary robot; Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are read and processed to obtain the initial setting gripping position coordinate data of the workpiece. Based on the intelligent analysis terminal, the position coordinate data of the workpiece and the initial set grasp position coordinate data of the workpiece are processed by difference calculation to obtain the offset value between the initial set parameters and the position coordinates.

[0012] Preferably, the step of adjusting the initial settings of the auxiliary robot based on the offset between the initial settings and the position coordinates using an intelligent analysis terminal to obtain the final settings of the auxiliary robot specifically includes the following steps: Based on the intelligent analysis terminal, the offset values ​​between the initial set parameters and the position coordinates are classified and processed to obtain the offset values ​​of the X-axis parameter, the Y-axis parameter, and the Z-axis parameter. The offset values ​​of the X-axis parameter, Y-axis parameter, and Z-axis parameter are respectively judged and processed against the set offset value threshold; If the offset value of the X-axis parameter is greater than or equal to the set X-axis offset value threshold, or the offset value of the Y-axis parameter is greater than or equal to the set Y-axis offset value threshold, or the offset value of the Z-axis parameter is greater than or equal to the set Z-axis offset value threshold, the initial setting parameters of the auxiliary robot that are greater than or equal to the set offset value threshold will be changed to the final setting parameters of the auxiliary robot. Specifically, the final setting parameters of the auxiliary robot are the position coordinate data of the workpiece. If the offset value of the X-axis parameter is less than the set X-axis offset value threshold, the offset value of the Y-axis parameter is less than the set Y-axis offset value threshold, and the offset value of the Z-axis parameter is less than the set Z-axis offset value threshold, there is no need to adjust the initial settings of the auxiliary robot.

[0013] Furthermore, a robot-assisted workpiece loading and unloading system based on multi-source data fusion is proposed to implement the robot-assisted workpiece loading and unloading method based on multi-source data fusion as described above, including: The intelligent analysis terminal is used to control the data transmission and information interaction between various modules. The intelligent analysis terminal is used to control the various modules to compare the position information of the workpiece with the historical operation data of the auxiliary robot and determine the final setting parameters of the auxiliary robot. A database system is used to store historical operational data of the auxiliary robot; The coordinate system determination module performs coordinate system drawing processing based on the X-axis parameters, Y-axis parameters and Z-axis parameters of the workpiece gripping position to obtain the parameter setting coordinate system of the auxiliary robot; The position matching module performs coordinate matching processing on the position information of the workpiece according to the coordinate system set by the auxiliary robot to obtain the position coordinate data of the workpiece. The offset value calculation module is used to perform difference calculation on the position coordinate data of the workpiece and the initial setting parameters of the auxiliary robot to obtain the offset value between the initial setting parameters and the position coordinates. The offset value verification module is used to compare and analyze the offset value between the initial setting parameters and the position coordinates to obtain the final setting parameters of the auxiliary robot.

[0014] Compared with existing technologies, this invention provides a robot-assisted workpiece loading and unloading method and system based on multi-source data fusion, which has the following beneficial effects: This invention obtains the grasping position coordinates of the auxiliary robot without adjusted parameters by filtering historical operating data. Then, it constructs a parameter setting coordinate system for the auxiliary robot based on the grasping position coordinates of the auxiliary robot without adjusted parameters. The position information of the workpiece is then placed into the parameter setting coordinate system of the auxiliary robot to obtain the position coordinate data of the workpiece. Finally, the position coordinate data of the workpiece is compared with the initial setting parameters of the auxiliary robot to determine whether the initial setting parameters of the auxiliary robot are accurate, ensuring that the auxiliary robot can accurately grasp the workpiece and shorten the workpiece handling time. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating steps S100-S400 in a robot-assisted workpiece loading and unloading method based on multi-source data fusion proposed in this invention. Figure 2 This is a structural block diagram of a robot-assisted workpiece loading and unloading system based on multi-source data fusion proposed in this invention. Detailed Implementation

[0016] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0017] Reference Figure 1 As shown, a robot-assisted workpiece loading and unloading method based on multi-source data fusion includes: S100. Acquire historical operating data of the auxiliary robot, and perform data analysis and processing on the historical operating data of the auxiliary robot based on the intelligent analysis terminal to determine the parameter setting rules of the auxiliary robot. S200. Obtain the position information of the workpiece. Based on the intelligent analysis terminal, perform coordinate matching processing on the position information of the workpiece according to the parameter setting rules of the auxiliary robot to obtain the position coordinate data of the workpiece. S300: Obtain the initial setting parameters of the auxiliary robot. Based on the intelligent analysis terminal, perform data comparison processing on the initial setting parameters of the auxiliary robot according to the position coordinate data of the workpiece, and obtain the offset value between the initial setting parameters and the position coordinates. S400: Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are adjusted according to the offset value between the initial setting parameters and the position coordinates to obtain the final setting parameters of the auxiliary robot. Those skilled in the art will understand that when a workpiece is moved by an auxiliary robot, the workpiece's position coordinates need to be input into the auxiliary robot's control system. Then, the auxiliary robot moves the workpiece according to its position coordinates. If the workpiece's position coordinates are inaccurate, the auxiliary robot cannot grasp the workpiece properly, and the workpiece's position coordinates need to be re-inputted to the auxiliary robot, which indirectly prolongs the workpiece's moving time. Therefore, in order to shorten the workpiece's moving time, the workpiece's position coordinate data is compared with the auxiliary robot's initial setting parameters to determine whether the auxiliary robot's initial setting parameters are accurate. If they are inaccurate, the auxiliary robot's parameters are adjusted in a timely manner to shorten the workpiece's moving time. Example

[0018] Step S100: Obtain historical operating data of the auxiliary robot. Based on the intelligent analysis terminal, perform data analysis and processing on the historical operating data of the auxiliary robot to determine the parameter setting rules of the auxiliary robot. This specifically includes the following steps: S101. Based on the intelligent analysis terminal, perform data retrieval and processing on the database system to obtain historical operating data of the auxiliary robot; S102. Based on the intelligent analysis terminal, classify and process the historical operation data of the auxiliary robot to obtain the data of the tasks completed by the auxiliary robot. S103. Based on the intelligent analysis terminal, perform data comparison and analysis on the data of the tasks completed by the auxiliary robot to obtain the data of the tasks completed by the auxiliary robot without adjusting the parameters. S104. Based on the intelligent analysis terminal, perform data calculation and processing on the completed task data of the auxiliary robot whose parameters have not been adjusted, and obtain the parameter setting rules of the auxiliary robot.

[0019] Specifically, step S103, which involves comparing and analyzing the completed task data of the auxiliary robot based on the intelligent analysis terminal to obtain the completed task data of the auxiliary robot without adjusted parameters, includes the following steps: S1031. Based on the intelligent analysis terminal, the data of the tasks completed by the auxiliary robot is read and processed to obtain the grasping time of each workpiece. S1032. Based on the intelligent analysis terminal, the grasping time and the set grasping time threshold of each workpiece are judged and processed. S1033. If the gripping time of the workpiece is greater than or equal to the set gripping time threshold, the setting parameters of the auxiliary robot corresponding to the gripping time of the workpiece are inaccurate. S1034. If the gripping time of the workpiece is less than the set gripping time threshold, the set parameters of the auxiliary robot corresponding to the gripping time of the workpiece are accurate. Based on the intelligent analysis terminal, the completed task data of the auxiliary robot corresponding to the gripping time of the workpiece is set as the completed task data of the auxiliary robot without adjusted parameters.

[0020] Specifically, step S104, based on the intelligent analysis terminal, involves performing data calculation and processing on the completed task data of the unadjusted auxiliary robot to obtain the parameter setting rules for the auxiliary robot, including the following steps: S1041. Based on the intelligent analysis terminal, the completed task data of the auxiliary robot with unadjusted parameters is read and processed to obtain the set of workpiece gripping position coordinates. S1042. Based on the intelligent analysis terminal, perform data classification processing on the set of workpiece gripping position coordinates to determine the X-axis parameters, Y-axis parameters and Z-axis parameters of the workpiece gripping position. S1043. Based on the intelligent analysis terminal, draw the X-axis, Y-axis and Z-axis of the parameter setting coordinate system of the auxiliary robot according to the X-axis parameters, Y-axis parameters and Z-axis parameters of the workpiece gripping position; S1044. Based on the intelligent analysis terminal, the intersection of the X-axis, Y-axis and Z-axis of the parameter setting coordinate system of the auxiliary robot is set as the origin of the parameter setting coordinate system of the auxiliary robot. In this embodiment, the auxiliary robot may encounter situations where the set parameters are inaccurate during the workpiece handling process. Since the auxiliary robot handles the workpiece according to the set parameters, and the set parameters need to be determined by a standard, a three-dimensional coordinate system is set up in the workpiece storage warehouse. Subsequently, the composition of this three-dimensional coordinate system is input into the auxiliary robot to obtain the position coordinates of the workpiece. The auxiliary robot can achieve precise handling of the workpiece based on the position coordinates of the workpiece. To obtain the accurate parameter setting coordinate system of the auxiliary robot, it is necessary to obtain the completed task data of the auxiliary robot without parameter adjustment. Based on the position coordinates in the completed task data of the auxiliary robot without parameter adjustment, the parameter setting coordinate system of the auxiliary robot can be constructed in reverse. Example

[0021] Step S200: Obtain the workpiece's position information. Based on the intelligent analysis terminal, the workpiece's position information is processed by coordinate matching according to the parameter setting rules of the auxiliary robot to obtain the workpiece's position coordinate data. This specifically includes the following steps: S201. Based on the intelligent analysis terminal, control the industrial camera to perform image acquisition and processing on the workpiece placement warehouse, and obtain internal image data of the workpiece placement warehouse. S202. Based on the intelligent analysis terminal, feature extraction processing is performed on the internal image data of the workpiece placement warehouse to determine the placement position of the workpiece. S203. Based on the intelligent analysis terminal, the position coordinates of the workpiece are matched according to the coordinate system set by the parameters of the auxiliary robot to obtain the position coordinate data of the workpiece.

[0022] Specifically, step S203, based on the intelligent analysis terminal, performs position coordinate matching processing on the placement position of the workpiece according to the parameter setting coordinate system of the auxiliary robot to obtain the position coordinate data of the workpiece, includes the following steps: S2031. Based on the intelligent analysis terminal, the placement position of the workpiece is placed in the parameter setting coordinate system of the auxiliary robot; S2032. Based on the intelligent analysis terminal, the coordinate information of the workpiece placement position is extracted and processed in the parameter setting coordinate system of the auxiliary robot to obtain the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the workpiece. S2033. Based on the intelligent analysis terminal, the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the workpiece are integrated and processed to obtain the position coordinate data of the workpiece; In this embodiment, after determining the parameter setting coordinate system of the auxiliary robot, it is necessary to determine the placement position of the workpiece. Therefore, by acquiring images of the workpiece placement warehouse and performing position analysis on the acquired images, the placement position of the workpiece is obtained. Subsequently, the workpiece placement position is matched with the coordinates of the auxiliary robot in the parameter setting coordinate system to obtain the position coordinate data of the workpiece. Finally, the position coordinate data of the workpiece is compared with the initial setting parameters of the auxiliary robot to determine whether the initial setting parameters of the auxiliary robot are accurate. Example

[0023] Step S300: Obtain the initial setting parameters of the auxiliary robot. Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are compared with the workpiece position coordinate data to obtain the offset value between the initial setting parameters and the position coordinates. This specifically includes the following steps: S301. Based on the intelligent analysis terminal, perform data retrieval and processing on the auxiliary robot to obtain the initial setting parameters of the auxiliary robot; S302. Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are read and processed to obtain the initial setting gripping position coordinate data of the workpiece. S303. Based on the intelligent analysis terminal, the position coordinate data of the workpiece and the initial set grasping position coordinate data of the workpiece are processed by difference calculation to obtain the offset value between the initial set parameters and the position coordinates. In this embodiment, for the auxiliary robot to grasp the workpiece, the difference between the workpiece's position coordinate data and the auxiliary robot's initial setting parameters must be within a set range. Therefore, the difference between the workpiece's position coordinate data and the workpiece's initial set grasping position coordinate data is calculated to obtain the offset value between the initial setting parameters and the position coordinates. The offset value between the initial setting parameters and the position coordinates is judged to determine whether the auxiliary robot's initial setting parameters are accurate. Example

[0024] Step S400: Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are adjusted according to the offset value between the initial setting parameters and the position coordinates to obtain the final setting parameters of the auxiliary robot. This specifically includes the following steps: S401. Based on the intelligent analysis terminal, perform data classification processing on the offset values ​​between the initial set parameters and the position coordinates to obtain the offset values ​​of the X-axis parameters, Y-axis parameters, and Z-axis parameters. S402. The offset values ​​of the X-axis parameter, Y-axis parameter, and Z-axis parameter are respectively judged and processed against the set offset value threshold. S403. If the offset value of the X-axis parameter is greater than or equal to the set X-axis offset value threshold, or the offset value of the Y-axis parameter is greater than or equal to the set Y-axis offset value threshold, or the offset value of the Z-axis parameter is greater than or equal to the set Z-axis offset value threshold, the initial setting parameters of the auxiliary robot that are greater than or equal to the set offset value threshold are changed to the final setting parameters of the auxiliary robot, wherein the final setting parameters of the auxiliary robot are specifically the position coordinate data of the workpiece. S404. If the offset value of the X-axis parameter is less than the set X-axis offset value threshold, the offset value of the Y-axis parameter is less than the set Y-axis offset value threshold, and the offset value of the Z-axis parameter is less than the set Z-axis offset value threshold, there is no need to adjust the initial setting parameters of the auxiliary robot.

[0025] Reference Figure 2 As shown, a robot-assisted workpiece loading and unloading system based on multi-source data fusion is used to implement the robot-assisted workpiece loading and unloading method based on multi-source data fusion as described above, including: The intelligent analysis terminal is used to control the data transmission and information interaction between various modules. The intelligent analysis terminal is used to control the various modules to compare the position information of the workpiece with the historical operation data of the auxiliary robot and determine the final setting parameters of the auxiliary robot. A database system is used to store historical operational data of the auxiliary robot; The coordinate system determination module performs coordinate system drawing processing based on the X-axis parameters, Y-axis parameters and Z-axis parameters of the workpiece gripping position to obtain the parameter setting coordinate system of the auxiliary robot; The position matching module performs coordinate matching processing on the position information of the workpiece according to the coordinate system set by the auxiliary robot to obtain the position coordinate data of the workpiece. The offset value calculation module is used to perform difference calculation on the position coordinate data of the workpiece and the initial setting parameters of the auxiliary robot to obtain the offset value between the initial setting parameters and the position coordinates. The offset value verification module is used to compare and analyze the offset value between the initial setting parameters and the position coordinates to obtain the final setting parameters of the auxiliary robot.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A robot-assisted workpiece loading and unloading method based on multi-source data fusion, characterized in that, include: Acquire historical operating data of the assistive robot, and perform data analysis and processing on the historical operating data of the assistive robot based on the intelligent analysis terminal to determine the parameter setting rules of the assistive robot; The position information of the workpiece is obtained. Based on the intelligent analysis terminal, the position information of the workpiece is processed by coordinate matching according to the parameter setting rules of the auxiliary robot to obtain the position coordinate data of the workpiece. The initial setting parameters of the auxiliary robot are obtained. Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are compared with the position coordinate data of the workpiece to obtain the offset value between the initial setting parameters and the position coordinates. Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are adjusted according to the offset value between the initial setting parameters and the position coordinates to obtain the final setting parameters of the auxiliary robot.

2. The robot-assisted workpiece loading and unloading method based on multi-source data fusion according to claim 1, characterized in that, The process of acquiring historical operational data of the auxiliary robot, and analyzing and processing this data using an intelligent analysis terminal to determine the parameter setting rules for the auxiliary robot, specifically includes the following steps: Based on the intelligent analysis terminal, data is retrieved and processed from the database system to obtain historical operating data of the auxiliary robot; Based on the intelligent analysis terminal, the historical operation data of the auxiliary robot is classified and processed to obtain the data of the tasks completed by the auxiliary robot. Based on the intelligent analysis terminal, the data of the completed tasks of the auxiliary robot is compared and analyzed to obtain the completed task data of the auxiliary robot without adjusting the parameters; Based on the intelligent analysis terminal, the completed task data of the auxiliary robot without adjusted parameters is processed to obtain the parameter setting rules of the auxiliary robot.

3. The robot-assisted workpiece loading and unloading method based on multi-source data fusion according to claim 2, characterized in that, The process of comparing and analyzing the completed task data of the auxiliary robot based on the intelligent analysis terminal to obtain the completed task data of the auxiliary robot without adjusted parameters specifically includes the following steps: Based on the intelligent analysis terminal, the data of the tasks completed by the auxiliary robot is read and processed to obtain the grasping time of each workpiece; Based on the intelligent analysis terminal, the grasping time and set grasping time threshold of each workpiece are judged and processed. If the gripping time of the workpiece is greater than or equal to the set gripping time threshold, the set parameters of the auxiliary robot corresponding to the gripping time of the workpiece are inaccurate. If the gripping time of the workpiece is less than the set gripping time threshold, the set parameters of the auxiliary robot corresponding to the gripping time of the workpiece are accurate. Based on the intelligent analysis terminal, the completed task data of the auxiliary robot corresponding to the gripping time of the workpiece is set as the completed task data of the auxiliary robot without adjusted parameters.

4. The robot-assisted workpiece loading and unloading method based on multi-source data fusion according to claim 3, characterized in that, The process of using an intelligent analysis terminal to perform data calculations on the completed task data of an unadjusted auxiliary robot to obtain the parameter setting rules for the auxiliary robot specifically includes the following steps: Based on the intelligent analysis terminal, the completed task data of the auxiliary robot with unadjusted parameters is read and processed to obtain the set of workpiece gripping position coordinates; Based on the intelligent analysis terminal, the set of workpiece gripping position coordinates is classified and processed to determine the X-axis, Y-axis and Z-axis parameters of the workpiece gripping position. Based on the intelligent analysis terminal, the X-axis, Y-axis and Z-axis of the parameter setting coordinate system of the auxiliary robot are plotted according to the X-axis parameters, Y-axis parameters and Z-axis parameters of the workpiece gripping position. Based on the intelligent analysis terminal, the intersection of the X-axis, Y-axis and Z-axis of the parameter setting coordinate system of the auxiliary robot is set as the origin of the parameter setting coordinate system of the auxiliary robot.

5. The robot-assisted workpiece loading and unloading method based on multi-source data fusion according to claim 4, characterized in that, The process of obtaining the workpiece's position information, based on an intelligent analysis terminal and according to the parameter setting rules of the auxiliary robot, involves coordinate matching processing of the workpiece's position information to obtain the workpiece's position coordinate data. Specifically, this includes the following steps: Based on the intelligent analysis terminal, the industrial camera is controlled to acquire and process images of the workpiece placement warehouse, and obtain internal image data of the workpiece placement warehouse. Based on the intelligent analysis terminal, feature extraction processing is performed on the internal image data of the workpiece placement warehouse to determine the placement location of the workpiece. Based on the intelligent analysis terminal, the coordinate system set according to the parameters of the auxiliary robot is used to perform position coordinate matching processing on the placement position of the workpiece to obtain the position coordinate data of the workpiece.

6. The robot-assisted workpiece loading and unloading method based on multi-source data fusion according to claim 5, characterized in that, The process of using an intelligent analysis terminal to perform position coordinate matching on the workpiece based on the coordinate system set by the auxiliary robot, and obtaining the workpiece's position coordinate data, specifically includes the following steps: Based on the intelligent analysis terminal, the placement position of the workpiece is set in the parameter setting coordinate system of the auxiliary robot; Based on the intelligent analysis terminal, the coordinate information of the workpiece placement position is extracted and processed in the parameter setting coordinate system of the auxiliary robot to obtain the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the workpiece. Based on the intelligent analysis terminal, the X-axis, Y-axis, and Z-axis coordinates of the workpiece are integrated to obtain the workpiece's position coordinate data.

7. The robot-assisted workpiece loading and unloading method based on multi-source data fusion according to claim 1, characterized in that, The process of obtaining the initial setting parameters of the auxiliary robot, based on an intelligent analysis terminal, involves comparing the initial setting parameters of the auxiliary robot with the workpiece's position coordinate data to obtain the offset value between the initial setting parameters and the position coordinates. Specifically, this includes the following steps: Based on the intelligent analysis terminal, data retrieval and processing are performed on the auxiliary robot to obtain the initial setting parameters of the auxiliary robot; Based on the intelligent analysis terminal, the initial setting parameters of the auxiliary robot are read and processed to obtain the initial setting gripping position coordinate data of the workpiece. Based on the intelligent analysis terminal, the position coordinate data of the workpiece and the initial set grasp position coordinate data of the workpiece are processed by difference calculation to obtain the offset value between the initial set parameters and the position coordinates.

8. The robot-assisted workpiece loading and unloading method based on multi-source data fusion according to claim 7, characterized in that, The process of adjusting the initial settings of the auxiliary robot based on the offset between the initial settings and the position coordinates using an intelligent analysis terminal to obtain the final settings of the auxiliary robot includes the following steps: Based on the intelligent analysis terminal, the offset values ​​between the initial set parameters and the position coordinates are classified and processed to obtain the offset values ​​of the X-axis parameter, the Y-axis parameter, and the Z-axis parameter. The offset values ​​of the X-axis parameter, Y-axis parameter, and Z-axis parameter are respectively judged and processed against the set offset value threshold; If the offset value of the X-axis parameter is greater than or equal to the set X-axis offset value threshold, or the offset value of the Y-axis parameter is greater than or equal to the set Y-axis offset value threshold, or the offset value of the Z-axis parameter is greater than or equal to the set Z-axis offset value threshold, the initial setting parameters of the auxiliary robot that are greater than or equal to the set offset value threshold will be changed to the final setting parameters of the auxiliary robot. Specifically, the final setting parameters of the auxiliary robot are the position coordinate data of the workpiece. If the offset value of the X-axis parameter is less than the set X-axis offset value threshold, the offset value of the Y-axis parameter is less than the set Y-axis offset value threshold, and the offset value of the Z-axis parameter is less than the set Z-axis offset value threshold, there is no need to adjust the initial settings of the auxiliary robot.

9. A robot-assisted workpiece loading and unloading system based on multi-source data fusion, used to implement the robot-assisted workpiece loading and unloading method based on multi-source data fusion as described in any one of claims 1-8, characterized in that, include: The intelligent analysis terminal is used to control the data transmission and information interaction between various modules. The intelligent analysis terminal is used to control the various modules to compare the position information of the workpiece with the historical operation data of the auxiliary robot and determine the final setting parameters of the auxiliary robot. A database system is used to store historical operational data of the auxiliary robot; The coordinate system determination module performs coordinate system drawing processing based on the X-axis parameters, Y-axis parameters and Z-axis parameters of the workpiece gripping position to obtain the parameter setting coordinate system of the auxiliary robot; The position matching module performs coordinate matching processing on the position information of the workpiece according to the coordinate system set by the auxiliary robot to obtain the position coordinate data of the workpiece. The offset value calculation module is used to perform difference calculation on the position coordinate data of the workpiece and the initial setting parameters of the auxiliary robot to obtain the offset value between the initial setting parameters and the position coordinates. The offset value verification module is used to compare and analyze the offset value between the initial setting parameters and the position coordinates to obtain the final setting parameters of the auxiliary robot.

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