CN109968237B - Mounting and positioning method and device of air conditioner - Google Patents
Mounting and positioning method and device of air conditioner Download PDFInfo
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- CN109968237B CN109968237B CN201910209118.8A CN201910209118A CN109968237B CN 109968237 B CN109968237 B CN 109968237B CN 201910209118 A CN201910209118 A CN 201910209118A CN 109968237 B CN109968237 B CN 109968237B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Abstract
The application discloses an installation positioning method and device of an air conditioner. The method comprises the following steps: the method comprises the steps that a first installation body is controlled to move to a first preset position, wherein the first preset position is above a preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate; acquiring a first target image at a first preset position, wherein the first target image comprises position information of a second installation body; calculating a position deviation of the first preset position and the second installation body based on the first target image as a first position deviation; and controlling the first installation body to move to the upper part of the second installation body based on the first position deviation, and controlling the first installation body and the second installation body to be installed. Through the application, the problem that when the air conditioner compressor on the production line is assembled on the chassis in the related technology, the assembly is low in power and easy to crush the chassis is solved.
Description
Technical Field
The application relates to the technical field of positioning control, in particular to an installation positioning method and device of an air conditioner.
Background
The compressor on the production line of the air conditioner outdoor unit needs to be assembled with a base plate, and at present, the compressor is manually lifted from a material delivery trolley and placed in a bolt column on the base plate in the traditional assembly mode, and then the compressor is tightly embedded into a foot pad of the compressor. Because the weight of the compressor is between 10 and 25kg, the labor intensity of manual carrying is high, and the compressor is easy to fall down and damage and even injure people when in misoperation. In order to reduce manpower, a robot is adopted for assembly in the prior art, but the requirement for placing and assembling the robot is high, three annular hollow feet of a compressor need to be accurately placed into three vertical studs of a chassis, the left and right deviation clearance can be completed within 5mm, and the traditional robot has the defects of low success rate and easiness in crushing the chassis when the compressor is clamped at a fixed point position.
Aiming at the problems that the air conditioner compressor on the production line is assembled on the chassis in the prior art, the assembly power is low, and the chassis is easy to crush, an effective solution is not provided at present.
Disclosure of Invention
The application provides an installation positioning method and device of an air conditioner, which are used for solving the problems that when an air conditioner compressor on a production line is assembled on a chassis in the related technology, the assembly power is low and the chassis is easily crushed.
According to one aspect of the present application, there is provided an installation positioning method of an air conditioner. The method comprises the following steps: the method comprises the steps that a first installation body is controlled to move to a first preset position, wherein the first preset position is above a preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate; acquiring a first target image at a first preset position, wherein the first target image comprises position information of a second installation body; calculating a position deviation of the first preset position and the second installation body based on the first target image as a first position deviation; and controlling the first installation body to move to the upper part of the second installation body based on the first position deviation, and controlling the first installation body and the second installation body to be installed.
Further, calculating a positional deviation of the first preset position from the second installation body based on the first target image includes: determining the coordinate position of the first preset position in a first coordinate system; establishing a second coordinate system based on the first target image, and acquiring the coordinate position of the second installation body in the second coordinate system; determining a translational deviation and a rotational deviation of the second coordinate system relative to the first coordinate system; and determining the translational deviation of the second installation body relative to the first preset position and the rotational deviation of the second installation body relative to the first preset position based on the coordinate position of the first preset position in the first coordinate system, the coordinate position of the second installation body in the second coordinate system, and the translational deviation and the rotational deviation of the second coordinate system relative to the first coordinate system.
Further, controlling the first installation body to move to the upper side of the second installation body based on the first position deviation, and controlling the first installation body and the second installation body to be installed comprises: controlling the first mounting body to move by a first position deviation on the basis of a first preset position so as to reach the upper part of the second mounting body; and controlling the first installation body to move towards the second installation body so as to complete the installation of the first installation body and the second installation body.
Further, before controlling the first installation body to move to the first preset position, the method further comprises: acquiring a first preset position; storing the first preset position in the target robot; controlling the first installation body to move to a first preset position comprises: adopt the target robot to snatch first installation body to carry first installation body and remove to first preset position.
Further, before controlling the first installation body to move to the first preset position, the method further comprises: controlling the target robot to move to a second preset position, wherein the second preset position is a preset storage position of the first installation body; acquiring a second target image at a second preset position, wherein the second target image comprises the position information of the first installation body; calculating a positional deviation of the second preset position and the first mounting body based on the second target image as a second positional deviation; and controlling the target robot to move to the upper part of the first installation body based on the second position deviation, and grabbing the first installation body.
Further, in a case where the number of the first mounted bodies is plural, after grasping the first mounted body, the method further includes: judging whether a first installation body to be installed exists in the storage position of the first installation body; and under the condition that the first installation body to be installed exists in the storage position of the first installation body, updating the second preset position based on the position relation between the first installation body to be installed and the previous first installation body, wherein the previous first installation body is the first installation body grabbed at the previous moment.
According to another aspect of the present application, there is provided an installation positioning device of an air conditioner. The device includes: the first control unit is used for controlling the first installation body to move to a first preset position, wherein the first preset position is above the preset installation position, the first installation body is used for being installed with the second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate; the first acquisition unit is used for acquiring a first target image at a first preset position, wherein the first target image comprises the position information of the second installation body; a first calculation unit configured to calculate a positional deviation of the first preset position and the second installation body as a first positional deviation based on the first target image; and the second control unit is used for controlling the first installation body to move to the upper part of the second installation body based on the first position deviation and controlling the first installation body and the second installation body to be installed.
Further, the first calculation unit includes: the first determining module is used for determining the coordinate position of the first preset position in a first coordinate system; the establishing module is used for establishing a second coordinate system based on the first target image and acquiring the coordinate position of the second installation body in the second coordinate system; the second determining module is used for determining the translation deviation and the rotation deviation of the second coordinate system relative to the first coordinate system; and the third determining module is used for determining the translational deviation of the second installation body relative to the first preset position and the rotational deviation of the second installation body relative to the first preset position based on the coordinate position of the first preset position in the first coordinate system, the coordinate position of the second installation body in the second coordinate system, and the translational deviation and the rotational deviation of the second coordinate system relative to the first coordinate system.
In order to achieve the above object, according to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program performs any one of the above installation positioning methods of an air conditioner.
In order to achieve the above object, according to another aspect of the present application, there is provided a processor for executing a program, wherein the program executes any one of the above installation positioning methods of the air conditioner when running.
Through the application, the following steps are adopted: the method comprises the steps that a first installation body is controlled to move to a first preset position, wherein the first preset position is above a preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate; acquiring a first target image at a first preset position, wherein the first target image comprises position information of a second installation body; calculating a position deviation of the first preset position and the second installation body based on the first target image as a first position deviation; the first installation body is controlled to move to the position above the second installation body based on the first position deviation, and the first installation body and the second installation body are controlled to be installed, so that the problems that in the prior art, when the air conditioner compressor on the production line is assembled on the chassis, the assembly power is low, and the chassis is easily crushed are solved. The first installation body is controlled to move to the upper side of the second installation body based on the position information of the second installation body and the deviation of the first preset position, the first installation body and the second installation body are controlled to be installed, and therefore the effects that when the air conditioner compressor on the production line is assembled on the chassis, the assembly power is high, and the chassis is not prone to being crushed are achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart of an installation positioning method of an air conditioner according to an embodiment of the present application;
fig. 2 is a schematic view of a target robot assembling a compressor and a chassis in an installation positioning method of an air conditioner according to an embodiment of the present application;
fig. 3 is a schematic view of a compressor on an incoming tray in an installation positioning method of an air conditioner according to an embodiment of the present application;
FIG. 4 is a flow chart of another installation positioning method of an air conditioner according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a compressor being positioned by a rectangular coordinate system in an installation positioning method of an air conditioner according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a translational deviation of a compressor in an installation positioning method of an air conditioner according to an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating a rotational deviation of a compressor in an installation positioning method of an air conditioner according to an embodiment of the present application;
fig. 8 is a schematic diagram of an installation positioning device of an air conditioner according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the application, an installation positioning method of an air conditioner is provided.
Fig. 1 is a flowchart of an installation positioning method of an air conditioner according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, controlling a first installation body to move to a first preset position, wherein the first preset position is above the preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate.
As shown in fig. 2, the first installation body is a compressor on the tray coming material, the second installation body is a chassis for placing the tray, the compressor and the chassis are assembled at the position of the chassis, the first preset position is above the chassis coming material area on the production line body, the robot clamps the compressor, and three hollow feet of the compressor are aligned with studs on the chassis for installation.
Step S102, a first target image is obtained at a first preset position, wherein the first target image comprises position information of the second installation body.
Specifically, an image of the chassis is shot from above a feeding area of the chassis on the line body, so that the position information of the chassis is obtained. It should be noted that, a buffer zone and a blocking zone are adopted on the production line, and a positioning clamping plate is matched with a blocking cylinder, a guide rod and other devices in an assembly zone to position the incoming materials of the chassis of the air conditioner external unit flowing down from the upstream of the line on the line, so that the position of a bolt on the chassis is not changed, and the subsequent installation work is facilitated.
Step S103, a positional deviation of the first preset position from the second mounting body is calculated as a first positional deviation based on the first target image.
It should be noted that the first preset position is above the preset area of the second installation body, and there is a position deviation between the second installation body and the preset position when the second installation body actually receives a material, and in order to ensure accurate positioning, the deviation between the first installation body and the second installation body is calculated.
In order to accurately obtain the position deviation between the first preset position and the second installation body, optionally, in the installation and positioning method of the air conditioner provided in the embodiment of the present application, calculating the position deviation between the first preset position and the second installation body based on the first target image includes: determining the coordinate position of the first preset position in a first coordinate system; establishing a second coordinate system based on the first target image, and acquiring the coordinate position of the second installation body in the second coordinate system; determining a translational deviation and a rotational deviation of the second coordinate system relative to the first coordinate system; and determining the translational deviation of the second installation body relative to the first preset position and the rotational deviation of the second installation body relative to the first preset position based on the coordinate position of the first preset position in the first coordinate system, the coordinate position of the second installation body in the second coordinate system, and the translational deviation and the rotational deviation of the second coordinate system relative to the first coordinate system.
Specifically, in the parameter setting stage, when the first preset position is obtained, in order to accurately represent the first position, the first coordinate system is established based on the reference object, after the first image is obtained, the second coordinate system is established based on the reference object in the first image so as to represent the second installation body, the coordinate position of the first preset position in the first coordinate system and the coordinate position of the second installation body in the second coordinate system are known, and after the deviation of the two coordinate systems is calculated, the deviation of the second installation body relative to the first preset position in the same coordinate system can be obtained.
And step S104, controlling the first installation body to move to the upper part of the second installation body based on the first position deviation, and controlling the first installation body and the second installation body to be installed.
Optionally, in the installation positioning method of an air conditioner provided in the embodiment of the present application, controlling the first installation body to move above the second installation body based on the first position deviation, and controlling the first installation body and the second installation body to be installed includes: controlling the first mounting body to move by a first position deviation on the basis of a first preset position so as to reach the upper part of the second mounting body; and controlling the first installation body to move towards the second installation body so as to complete the installation of the first installation body and the second installation body.
Specifically, the first installation body is located at a first preset position at present, on the basis, the first installation body is moved to reach the upper portion of the second installation body by a first position deviation, and the first installation body and the second installation body are pressed downwards after reaching the upper portion of the second installation body, so that the assembly of the first installation body and the second installation body is completed.
According to the installation and positioning method of the air conditioner, the first installation body is controlled to move to the first preset position, wherein the first preset position is above the preset installation position, the first installation body is used for being installed with the second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate; acquiring a first target image at a first preset position, wherein the first target image comprises position information of a second installation body; calculating a position deviation of the first preset position and the second installation body based on the first target image as a first position deviation; the first installation body is controlled to move to the position above the second installation body based on the first position deviation, and the first installation body and the second installation body are controlled to be installed, so that the problems that in the prior art, when the air conditioner compressor on the production line is assembled on the chassis, the assembly power is low, and the chassis is easily crushed are solved. The first installation body is controlled to move to the upper side of the second installation body based on the position information of the second installation body and the deviation of the first preset position, the first installation body and the second installation body are controlled to be installed, and therefore the effects that when the air conditioner compressor on the production line is assembled on the chassis, the assembly power is high, and the chassis is not prone to being crushed are achieved.
Optionally, in the method for installing and positioning an air conditioner provided in the embodiment of the present application, before controlling the first installation body to move to the first preset position, the method further includes: acquiring a first preset position; storing the first preset position in the target robot; controlling the first installation body to move to a first preset position comprises: adopt the target robot to snatch first installation body to carry first installation body and remove to first preset position.
As shown in fig. 2, the target robot is a six-axis industrial robot, and includes an air conditioner compressor fixture, a vision system light source and an industrial camera, the robot controller performs data communication with an industrial personal computer of the industrial camera, photographs to obtain a first preset position before installation, calculates and processes data of the first position obtained by the camera in real time, and sends the data to the robot to complete data storage.
Optionally, in the installation positioning method of an air conditioner provided in an embodiment of the present application, before controlling the first installation body to move to the first preset position, the method further includes: controlling the target robot to move to a second preset position, wherein the second preset position is a preset storage position of the first installation body; acquiring a second target image at a second preset position, wherein the second target image comprises the position information of the first installation body; calculating a positional deviation of the second preset position and the first mounting body based on the second target image as a second positional deviation; and controlling the target robot to move to the upper part of the first installation body based on the second position deviation, and grabbing the first installation body.
As shown in FIG. 3, the air condition compressor is formed by alternately placing a front part and a back part on the incoming material tray in sequence, and the two parts are oppositely placed into a group to form a central symmetrical figure. In the parameter configuration stage, a group of compressors at the lower left corner is obtained firstly for position analysis and recording, in the actual working process, the position of the first group of compressors may be different from the preset position, the picture is taken, the position deviation is calculated based on the actual position of the compressor, and therefore the compressor is accurately grabbed based on the position deviation.
Optionally, in the installation and positioning method of an air conditioner provided in an embodiment of the present application, in a case that the number of the first installation bodies is multiple, after the first installation bodies are grabbed, the method further includes: judging whether a first installation body to be installed exists in the storage position of the first installation body; and under the condition that the first installation body to be installed exists in the storage position of the first installation body, updating the second preset position based on the position relation between the first installation body to be installed and the previous first installation body, wherein the previous first installation body is the first installation body grabbed at the previous moment.
For example, fig. 3 shows the size M, N, X, A, B, Y of a group of centrosymmetric patterns relative to the edge of the tray, since all positions are in a copy translation relationship, a group of compressors at the lower left corner can be taken for position analysis, and then the positions of other compressors are calculated based on the translation relationship, so that after the first compressor is grabbed and installed, the robot moves to the position above the next compressor to be grabbed to perform vision system photographing detection, finds the accurate position of the compressor, grabs and assembles, and sequentially and circularly executes until all compressors are assembled.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
Fig. 4 is a flowchart of another installation positioning method of an air conditioner according to an embodiment of the present application. As shown in fig. 4, the method comprises the steps of:
after the assembly system of the compressor and the chassis is started, visual information in the robot control system is initialized, then a picture is taken to obtain the right-angle vertex of the tray, a plane right-angle coordinate system is established, and as shown in fig. 5, the first compressor at the lower left corner of the tray is found. And after finding the first compressor, performing feature matching on the shot first compressor and the first compressor stored in the template, and detecting data deviation after matching is successful.
In the stage of the robot picking up the compressor debugging and setting from the tray, the position of the first compressor is stored in the robot and is set as point P1, and the compressor placed at the moment can be accurately picked up at point P1. However, when the compressor of a new tray is replaced next time, the position of the corresponding first compressor is inconsistent with the position P1 originally set due to the inconsistent position of the tray, and the robot moves to the position P1 again and cannot accurately grab the compressor. Specifically, the position change of the compressor is composed of two parts, namely, a translational offset in the direction of X, Y occurs, and a rotational offset occurs on the tray relative to the first setting position. And (3) processing the image to obtain X, Y directional offset and angular offset, communicating the industrial personal computer of the vision system with the robot controller, and correcting the actual accurate grabbing position P by adding a deviation value to the standard position P1 stored in the robot.
Specifically, as shown in fig. 6, in the case where only translational misalignment occurs in the compressor, it is possible to calculate the misalignment occurring in the translational position as Xn and Yn. As shown in fig. 7, when the compressor is only rotationally offset, the rotation angle of the circle C is offset by α and then reaches the position of the circle C ″, β is arctan (a/M), the angle θ of the new rotational position in the original coordinate system is α + β, and the distance from the new center C ″ to the origin O is β
So X1 ═ d × cos θ; y1 ═ d × sin θ; that is, a deviation value of the new position from the original position can be obtained, and the X-axis translation Δ X is X1-X0 (positive means a deviation in the positive X-direction, and negative means a deviation in the negative X-direction); the Y-axis translation Δ Y is Y1-Y0 (positive indicating a shift in the positive Y-direction and negative indicating a shift in the negative Y-direction). And obtaining a deviation delta Y in the axis direction of a deviation delta X, Y of real-time data obtained by the visual detection of the captured compressor, combining the deviation value with a point P1 corresponding to the robot, and obtaining an actual corresponding accurate position Pn (X0+ Xn + delta X, Y0+ Yn + delta Y).
The robot is based on the original set position, then the mobile vision system captures the calculated deviation data, the actual accurate compressor position can be reached, after the actual accurate compressor position is reached, the compressor at the position is grabbed, the robot is controlled to clamp the compressor to move to the assembly position, and the chassis is waited to be positioned in place. The method is the same as that for grabbing the compressor, the deviation between the chassis stud hole and the original set position is captured and sent to the robot controller, and the accurate actual placement position can be obtained by compensating the deviation on the original set position. The robot places the compressor to the chassis stud hole on, presses the compressor downwards again, ensures that the compressor places on the rubber pad to the end to accomplish the assembly.
In addition, the robot finishes a single work, returns to judge whether the number of the compressors for the tray supplies is used up, and calculates the theoretical corresponding position of the next compressor on the tray according to the tray size information M, N, X, A, B, Y. The robot moves to the position above the next compressor to be grabbed to perform visual system photographing detection, the accurate position of the compressor is found, and the operation is sequentially and circularly performed until all the compressors are assembled.
The embodiment of the present application further provides an installation positioning device of an air conditioner, and it should be noted that the installation positioning device of the air conditioner in the embodiment of the present application may be used to execute the installation positioning method for the air conditioner provided in the embodiment of the present application. The following describes an installation positioning device of an air conditioner provided by an embodiment of the present application.
Fig. 8 is a schematic view of an installation positioning device of an air conditioner according to an embodiment of the present application. As shown in fig. 8, the apparatus includes: a first control unit 10, a first acquisition unit 20, a first calculation unit 30 and a second control unit 40.
Specifically, the first control unit 10 is configured to control a first installation body to move to a first preset position, where the first preset position is above the preset installation position, the first installation body is configured to be installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a chassis.
The first acquiring unit 20 is configured to acquire a first target image at a first preset position, where the first target image includes position information of the second installation body.
A first calculation unit 30 for calculating a positional deviation of the first preset position from the second mounting body as a first positional deviation based on the first target image.
And a second control unit 40 for controlling the first mounting body to move above the second mounting body based on the first position deviation and controlling the first mounting body and the second mounting body to be mounted.
Optionally, in the installation positioning apparatus of an air conditioner provided in the embodiment of the present application, the first calculating unit 30 includes: the first determining module is used for determining the coordinate position of the first preset position in a first coordinate system; the establishing module is used for establishing a second coordinate system based on the first target image and acquiring the coordinate position of the second installation body in the second coordinate system; the second determining module is used for determining the translation deviation and the rotation deviation of the second coordinate system relative to the first coordinate system; and the third determining module is used for determining the translational deviation of the second installation body relative to the first preset position and the rotational deviation of the second installation body relative to the first preset position based on the coordinate position of the first preset position in the first coordinate system, the coordinate position of the second installation body in the second coordinate system, and the translational deviation and the rotational deviation of the second coordinate system relative to the first coordinate system.
Optionally, in the installation positioning device of an air conditioner provided in the embodiment of the present application, the second control unit 40 includes: the first control module is used for controlling the first mounting body to move a first position deviation on the basis of a first preset position so as to reach the upper part of the second mounting body; and the second control module is used for controlling the first installation body to move towards the second installation body so as to finish the installation of the first installation body and the second installation body.
Optionally, in the installation positioning device of an air conditioner provided in an embodiment of the present application, the device further includes: the second acquisition unit is used for acquiring the first preset position before controlling the first installation body to move to the first preset position; the storage unit is used for storing the first preset position in the target robot; the third control unit, is used for controlling the first installation body to move to the first preset position and includes: adopt the target robot to snatch first installation body to carry first installation body and remove to first preset position.
Optionally, in the installation positioning device of an air conditioner provided in an embodiment of the present application, the device further includes: the fourth control unit is used for controlling the target robot to move to a second preset position before controlling the first installation body to move to the first preset position, wherein the second preset position is a preset storage position of the first installation body; the third acquisition unit is used for acquiring a second target image at a second preset position, wherein the second target image comprises the position information of the first installation body; a second calculation unit configured to calculate a positional deviation of a second preset position and the first mounting body as a second positional deviation based on the second target image; and the fifth control unit is used for controlling the target robot to move above the first installation body based on the second position deviation and grabbing the first installation body.
Optionally, in the installation positioning device of an air conditioner provided in an embodiment of the present application, the device further includes: a judging unit configured to judge whether or not there is a first mounting body to be mounted in a storage position of the first mounting body after the first mounting body is grasped, in a case where the number of the first mounting bodies is plural; and the updating unit is used for updating the second preset position based on the position relation between the first installation body to be installed and the previous first installation body when the first installation body to be installed exists in the storage position of the first installation body, wherein the previous first installation body is the first installation body grabbed at the previous moment.
The installation positioning device of the air conditioner provided by the embodiment of the application is used for controlling the first installation body to move to the first preset position through the first control unit 10, wherein the first preset position is above the preset installation position, the first installation body is used for being installed with the second installation body, the first installation body is an air conditioner compressor, and the second installation body is a chassis; a first acquiring unit 20, configured to acquire a first target image at a first preset position, where the first target image includes position information of the second installation body; a first calculation unit 30 for calculating a positional deviation of the first preset position from the second mounting body as a first positional deviation based on the first target image; the second control unit 40 is configured to control the first installation body to move to the top of the second installation body based on the first position deviation, and control the first installation body and the second installation body to be installed, so that the problems that the assembly power is low and the chassis is easily crushed when the air conditioner compressor on the production line is assembled on the chassis in the related art are solved, the first installation body is controlled to move to the top of the second installation body based on the position information of the second installation body and the deviation of the first preset position, and the first installation body and the second installation body are controlled to be installed, so that the effects that the assembly power is high and the chassis is not easily crushed when the air conditioner compressor on the production line is assembled on the chassis are achieved.
The installation positioning device of the air conditioner comprises a processor and a memory, wherein the first control unit 10, the first acquisition unit 20, the first calculation unit 30, the second control unit 40 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that when the air conditioner compressor on the production line is assembled on the chassis in the related art, the assembly power is low and the chassis is easily crushed is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, where the program, when executed by a processor, implements an installation positioning method of the air conditioner.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes an installation positioning method of an air conditioner during running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: the method comprises the steps that a first installation body is controlled to move to a first preset position, wherein the first preset position is above a preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate; acquiring a first target image at a first preset position, wherein the first target image comprises position information of a second installation body; calculating a position deviation of the first preset position and the second installation body based on the first target image as a first position deviation; and controlling the first installation body to move to the upper part of the second installation body based on the first position deviation, and controlling the first installation body and the second installation body to be installed.
Calculating a positional deviation of the first preset position from the second installation body based on the first target image includes: determining the coordinate position of the first preset position in a first coordinate system; establishing a second coordinate system based on the first target image, and acquiring the coordinate position of the second installation body in the second coordinate system; determining a translational deviation and a rotational deviation of the second coordinate system relative to the first coordinate system; and determining the translational deviation of the second installation body relative to the first preset position and the rotational deviation of the second installation body relative to the first preset position based on the coordinate position of the first preset position in the first coordinate system, the coordinate position of the second installation body in the second coordinate system, and the translational deviation and the rotational deviation of the second coordinate system relative to the first coordinate system.
Based on first position deviation control first installation body and remove the top to the second installation body to control first installation body and second installation body and install and include: controlling the first mounting body to move by a first position deviation on the basis of a first preset position so as to reach the upper part of the second mounting body; and controlling the first installation body to move towards the second installation body so as to complete the installation of the first installation body and the second installation body.
Before controlling the first installation body to move to the first preset position, the method further comprises the following steps: acquiring a first preset position; storing the first preset position in the target robot; controlling the first installation body to move to a first preset position comprises: adopt the target robot to snatch first installation body to carry first installation body and remove to first preset position.
Before controlling the first installation body to move to the first preset position, the method further comprises the following steps: controlling the target robot to move to a second preset position, wherein the second preset position is a preset storage position of the first installation body; acquiring a second target image at a second preset position, wherein the second target image comprises the position information of the first installation body; calculating a positional deviation of the second preset position and the first mounting body based on the second target image as a second positional deviation; and controlling the target robot to move to the upper part of the first installation body based on the second position deviation, and grabbing the first installation body.
In the case where the number of the first mounted bodies is plural, after grasping the first mounted body, the method further includes: judging whether a first installation body to be installed exists in the storage position of the first installation body; and under the condition that the first installation body to be installed exists in the storage position of the first installation body, updating the second preset position based on the position relation between the first installation body to be installed and the previous first installation body, wherein the previous first installation body is the first installation body grabbed at the previous moment. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: the method comprises the steps that a first installation body is controlled to move to a first preset position, wherein the first preset position is above a preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate; acquiring a first target image at a first preset position, wherein the first target image comprises position information of a second installation body; calculating a position deviation of the first preset position and the second installation body based on the first target image as a first position deviation; and controlling the first installation body to move to the upper part of the second installation body based on the first position deviation, and controlling the first installation body and the second installation body to be installed.
Calculating a positional deviation of the first preset position from the second installation body based on the first target image includes: determining the coordinate position of the first preset position in a first coordinate system; establishing a second coordinate system based on the first target image, and acquiring the coordinate position of the second installation body in the second coordinate system; determining a translational deviation and a rotational deviation of the second coordinate system relative to the first coordinate system; and determining the translational deviation of the second installation body relative to the first preset position and the rotational deviation of the second installation body relative to the first preset position based on the coordinate position of the first preset position in the first coordinate system, the coordinate position of the second installation body in the second coordinate system, and the translational deviation and the rotational deviation of the second coordinate system relative to the first coordinate system.
Based on first position deviation control first installation body and remove the top to the second installation body to control first installation body and second installation body and install and include: controlling the first mounting body to move by a first position deviation on the basis of a first preset position so as to reach the upper part of the second mounting body; and controlling the first installation body to move towards the second installation body so as to complete the installation of the first installation body and the second installation body.
Before controlling the first installation body to move to the first preset position, the method further comprises the following steps: acquiring a first preset position; storing the first preset position in the target robot; controlling the first installation body to move to a first preset position comprises: adopt the target robot to snatch first installation body to carry first installation body and remove to first preset position.
Before controlling the first installation body to move to the first preset position, the method further comprises the following steps: controlling the target robot to move to a second preset position, wherein the second preset position is a preset storage position of the first installation body; acquiring a second target image at a second preset position, wherein the second target image comprises the position information of the first installation body; calculating a positional deviation of the second preset position and the first mounting body based on the second target image as a second positional deviation; and controlling the target robot to move to the upper part of the first installation body based on the second position deviation, and grabbing the first installation body.
In the case where the number of the first mounted bodies is plural, after grasping the first mounted body, the method further includes: judging whether a first installation body to be installed exists in the storage position of the first installation body; and under the condition that the first installation body to be installed exists in the storage position of the first installation body, updating the second preset position based on the position relation between the first installation body to be installed and the previous first installation body, wherein the previous first installation body is the first installation body grabbed at the previous moment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. An installation positioning method of an air conditioner is characterized by comprising the following steps:
controlling a first installation body to move to a first preset position, wherein the first preset position is above a preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate;
acquiring a first target image at the first preset position, wherein the first target image comprises the position information of the second installation body;
calculating a position deviation of the first preset position and the second installation body based on the first target image as a first position deviation;
controlling the first mounting body to move above the second mounting body based on the first position deviation, and controlling the first mounting body and the second mounting body to be mounted;
before controlling the first installation body to move to the first preset position, the method further comprises the following steps: acquiring the first preset position; storing the first preset position in a target robot;
before controlling the first installation body to move to the first preset position, the method further comprises the following steps:
controlling the target robot to move to a second preset position, wherein the second preset position is a preset storage position of the first installation body;
acquiring a second target image at the second preset position, wherein the second target image comprises the position information of the first installation body;
calculating a positional deviation of the second preset position and the first installation body as a second positional deviation based on the second target image;
controlling the target robot to move above the first installation body based on the second position deviation and grabbing the first installation body;
in a case where the number of the first mounted bodies is plural, after grasping the first mounted body, the method further includes:
judging whether a first installation body to be installed exists in the storage position of the first installation body;
and under the condition that the first installation body to be installed exists in the storage position of the first installation body, updating the second preset position based on the position relation between the first installation body to be installed and a previous first installation body, wherein the previous first installation body is a first installation body grabbed at the previous moment.
2. The method of claim 1, wherein calculating a positional deviation of the first preset position from the second mounting body based on the first target image comprises:
determining the coordinate position of the first preset position in a first coordinate system;
establishing a second coordinate system based on the first target image, and acquiring the coordinate position of the second installation body in the second coordinate system;
determining a translational deviation and a rotational deviation of the second coordinate system relative to the first coordinate system;
and determining the translational deviation of the second installation body relative to the first preset position and the rotational deviation of the second installation body relative to the first preset position based on the coordinate position of the first preset position in a first coordinate system, the coordinate position of the second installation body in the second coordinate system, and the translational deviation and the rotational deviation of the second coordinate system relative to the first coordinate system.
3. The method of claim 1, wherein controlling the first mounting body to move above the second mounting body based on the first positional deviation and controlling the first mounting body to mount with the second mounting body comprises:
controlling the first mounting body to move the first position deviation on the basis of the first preset position so as to reach the upper part of the second mounting body;
and controlling the first installation body to move towards the second installation body so as to complete the installation of the first installation body and the second installation body.
4. The method of claim 1,
controlling the first installation body to move to a first preset position comprises: the target robot is adopted to grab the first installation body and carry the first installation body to move to the first preset position.
5. An installation positioning device of an air conditioner is characterized by comprising:
the first control unit is used for controlling a first installation body to move to a first preset position, wherein the first preset position is above the preset installation position, the first installation body is used for being installed with a second installation body, the first installation body is an air conditioner compressor, and the second installation body is a base plate;
a first obtaining unit, configured to obtain a first target image at the first preset position, where the first target image includes position information of the second installation body;
a first calculation unit configured to calculate a positional deviation of the first preset position and the second installation body as a first positional deviation based on the first target image;
the second control unit is used for controlling the first installation body to move above the second installation body based on the first position deviation and controlling the first installation body and the second installation body to be installed;
the second acquisition unit is used for acquiring the first preset position before controlling the first installation body to move to the first preset position; the storage unit is used for storing the first preset position in the target robot;
the fourth control unit is used for controlling the target robot to move to a second preset position before controlling the first installation body to move to the first preset position, wherein the second preset position is a preset storage position of the first installation body;
a third acquiring unit, configured to acquire a second target image at the second preset position, where the second target image includes position information of the first installation body;
a second calculation unit configured to calculate a positional deviation of the second preset position and the first mounting body as a second positional deviation based on the second target image;
a fifth control unit for controlling the target robot to move above the first mounting body based on the second positional deviation and gripping the first mounting body;
the judging unit is used for judging whether a first installation body to be installed exists in the storage position of the first installation body after the first installation body is grabbed under the condition that the number of the first installation bodies is multiple;
and the updating unit is used for updating the second preset position based on the position relation between the first installation body to be installed and a previous first installation body when the first installation body to be installed exists in the storage position of the first installation body, wherein the previous first installation body is a first installation body grabbed at the previous moment.
6. The apparatus of claim 5, wherein the first computing unit comprises:
the first determining module is used for determining the coordinate position of the first preset position in a first coordinate system;
the establishing module is used for establishing a second coordinate system based on the first target image and acquiring the coordinate position of the second installation body in the second coordinate system;
a second determination module for determining a translational deviation and a rotational deviation of the second coordinate system relative to the first coordinate system;
and a third determining module, configured to determine, based on a coordinate position of the first preset position in a first coordinate system, a coordinate position of the second mounting body in the second coordinate system, and a translational deviation and a rotational deviation of the second coordinate system relative to the first coordinate system, a translational deviation of the second mounting body relative to the first preset position and a rotational deviation of the second mounting body relative to the first preset position.
7. A storage medium characterized by comprising a stored program, wherein the program executes the installation positioning method of an air conditioner according to any one of claims 1 to 4.
8. A processor, wherein the processor is configured to run a program, and wherein the program is executed to execute the installation positioning method of the air conditioner according to any one of claims 1 to 4.
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| CN111906770A (en) * | 2020-09-14 | 2020-11-10 | 珠海格力智能装备有限公司 | Workpiece mounting method and system, computer readable storage medium |
| CN112830237A (en) * | 2021-01-13 | 2021-05-25 | 广东智源机器人科技有限公司 | Movement control method, device, equipment and cooking system |
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