Automatic oiling method and system based on RFID and visual guidance

Abstract

This invention provides an automated oiling method and system based on RFID and vision guidance, relating to the field of automated machining oiling. The method includes: after the workpiece to be oiled is positioned on a pallet, the RFID identification module reads the machine model information and sends it to the PLC control module. After matching the oiling program and nozzle type, the robot is driven to change the oiling nozzle and move to the theoretical oiling port coordinates. An industrial camera is activated to capture an image and calculate the pose deviation. After correcting the trajectory, the robot drives the oiling nozzle to align with the oiling port to complete the oiling. The robot then retracts the oiling nozzle and returns to the standby position. This solves the problems of low efficiency and insufficient positioning accuracy in adapting to multi-machine mixed production lines, which is prone to misalignment and oil waste and environmental pollution, resulting from traditional technologies that rely on manual nozzle changing and machine model matching, and purely mechanical positioning of the oiling port. The invention achieves the technical effect of improving oiling accuracy and operational efficiency in multi-machine mixed production lines while avoiding oil waste and pollution.

Description

Technical Field

[0001] This invention relates to the field of automated machining and lubrication, and particularly to an automated oiling method and system based on RFID and vision guidance. Background Technology

[0002] In machining oil filling scenarios involving multiple machine models on mixed production lines, traditional techniques generally employ a manual nozzle-changing operation mode to match the machine model. This mode relies solely on preset, purely mechanical positioning to determine the oil filler port position. Manual nozzle changing requires operators to manually replace the corresponding oil filler nozzle for each workpiece, resulting in long waiting times and frequent manual operations that can easily lead to nozzle type matching errors. This makes it difficult to adapt to the needs of mixed production lines with multiple machine models and small batches, resulting in extremely low adaptation efficiency. Furthermore, purely mechanical positioning can only correspond to the theoretical oil filler port position and cannot compensate for positional offsets caused by workpiece pallet docking deviations and workpiece machining errors. This can easily lead to misalignment of the oil filler port, causing oil spillage and waste, polluting the production environment, and slowing down the overall filling operation rhythm.

[0003] It should be noted that the information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] To address the aforementioned shortcomings or improvement needs of existing technologies, this invention provides an automatic oiling method and system based on RFID and vision guidance. This solves the problems of low efficiency and insufficient positioning accuracy in adapting to multi-model production lines, which is often caused by manual nozzle changing and purely mechanical positioning of the oiling port, leading to oil waste and environmental pollution. The invention achieves the technical effect of improving oiling accuracy and operational efficiency in multi-model mixed-line production while avoiding oil waste and pollution. The specific technical solution is as follows:

[0005] According to a first aspect of the present invention, an automatic oiling method based on RFID and vision guidance is provided, the method comprising:

[0006] The workpiece to be refueled is transported by a workpiece pallet and stops at the transport positioning station. The RFID identification module is triggered to read the model information stored in the electronic tag on the workpiece pallet. The PLC control module matches the refueling program and refueling nozzle model based on the model information sent by the RFID identification module. The PLC control module drives the robot quick-change execution module to move to the nozzle holder to change and clamp the refueling nozzle. The robot quick-change execution module moves the industrial camera and the refueling nozzle to the theoretical refueling port coordinates of the transport positioning station, and then activates the industrial camera to capture a visual positioning image of the workpiece to be refueled. The PLC control module receives the image and calculates the refueling port pose deviation based on the visual positioning image. After compensating for the motion trajectory of the robot quick-change execution module, it moves the refueling nozzle to the refueling port of the workpiece to be refueled and executes the refueling program to add oil. After the oil volume meets the preset amount of the refueling program, the robot quick-change execution module stops the refueling operation and retracts the refueling nozzle, returning to the standby position. The workpiece pallet carries the refueled workpiece out of the transport positioning station.

[0007] In one implementation, the PLC control module matches the refueling program and refueling nozzle model based on the machine model information sent by the RFID identification module, and also performs the following processing:

[0008] The PLC control module parses the machine model information sent by the RFID identification module to obtain the processing machine model and the oil filling port specification parameters; it uses the processing machine model and the oil filling port specification parameters as a joint index to match the oil filling program and the oil filling gun model in the pre-stored oil filling process database.

[0009] In one embodiment, the PLC control module drives the robot quick-change execution module to move to the gun holder to change and clamp the working refueling gun according to the refueling gun model, and also performs the following processing:

[0010] The PLC control module performs real-time clamping type matching judgment on the first fixed end of the clamp in the robot quick-change execution module according to the model of the fuel nozzle. If the real-time model of the clamped fuel nozzle is inconsistent with the fuel nozzle model, the robot quick-change execution module is driven to move to the gun holder according to the fuel nozzle model to select and replace the working fuel nozzle. If the real-time model of the clamped fuel nozzle is consistent with the fuel nozzle model, the robot quick-change execution module is directly driven to move to the fuel inlet position of the workpiece to be fueled to perform the refueling operation.

[0011] In one implementation, after the refueling amount meets the preset refueling amount, the robot quick-change execution module stops the refueling operation and retracts the refueling nozzle, returns to the standby position, and also performs the following processing:

[0012] After the refueling operation is started, the flow meter of the quantitative refueling module collects and transmits the refueling volume data to the PLC control module in real time. When the PLC control module compares the refueling volume data and finds that it meets the preset refueling volume, it controls the oil pump in the quantitative refueling module to stop running, thereby stopping the refueling operation. After the PLC control module drives the robot quick-change execution module to move the refueling gun out of the refueling port of the workpiece to be refueled, it controls the robot quick-change execution module to move back to the standby position.

[0013] In one implementation, the PLC control module receives and calculates the pose deviation of the refueling port based on the visual positioning image, performs motion trajectory compensation for the robot quick-change execution module, and also performs the following processing:

[0014] The actual fuel filler neck contour is extracted by performing edge segmentation processing on the visual positioning image; a standard fuel filler neck contour matched according to the model information is used to match the actual fuel filler neck contour to obtain positional deviation and angle deviation, which constitute the fuel filler neck pose deviation; the target motion coordinates of the end of the robot quick-change execution module are corrected according to the fuel filler neck pose deviation to update the original motion trajectory and complete the compensation.

[0015] According to a second aspect of the present invention, an automatic oiling system based on RFID and vision guidance is provided, the system comprising:

[0016] The system includes: a conveyor positioning station for stopping and positioning a workpiece pallet carrying the workpiece to be refueled; an overhead crane fixedly installed above the conveyor positioning station on a load-bearing structure; a robot quick-change execution module connected to the bottom of the overhead crane; an industrial camera mounted and signal-connected to the robot quick-change execution module; a gun holder fixedly installed on the left side of the automatic refueling station for storing multiple idle refueling guns; an RFID identification module located on the side of the conveyor positioning station; and a PLC control module deployed in a control cabinet outside the conveyor positioning station, signal-connected to the RFID identification module, the industrial camera, and the robot quick-change execution module.

[0017] In one embodiment, the robot quick-change execution module includes:

[0018] An inverted industrial robot is fixedly connected to the bottom of an aerial frame; a robot quick-change plate is connected to the end of the inverted industrial robot; a clamp is connected to the robot quick-change plate, the clamp is provided with a first fixed end and a second fixed end, wherein an idle refueling gun is detachably installed on the first fixed end as a working refueling gun, and an industrial camera is installed on the second fixed end.

[0019] In one embodiment, a quantitative dispensing module is also included:

[0020] The quantitative dispensing module includes an oil storage tank, an oil pump, a flow meter, and an oil delivery pipeline; the oil delivery pipeline is connected to the working refueling nozzle; the quantitative dispensing module is signal-connected to the PLC control module, and the PLC control module controls the amount of oil dispensed.

[0021] In one embodiment, the system further includes a protective net that surrounds the conveying and positioning station to form a working area.

[0022] In one embodiment, the system further includes an intervention pedal located on a side outside the work area away from the gun mount.

[0023] Beneficial effects of the embodiments of the present invention:

[0024] In the solution provided by this invention, the workpiece to be refueled is transported via a workpiece pallet and stops at the transport positioning station. The RFID identification module automatically reads the model information stored in the electronic tag on the workpiece pallet, quickly confirming the model without manual input and avoiding information errors. The PLC control module matches the refueling program and refueling nozzle model based on the model information sent by the RFID identification module, automatically adapting to the refueling needs of different models without manual parameter adjustment. The PLC control module drives the robot quick-change execution module to move to the nozzle holder to change and clamp the refueling nozzle, significantly reducing waiting time and improving work efficiency compared to manual nozzle changing. After the robot quick-change execution module moves the industrial camera and the refueling nozzle to the theoretical refueling port coordinates of the transport positioning station... The industrial camera is activated to capture a visual positioning image of the workpiece to be refueled, obtaining information about the actual area of ​​the refueling port. The PLC control module receives this image and calculates the pose deviation of the refueling port based on the visual positioning image. After motion trajectory compensation by the robot quick-change execution module, the working refueling gun is moved to the refueling port of the workpiece to be refueled to execute the refueling procedure and refuel the workpiece. This eliminates positional offsets caused by workpiece docking errors and processing errors, improving alignment accuracy. Once the refueling amount meets the preset amount of the refueling procedure, the robot quick-change execution module stops the refueling operation and retracts the working refueling gun, returning to the standby position. Quantitative control of the refueling amount avoids over-refueling and waste. The workpiece tray carries the refueled workpiece out of the conveying and positioning station and automatically flows into the next production process to complete the entire operation. This achieves the technical effect of adapting to the oil refueling accuracy and operational efficiency in multi-model mixed-line production while avoiding oil waste and pollution. Of course, implementing any product or method of this invention does not necessarily require achieving all the advantages described above simultaneously. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the automatic oiling system based on RFID and vision guidance provided by the present invention is shown.

[0027] Figure 2 A schematic diagram of the automatic oiling method based on RFID and vision guidance provided by the present invention is shown.

[0028] Figure labeling: 1. Aerial gantry; 2. Industrial camera; 3. Gun holder; 4. Idle refueling gun; 5. Inverted industrial robot; 6. Robot quick-change plate; 7. Gripper; 8. Working refueling gun; 9. Protective net; 10. Intervention pedal; 11. Workpiece to be refueled. Detailed Implementation

[0029] To facilitate understanding of the present invention, a more complete description of the invention will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein; rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the invention.

[0030] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0032] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0033] The present invention provides an automatic oil filling method and system based on RFID and vision guidance, which solves the problems of low efficiency and insufficient positioning accuracy in the traditional technology of manually changing guns to match the model and purely mechanically positioning the oil filling port, resulting in oil waste and environmental pollution.

[0034] Example 1: This invention provides an automatic oiling system based on RFID and vision guidance, used to execute an automatic oiling method based on RFID and vision guidance. See [link to documentation]. Figure 1 As shown, the system includes:

[0035] A conveying and positioning station is used to stop and position the workpiece pallet that carries the workpiece 11 to be refueled.

[0036] Specifically, the conveying and positioning station is the core support station of the entire automatic oiling operation. Its function is to receive the workpiece tray that is transported by the conveyor line and has the workpiece 11 to be oiled placed on it. It is not only used to keep the workpiece tray stably in the working area, but also to accurately position the workpiece tray so that the subsequent robot quick change execution module can accurately find the oiling port position of the workpiece 11 to be oiled.

[0037] Aerial gantry 1, which is a load-bearing structure fixedly installed above the conveying and positioning station.

[0038] Specifically, the overhead gantry 1 is the installation base for the robot quick-change execution module. It is fixedly installed on the load-bearing structure of the factory above the conveying and positioning station. The entire robot quick-change execution module is arranged upside down above the conveying and positioning station, which will not occupy the ground working space of the conveying and positioning station. It can also ensure that the robot's working range can completely cover the workpiece 11 to be refueled on the conveying and positioning station.

[0039] Gun holder 3 is fixedly installed on one side of the conveying and positioning station and is used to store multiple idle refueling guns 4.

[0040] Specifically, the gun holder 3 is a storage carrier for multiple specifications of idle refueling guns 4. It is fixedly installed on the side area of ​​the conveying and positioning station and can store multiple idle refueling guns 4 of different specifications at the same time. This allows the robot quick-change execution module to quickly change the corresponding specification of the working refueling gun according to the needs of different workpieces 11 to be refueled.

[0041] A robot quick-change execution module, connected to the bottom of the aerial gantry 1, includes:

[0042] An inverted industrial robot 5 is fixedly connected to the bottom of the overhead frame 1; a robot quick-change plate 6 is connected to the end of the inverted industrial robot 5; a clamp 7 is connected to the robot quick-change plate 6, and the clamp 7 is provided with a first fixed end and a second fixed end. The idle oiling gun 4 is detachably installed on the first fixed end as a working oiling gun 8, and the industrial camera 2 is installed on the second fixed end and is signal-connected to the robot quick-change execution module.

[0043] Specifically, the robot quick-change execution module is the core execution component that completes the refueling nozzle grabbing and moving, visual positioning and acquisition, and refueling operations. The whole module is connected and installed at the bottom of the aerial gantry 1, and relies on the inverted arrangement of the aerial gantry 1 to obtain the complete working range covering the conveying and positioning station.

[0044] The robot quick-change execution module specifically includes an inverted industrial robot 5, a robot quick-change tray 6, and a fixture 7.

[0045] Among them, the inverted industrial robot 5 is the motion drive body of the robot quick-change execution module. It is fixedly connected to the bottom of the overhead frame 1. Relying on multi-joint motion, it can drive the end part to complete the movement of any position and angle, meeting the needs of operation path adjustment. The robot quick-change plate 6 is the adapter component that realizes the quick change of the end gripper 7. It is connected and fixed to the output end of the inverted industrial robot 5. It can quickly complete the disassembly and assembly of the end gripper 7 and the load through the quick-change structure, meeting the efficiency requirements of changing oil guns of different specifications. The gripper 7 is the end fixing component that simultaneously carries the working oil gun 8 and the industrial camera 2. It is connected and installed below the robot quick-change plate 6. The gripper 7 itself is set with two independent installation positions, the first fixed end and the second fixed end, for fixing different working components respectively.

[0046] Specifically, the idle refueling nozzles 4 of different specifications are normally placed on the nozzle holder 3. When operation is required, they can be disassembled and installed onto the first fixed end of the fixture 7 by the robot quick-change execution module. After being installed onto the first fixed end, the idle refueling nozzle 4 becomes the working refueling nozzle 8 used in this operation.

[0047] The industrial camera 2 is fixedly mounted on the second fixed end of the fixture 7, while maintaining the signal path and the robot quick-change execution module connected. It can transmit the captured image signal outward for subsequent calculation of the position deviation of the refueling port.

[0048] An RFID identification module is disposed on the side of the conveying and positioning station.

[0049] Specifically, the RFID identification module is an identification component that reads the model information of the workpiece 11 to be refueled. It is installed on the side of the conveying and positioning station. After the workpiece pallet brings the workpiece 11 to be refueled to the conveying and positioning station, it can directly read the information stored in the electronic tag on the workpiece pallet and complete the identification operation without additional position adjustment.

[0050] The PLC control module is deployed in a control cabinet outside the conveyor positioning station. The PLC control module is connected to the RFID identification module, the industrial camera 2, and the robot quick-change execution module.

[0051] Specifically, the PLC control module is the control core of the entire automatic oiling system. It is deployed and installed in an independent control cabinet outside the conveying and positioning station. This avoids occupying the working space of the conveying and positioning station and prevents external interference and oil pollution during operation, thus ensuring stable operation.

[0052] The PLC control module establishes signal connections with the RFID identification module, industrial camera 2, and robot quick-change execution module through signal lines. It can receive model information sent by the RFID identification module and visual positioning images sent by the industrial camera 2, and at the same time send motion control commands to the robot quick-change execution module to realize automatic control of the entire processing operation.

[0053] Furthermore, the automatic oil dispensing system based on RFID and vision guidance also includes a quantitative dispensing module, which includes an oil tank, an oil pump, a flow meter, and an oil delivery pipeline; the oil delivery pipeline is connected to the working refueling nozzle 8; the quantitative dispensing module is signal-connected to the PLC control module, and the PLC control module controls the amount of oil dispensed.

[0054] Specifically, the quantitative filling module is a functional module that accurately supplies engine oil to the workpiece 11 to be filled. In addition to the core components mentioned above, it is added to the automatic oil filling system based on RFID and vision guidance. The whole system consists of four parts: oil tank, oil pump, flow meter and oil pipeline. The oil tank is used to store the engine oil to be filled, the oil pump provides power for the oil delivery, the flow meter is used to collect the current oil filling amount in real time, and the oil pipeline is responsible for delivering the engine oil from the oil tank to the filling gun.

[0055] The oil pipeline serves as the passage for transporting engine oil. Its end is connected to the working oil gun 8 installed at the first fixed end of the clamp 7, which can stably transport the metered engine oil to the oil gun to complete the spraying and filling.

[0056] The entire quantitative filling module establishes a signal connection with the PLC control module through signal lines. All start-stop and filling volume control are completed and managed by the PLC control module according to the preset program, ultimately achieving precise control of the amount of oil added according to the requirements of the corresponding model, avoiding the problem of adding too much or too little oil.

[0057] The protective net 9 is arranged around the conveying and positioning station to form a working area.

[0058] Specifically, the protective net 9 is a safety protection component used to isolate the work area. It is continuously arranged around the perimeter of the conveying and positioning station, enclosing the conveying and positioning station and the internal working components into an independent and closed work area. This can prevent unauthorized personnel from accidentally entering the work area, avoid safety accidents caused during robot operation, and also prevent oil splashing and contamination of the surrounding area during operation.

[0059] Intervention pedal 10, which is located on the side outside the working area away from the gun rack 3.

[0060] Specifically, the intervention pedal 10 is a triggering component for emergency intervention by the operator. It is located on the side of the work area away from the gun rack. The operator can step on the intervention pedal 10 outside the work area to trigger an emergency stop command. When an abnormality occurs in the operation and manual intervention is required, the operator can trigger the intervention operation without entering the closed work area, thus taking into account both safety protection and the convenience of emergency operation.

[0061] This embodiment utilizes RFID pre-reading of machine model information to match refueling parameters and corresponding refueling nozzles. Combined with a robot's automatic quick-change refueling nozzle system, it can directly adapt to the refueling needs of multiple machine models with different refueling nozzle specifications, eliminating the need for manual nozzle changing and parameter adjustment. This significantly improves the efficiency of oiling operations in multi-model mixed production lines. Simultaneously, industrial vision (industrial camera 2) corrects the refueling nozzle posture and compensates for robot motion deviations, eliminating positional errors caused by workpiece positioning and processing. This ensures the refueling nozzle is accurately aligned with the refueling nozzle, avoiding oil spillage and waste, and preventing on-site pollution. The PLC-controlled quantitative refueling module accurately matches the preset refueling volume for different machine models, effectively ensuring refueling accuracy. The inverted robot's aerial installation saves ground operating space. The design of a protective net and external emergency foot pedal improves space utilization while ensuring operational safety. Overall, it achieves full automation of the multi-model mixed-line oiling process, reducing manual labor intensity while effectively improving the accuracy and stability of oiling operations.

[0062] Example 2: See Figure 2 The flowchart of the automatic oiling method based on RFID and vision guidance provided in this embodiment of the invention includes:

[0063] A100: The workpiece to be refueled is transported by the workpiece pallet and stops at the transport positioning station, triggering the RFID identification module to identify and read the model information stored in the electronic tag on the workpiece pallet.

[0064] Specifically, in this embodiment, the workpiece to be refilled is the target workpiece that needs to be filled with engine oil. The workpiece tray is a special carrier on the conveyor line used to carry and fix the workpiece to be refilled. The workpiece to be refilled is pre-installed and fixed on the workpiece tray and flows sequentially to each work station along the conveyor line. When the workpiece tray carrying the workpiece to be refilled flows to the conveyor positioning station, it will stop at the conveyor positioning station and complete the position positioning. This stopping action will trigger the RFID identification module installed on the side of the work station to start.

[0065] The RFID identification module is an identification device that relies on radio frequency signals to read information stored in electronic tags. When triggered, it will identify and read the electronic tags installed on the workpiece tray. The electronic tags are radio frequency storage tags that have been pre-written with information about the corresponding workpiece model to be refueled.

[0066] The RFID identification module reads and obtains the machine model information corresponding to the workpiece to be refueled, providing a basis for subsequent operation parameter matching. The machine model information specifically includes the processing machine model and the specifications of the refueling port.

[0067] A200: The PLC control module matches the refueling program and refueling nozzle model based on the machine model information sent by the RFID identification module.

[0068] In one implementation, the PLC control module matches the refueling program and refueling nozzle model based on the machine model information sent by the RFID identification module, and step A200 further includes:

[0069] A210: The PLC control module parses the machine model information sent by the RFID identification module to obtain the processing machine model and oil filling port specifications.

[0070] A220: Using the processing machine model and the oil filler port specification parameters as a combined index, match the oil filling program and the oil filler gun model in the pre-stored oil filling process database.

[0071] Specifically, after receiving the machine model information sent by the RFID identification module, the PLC control module will parse and process the original machine model information to extract and separate the specific processing machine model and the oil filling port specification parameters. The processing machine model refers to the specific product model corresponding to the workpiece to be oiled, and the oil filling port specification parameters refer to the size specification information of the oil filling port on the workpiece to be oiled.

[0072] The PLC control module pre-stores a refueling process database containing datasets of refueling procedures and nozzle models corresponding to all machine types and refueling port specifications. The extracted machine type and refueling port specification parameters are combined as an index for joint retrieval. This index is then used to search and match within the refueling process database, directly obtaining the refueling procedure and nozzle model for the current operation. This provides accurate parameter data for subsequent nozzle changes and refueling operations. The refueling procedure includes preset parameters for refueling volume, movement path, and operation timing, which standardize the control logic and operational requirements for the entire automatic oiling operation of the corresponding machine type.

[0073] A300: The PLC control module drives the robot quick-change execution module to move to the gun holder to change and clamp the working refueling gun according to the refueling gun model.

[0074] In one implementation, the PLC control module drives the robot quick-change execution module to move to the gun holder to change and clamp the working refueling gun according to the refueling gun model. Step A300 further includes:

[0075] A310: The PLC control module performs real-time clamping type matching judgment on the first fixed end of the fixture in the robot quick-change execution module according to the model of the fuel nozzle.

[0076] A320: If the real-time model of the real-time clamping refueling gun is inconsistent with the model of the refueling gun, the robot quick-change execution module is driven to move to the gun holder according to the model of the refueling gun to select and replace the working refueling gun.

[0077] A330: If the real-time model of the real-time clamping refueling gun is consistent with the model of the refueling gun, the robot quick-change execution module is directly driven to move to the refueling port position of the workpiece to be refueled to perform the refueling operation.

[0078] In this embodiment, the fixture is a special fixing structure at the end of the robot quick-change execution module for fixing the working parts. The fixture is set with two independent fixing installation positions. The first fixing end is a position specifically used to install and fix the refueling gun. The real-time clamping of the refueling gun is the refueling gun that is currently clamped on the first fixing end of the fixture.

[0079] Before the robot moves to change the fuel nozzle, the PLC control module will first perform a model matching judgment. This judgment compares the model of the fuel nozzle currently being clamped with the model of the target fuel nozzle required for this operation to confirm whether the currently clamped fuel nozzle meets the requirements of this operation.

[0080] If, after comparison, it is found that the model of the fuel nozzle currently clamped at the first fixed end is different from the model of the target fuel nozzle required for this operation, the PLC control module will drive the entire robot quick-change execution module to move to the position of the nozzle holder according to the requirements of the target fuel nozzle model. Among the multiple idle fuel nozzles of different specifications stored on the nozzle holder, the fuel nozzle that matches the target model is selected. Then, the old fuel nozzle is disassembled and the target fuel nozzle is clamped through the robot quick-change structure. The selected corresponding model fuel nozzle is installed on the first fixed end of the fixture and becomes the working fuel nozzle used for this operation. After the replacement and clamping are completed, it moves to the position of the workpiece to be refueled to prepare for the refueling operation.

[0081] If, after comparison, it is found that the model of the fuel nozzle currently clamped at the first fixed end is exactly the same as the model of the target fuel nozzle required for this operation, there is no need to disassemble or replace it. The PLC control module can directly drive the robot quick-change execution module to move the already clamped fuel nozzle to the fuel port of the workpiece to be fueled on the conveying and positioning station, and directly start the subsequent refueling operation, eliminating unnecessary nozzle changing process and improving the overall operation efficiency when multiple models are operating continuously.

[0082] This embodiment avoids the ineffective process of returning to the gun holder to change guns regardless of whether the current gun type is compatible by adding a model matching judgment before the gun changing operation. This achieves the technical effect of eliminating unnecessary quick change actions, shortening the operation time of a single station, and improving the overall efficiency of continuous operation of multiple machine types on mixed lines.

[0083] A400: After the robot quick-change execution module moves the industrial camera and the working refueling gun to the theoretical refueling port coordinates of the conveying and positioning station, it starts the industrial camera to take a picture of the workpiece to be refueled and obtains a visual positioning image.

[0084] Specifically, after the robot quick-change execution module completes the replacement and clamping of the refueling nozzle or confirms that the current refueling nozzle meets the model requirements, it will drive the two components fixed on the end clamp to move together. One component is the working refueling nozzle clamped at the first fixed end, and the other component is the industrial camera fixedly installed at the second fixed end.

[0085] An industrial camera is an imaging device specifically designed to acquire images of workpieces and provide positional references. The entire robot quick-change execution module will move to the pre-calibrated theoretical oiling port coordinate position on the conveying and positioning station according to the path pre-planned by the PLC control module. The theoretical oiling port coordinates are the preset theoretical positions of the oiling ports of the workpieces to be oiled for the corresponding machine model, which are reference coordinates stored in the system in advance according to the size parameters of the corresponding machine model.

[0086] Once the robot's quick-change execution module moves the two components accurately to the theoretical refueling port coordinates, it will trigger the activation of the industrial camera. The industrial camera will then capture images of the workpiece to be refueled, which is located at the conveyor positioning station, to obtain a visual positioning image containing the refueling port area of ​​the workpiece. This visual positioning image will be transmitted to the PLC control module to provide an image basis for subsequent calculation of the actual position deviation of the refueling port.

[0087] A500: The PLC control module receives and calculates the positional deviation of the oil filling port based on the visual positioning image. After performing motion trajectory compensation of the robot quick-change execution module, it moves the working oil filling gun to the oil filling port of the workpiece to be filled and executes the oil filling program to add oil.

[0088] In one implementation, the PLC control module receives and calculates the pose deviation of the refueling port based on the visual positioning image, and performs motion trajectory compensation for the robot quick-change execution module. Step A500 further includes:

[0089] A510: Extract the actual fuel filler nozzle outline by performing edge segmentation processing on the visual positioning image.

[0090] A520: A standard fuel filler port profile matched according to the aircraft model information is used to match the actual fuel filler port profile to obtain positional and angular deviations, which constitute the fuel filler port positional deviation.

[0091] A530: Based on the positional deviation of the refueling port, the target motion coordinates at the end of the robot quick-change execution module are corrected to update the original motion trajectory and complete the compensation.

[0092] Specifically, after the industrial camera captures and generates a visual positioning image, it sends the image to the PLC control module via a preset signal transmission link. Upon receiving the image, the PLC control module first performs grayscale processing to convert the color RGB image into a single-channel grayscale image with lower computational complexity. Then, it uses the Otsu method to adaptively calculate the grayscale segmentation threshold of the image, initially segmenting the low-brightness background area and the high-brightness workpiece area. Next, it uses the Sobel edge detection operator to perform convolution operations on the segmented workpiece area to extract all edge contour information of the workpiece area. Finally, it combines the approximate size range of the oil filler port of the corresponding model to perform contour filtering, filtering out useless contours of other parts of the workpiece, and retaining only the complete contour of the actual oil filler port on the workpiece to be filled, thus obtaining the actual oil filler port contour, which serves as the basis data for subsequent deviation calculation.

[0093] Then, based on the model information previously read by the RFID identification module, the standard fuel filler neck profile of the corresponding model is retrieved from the pre-stored standard profile database.

[0094] The standard refueling port outline is generated in advance by combining the design drawings of the corresponding machine model of the workpiece to be refueled, using the world coordinate system of the conveying and positioning station as the benchmark, and combining the theoretical position of the refueling port when the workpiece pallet is accurately stopped, and preprocessing the standard size and outline parameters of the refueling port to generate standard template data.

[0095] The standard refueling profile corresponds to the standard position profile of the refueling port in the theoretical state of the conveying positioning station. Next, the PLC control module will use the iterative nearest point algorithm to match and align the profile point set of the actual refueling port profile that was just extracted with the template profile point set of the standard refueling port profile point by point. During the matching calculation, the overall offset of all points of the actual profile relative to the standard profile points can be obtained. Then, the linear position offset in the X-axis and Y-axis directions in the coordinate system of the conveying positioning station and the angular offset of the actual refueling port profile rotating around its own center are separated from the overall offset. The final position deviation and angular deviation constitute the refueling port pose deviation.

[0096] The positional deviation of the refueling port accurately reflects the magnitude and direction of the error between the actual refueling port of the workpiece to be refueled and the theoretical coordinates of the conveying positioning station, caused by the workpiece pallet docking accuracy error and the workpiece's own processing error.

[0097] It should be understood that the inverted industrial robot of the robot quick-change execution module in this embodiment adopts a motion control mode that maps joint coordinates to world coordinates. The target motion coordinates of the end-effector refueling nozzle were originally set based on the pre-stored theoretical refueling port world coordinates.

[0098] Based on this, after obtaining the accurate pose deviation of the refueling nozzle, the PLC control module will superimpose the position deviation in the pose deviation onto the X-axis and Y-axis components of the original target coordinates to obtain the corrected position coordinates. Then, it will superimpose the angle deviation onto the attitude component of the original target coordinates to obtain the corrected complete target coordinates. The corrected target coordinates will replace the original target coordinates and update the motion planning path of the robot quick-change execution module, thereby completing the compensation of the entire motion trajectory. This ensures that the robot quick-change execution module can drive the refueling gun to accurately move to the actual refueling nozzle position of the workpiece to be refueled, eliminating the position offset caused by workpiece positioning errors and processing errors.

[0099] By extracting the actual oil filler port contour from visual images and combining it with standard contour alignment calculations, deviation compensation is performed on the robot's end effector motion trajectory to eliminate positional errors caused by workpiece docking and processing. This achieves the technical effects of improving the positioning accuracy of the oil filler port, avoiding oil spillage due to misalignment during filling, and ensuring the stability of multi-model mixed-line filling operations.

[0100] A600: After the refueling amount meets the preset refueling amount of the refueling procedure, the robot quick-change execution module stops the refueling operation and retracts the refueling nozzle, returning to the standby position.

[0101] In one implementation, after the refueling amount meets the preset refueling amount, the robot quick-change execution module stops the refueling operation and retracts the refueling nozzle, returning to the standby position. Step A600 further includes:

[0102] A610: After the refueling operation is started, the flow meter of the quantitative refueling module collects and transmits the refueling volume data to the PLC control module in real time.

[0103] A620: When the PLC control module compares the oil filling data and finds that the preset filling amount is met, it controls the oil pump in the quantitative filling module to stop running, thereby stopping the filling operation.

[0104] A630: After the PLC control module drives the robot quick-change execution module to move the work oiling gun out of the oiling port of the workpiece to be oiled, it controls the robot quick-change execution module to move back to the standby position.

[0105] Specifically, in this embodiment, after the PLC control module completes the robot's motion trajectory compensation, drives the refueling gun to align with the refueling port and starts the refueling operation, the flow meter built into the quantitative refueling module will start working synchronously.

[0106] The flow meter is a detection device that can detect the flow rate of oil in the pipeline in real time and count the cumulative amount of oil added. The flow meter continuously collects the flow rate of oil flowing through the oil pipeline, calculates the cumulative amount of oil added, and transmits it to the PLC control module so that the PLC control module can monitor the current oil adding progress in real time.

[0107] The PLC control module continuously compares the real-time oil filling data transmitted from the flow meter with the preset filling amount in the corresponding refueling program. When the real-time oil filling data reaches or meets the preset filling amount requirement, the PLC control module will immediately send a stop operation control command to the oil pump in the quantitative filling module.

[0108] The oil pump is a pumping device that provides power for the delivery of engine oil in the oil pipeline. When the oil pump stops running, the oil pipeline will stop delivering engine oil to the oil filling gun, thereby stopping the current oil filling operation for the workpiece to be filled and avoiding excessive or insufficient filling.

[0109] A700: The workpiece pallet carries the workpiece to be refueled out of the conveying and positioning station.

[0110] After the robot's quick-change execution module returns to the standby position, the conveyor positioning station releases the positioning lock on the workpiece tray. The workpiece tray then carries the workpieces that have already been oiled to continue flowing along the conveyor line, flowing out of the conveyor positioning station and into the next production process.

[0111] This embodiment achieves the technical effects of fully automatic oil filling control by combining RFID pre-identification matching parameters with visual compensation trajectory, thus adapting to mixed production lines of multiple models, improving oil filling accuracy and operating efficiency, and avoiding oil waste and pollution.

[0112] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0113] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. An automatic oiling method based on RFID and vision guidance, characterized in that, The method includes: The workpiece to be refueled is transported by the workpiece pallet and stops at the transport positioning station, triggering the RFID identification module to identify and read the model information stored in the electronic tag on the workpiece pallet; The PLC control module matches the refueling program and refueling nozzle model based on the machine model information sent by the RFID identification module; The PLC control module drives the robot quick-change execution module to move to the gun holder to change and clamp the working refueling gun according to the refueling gun model; After the robot quick-change execution module moves the industrial camera and the working refueling gun to the theoretical refueling port coordinates of the conveying and positioning station, it starts the industrial camera to take pictures of the workpiece to be refueled and obtains a visual positioning image. The PLC control module receives and calculates the positional deviation of the oil filling port based on the visual positioning image. After performing motion trajectory compensation of the robot quick-change execution module, it moves the working oil filling gun to the oil filling port of the workpiece to be filled and executes the oil filling program to add oil. After the refueling amount meets the preset refueling amount of the refueling procedure, the robot quick-change execution module stops the refueling operation and retracts the refueling nozzle, returning to the standby position; The workpiece tray carries the workpiece to be refueled out of the conveying and positioning station.

2. The automatic oiling method based on RFID and vision guidance as described in claim 1, characterized in that, The PLC control module matches the refueling procedure and refueling nozzle model based on the machine model information sent by the RFID identification module, including: The PLC control module parses the machine model information sent by the RFID identification module to obtain the processing machine model and oil filling port specifications. The processing machine model and the oil filler port specifications are used as a combined index to match the oil filling program and the oil filler gun model in the pre-stored oil filling process database.

3. The automatic oiling method based on RFID and vision guidance as described in claim 2, characterized in that, The PLC control module drives the robot quick-change execution module to move to the nozzle holder according to the nozzle model to perform the replacement and clamping of the refueling nozzle, including: The PLC control module performs real-time type matching judgment on the first fixed end of the clamp in the robot quick-change execution module for clamping the fuel nozzle according to the fuel nozzle model. If the real-time model of the real-time clamping refueling gun is inconsistent with the model of the refueling gun, the robot quick-change execution module is driven to move to the gun holder according to the model of the refueling gun to select and replace the working refueling gun. If the real-time model of the real-time clamping refueling gun is consistent with the model of the refueling gun, the robot quick-change execution module is directly driven to move to the refueling port position of the workpiece to be refueled to perform the refueling operation.

4. The automatic oiling method based on RFID and vision guidance as described in claim 1, characterized in that, After the refueling volume reaches the preset refueling amount, the robot quick-change execution module stops the refueling operation and retracts the refueling nozzle, returning to the standby position, including: After the refueling operation is started, the flow meter of the quantitative refueling module collects and transmits the refueling volume data to the PLC control module in real time; When the PLC control module compares the oil filling data and finds that the preset filling amount is met, it controls the oil pump in the quantitative filling module to stop running, thereby stopping the filling operation; After the PLC control module drives the robot quick-change execution module to withdraw the work oiling gun from the oiling port of the workpiece to be oiled, it controls the robot quick-change execution module to move back to the standby position.

5. The automatic oiling method based on RFID and vision guidance as described in claim 1, characterized in that, The PLC control module receives and calculates the positional deviation of the refueling port based on the visual positioning image, and performs motion trajectory compensation for the robot's quick-change execution module, including: The actual fuel filler neck outline is extracted by performing edge segmentation processing on the visual positioning image; A standard fuel filler port contour matched according to the aircraft model information is used to match the actual fuel filler port contour to obtain positional and angular deviations, which constitute the fuel filler port pose deviation. The target motion coordinates at the end of the robot's quick-change execution module are corrected based on the pose deviation of the refueling port to update the original motion trajectory and complete the compensation.

6. An automatic oiling system based on RFID and vision guidance, characterized in that, The steps of implementing the method according to any one of claims 1 to 5 include: A conveying and positioning station is used to stop and position the workpiece pallet that carries the workpiece to be refueled. An aerial gantry (1) is a load-bearing structure that is fixedly installed above the conveying and positioning station; A robot quick-change execution module is connected to the bottom of the aerial gantry (1); An industrial camera (2) is installed and signal-connected to the robot quick-change execution module; Gun holder (3), the gun holder (3) is fixedly installed on one side of the conveying and positioning station, and is used to store multiple idle refueling guns (4). An RFID identification module is disposed on the side of the conveying and positioning station; The PLC control module is deployed in a control cabinet outside the conveying and positioning station. The PLC control module is connected to the RFID identification module, the industrial camera (2), and the robot quick-change execution module.

7. The automatic oiling system based on RFID and vision guidance as described in claim 6, characterized in that, The robot quick-change execution module includes: An inverted industrial robot (5) is fixedly connected to the bottom of the overhead frame (1); Robot quick-change plate (6), the robot quick-change plate (6) is connected to the end of the inverted industrial robot (5); The clamp (7) is connected to the robot quick-change plate (6). The clamp (7) is provided with a first fixed end and a second fixed end. The idle refueling gun (4) is detachably installed on the first fixed end as a working refueling gun (8), and the industrial camera (2) is installed on the second fixed end.

8. The automatic oiling system based on RFID and vision guidance as described in claim 7, characterized in that, The system also includes: A metering filling module, comprising an oil storage tank, an oil pump, a flow meter, and an oil delivery pipeline; The oil pipeline is connected to the working refueling nozzle (8); The quantitative filling module is connected to the PLC control module via signal, and the PLC control module controls the amount of oil added.

9. The automatic oiling system based on RFID and vision guidance as described in claim 6, characterized in that, The system also includes a protective net (9), which is set around the conveying and positioning station to form a working area.

10. The automatic oiling system based on RFID and vision guidance as described in claim 9, characterized in that, The system also includes an intervention pedal (10) located on the side outside the work area away from the gun rack (3).

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