CN110977968B - Automatic addressing system, method, equipment and storage medium for robot intelligent processing - Google Patents
Automatic addressing system, method, equipment and storage medium for robot intelligent processing Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention belongs to the technical field of intelligent robot machining, and discloses an automatic addressing system, method, equipment and storage medium for intelligent robot machining. The system comprises: the system comprises a central processing module, a wireless communication module, a data processing module, a laser scanning ranging module and a flaw detection and detection module, wherein the central processing module issues instructions to the laser scanning ranging module and the flaw detection and detection module through the wireless communication module, the laser scanning ranging module is positioned on a transverse sliding rail and used for calculating the distance between a laser emission point and a workpiece characteristic point to acquire workpiece position coordinate data, the flaw detection and detection module is positioned on a transverse sliding rail component and used for carrying out integral flaw detection on a workpiece and obtaining workpiece health data, and the data processing module collects the workpiece position coordinate data and the workpiece health data and feeds the workpiece position coordinate data and the workpiece health data back to the central processing module. The invention forms an automatic addressing system applied to intelligent robot processing, and improves the automatic addressing efficiency and precision during intelligent robot processing.
Description
Technical Field
The invention belongs to the technical field of robot intelligent processing, and particularly relates to an automatic addressing system, method, equipment and storage medium applied to robot intelligent processing.
Background
With the coming of the times of motor cars, the motor car traveling has become the most important traveling mode in life. The running safety of the train of the motor train unit needs to ensure that each part is absolutely and reliably overhauled and maintained, and the wheel pair in the parts is very important, so that the quality control of the overhauling of the parts at the shaft end of the wheel pair needs to be enhanced in the actual overhauling operation, including the improvement of precision control and the operation flow control, and the work efficiency is improved.
At present, the main addressing modes of the equipment used for assembling the wheel pair and the shaft end of the motor train unit in the railway industry are as follows, and the equipment has the main characteristics and the defects as follows:
(1) an image recognition mode: the method has the advantages of large workload in the early stage, high requirement on programming, high test cost and longer debugging period, and the program needs to be modified and corrected for many times to adapt to the requirement on the site. The change of the brightness and the brightness of the light on the spot can influence the recognition precision and the accuracy of the system, and the light-colored or transparent object can not be well recognized.
(2) RFID (Radio Frequency Identification) Identification method: the system has good identification performance on a single RFID label; however, when the system identifies a plurality of similar RFID tags, false alarms are likely to occur.
(3) Encoder counting method: this mode is through the position that detects the revolution of motor and judge slide mechanism, and cost are lower. However, if the motor is lost, the detection accuracy is affected, an extra-adjusted compensation mechanism needs to be arranged to compensate for the error of the motor, and the positioning accuracy is low.
The existing addressing modes of several systems have different defects, cannot be suitable for the automatic addressing scene in the field of intelligent robot processing, and urgently need a high-efficiency and high-precision detection mode in the market.
Disclosure of Invention
The invention aims to provide an intelligent robot fastening control system and method to improve the efficiency and quality of workpiece assembly.
To solve the above technical problem, the present invention provides a system comprising:
a central processing module, a wireless communication module, a data processing module, a laser scanning distance measuring module and a flaw detection module, wherein
The central processing module issues instructions to the laser scanning distance measurement module and the flaw detection module through the wireless communication module;
the laser scanning ranging module is positioned on the transverse sliding rail assembly and used for calculating the distance between a laser emission point and a workpiece characteristic point to acquire the workpiece position coordinate data;
the flaw detection module is positioned on the transverse sliding rail assembly and used for carrying out integral flaw detection on the workpiece and obtaining health data of the workpiece;
and the data processing module summarizes the workpiece position coordinate data and the workpiece health data and feeds back the data to the central processing module.
Preferably, the central processing module comprises a system software central computer; the central computer includes a signal transceiver processor.
Preferably, the sending of the instruction from the central processing module to the automatic addressing module and the flaw detection module through the wireless communication module includes:
the system software issues an instruction to the wireless communication module through a signal transceiver processor in the central computer.
Preferably, the workpiece health data comprises workpiece position, size, width, and depth data;
accordingly, the data processing module summarizing the workpiece position coordinate data and the workpiece health data and feeding back the data to the central processing module comprises:
and the data processing module summarizes the workpiece position coordinate data and the workpiece position, size, width and depth data and feeds back the data to the central processing module.
In addition, in order to achieve the above object, the present invention further provides an automatic addressing method applied to robot intelligent processing, including:
acquiring a first execution instruction;
scanning the workpiece and detecting the distance between the laser emission point and the workpiece characteristic point to obtain the position coordinate data of the wheel set workpiece and feeding the position coordinate data back to the central computer;
acquiring a second execution instruction;
carrying out flaw detection on the workpiece to obtain health data of the workpiece;
and sending the workpiece health data to the central processing module.
Preferably, before the scanning the workpiece and detecting the distance between the laser emission point and the workpiece feature point to obtain the position coordinate data of the wheel set on the workpiece, the method further includes:
and the central processing module sends an instruction to start the longitudinal rail servo motor so as to drive the transverse sliding rail to move from the zero position along the longitudinal rail.
Preferably, the flaw detection of the workpiece and the acquisition of the health data of the workpiece further include:
and according to the position coordinate data of the workpiece, the longitudinal rail servo motor drives the transverse sliding rail to move right above the workpiece, and the flaw detection module is started.
In addition, to achieve the above object, the present invention also provides an automatic addressing device applied to robot intelligent processing, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the automatic addressing method applied to the intelligent robot machining when the computer program is executed.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program, when executed by a processor, implements the steps of the automatic addressing method applied to the robot intelligent processing.
The invention provides an automatic addressing system applied to intelligent robot machining, which comprises: the system comprises a central processing module, a wireless communication module, a data processing module, a laser scanning ranging module and a flaw detection and detection module, wherein the central processing module issues instructions to the laser scanning ranging module and the flaw detection and detection module through the wireless communication module, the laser scanning ranging module is positioned on a transverse sliding rail and used for calculating the distance between a laser emission point and a workpiece characteristic point to acquire workpiece position coordinate data, the flaw detection and detection module is positioned on the transverse sliding rail and used for carrying out integral flaw detection on a workpiece and obtaining workpiece health data, and the data processing module collects the workpiece position coordinate data and the workpiece health data and feeds the workpiece position coordinate data and the workpiece health data back to the central processing module. By the technical scheme, the automatic addressing system applied to the intelligent robot machining is formed, and the automatic addressing efficiency and precision during the intelligent robot machining are improved.
Drawings
FIG. 1 is a schematic diagram of an automatic addressing system applied to robot intelligent processing according to an embodiment of the present invention;
FIG. 2 is a block diagram of an automatic addressing system for robot intelligent processing according to an embodiment of the present invention;
FIG. 3 is a flowchart of an automatic addressing method applied to intelligent robot machining according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a data storage device according to an embodiment of the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
Referring to fig. 2, a structural diagram of an automatic addressing system applied to robot intelligent processing is provided for the present invention, including various components and structural relationships between the components.
The method specifically comprises the following steps: the system comprises a central control cabinet, a longitudinal slide rail assembly, a transverse slide rail assembly, a longitudinal rail servo motor, a laser scanning assembly, a flaw detection and detection assembly and an automatic conveying line.
It should be noted that, in the embodiment of the present invention, mainly the machined workpiece is a wheel set workpiece, and the embodiment also takes a wheel set workpiece as an example for description.
The automatic conveying line automatically conveys the wheel set workpiece to the lower side of the equipment, the laser scanning assembly and the flaw detection assembly are matched to carry out self-adaptive clamping and positioning, and the workpiece is automatically conveyed to the next station after the operation is finished. The laser scanning assembly calculates the distance between the laser emission point and the wheel set workpiece characteristic points through laser scanning to obtain wheel set workpiece position coordinate data, and the flaw detection assembly is used for carrying out overall flaw detection on the wheel set workpiece to obtain workpiece health data and feeding the data back to the center processing module.
The longitudinal sliding rail assemblies are two in total, the whole longitudinal sliding rail assemblies are of a steel structure, the sliding rails are of a gear rack structure, and the sliding rails are meshed with a driving mechanism on the transverse sliding rails to provide rails for the sliding rails to move in the longitudinal direction.
The transverse sliding rail assembly is located on the longitudinal sliding rail through gear and rack meshing, longitudinal rail driving servo motors are installed at two ends of the transverse sliding rail assembly, and the transverse sliding rail assembly can synchronously slide at two ends of the longitudinal sliding rail according to system instructions.
The automatic addressing system applied to the intelligent robot machining is realized based on the hardware structure.
Referring to fig. 1, a schematic diagram of an automatic addressing system applied to robot intelligent processing is provided for the present invention, and a control relationship between system modules of the present invention is shown.
Wherein, mainly include: the system comprises a central processing module, a wireless communication module, a data processing module, a laser scanning ranging module and a flaw detection module, wherein the central processing module comprises system software and a central computer, and the central computer comprises a servo motor controller and a signal receiving and transmitting processor.
The central processing module sends instructions to the laser scanning distance measuring module and the flaw detection module through the wireless communication module.
Firstly, system software sends out an instruction to control a servo motor and an automatic workpiece conveying line to work, and a wheel set workpiece placed in advance is automatically conveyed to an equipment workbench. Secondly, the system software sends out an instruction again and sends the instruction to the wireless communication module through the central computer and the signal transceiving processor. And finally, the wireless communication module sends the instruction to the laser scanning distance measuring module and the flaw detection module so that the laser scanning distance measuring instrument and the flaw detection device are started to scan the workpiece.
Through the operation steps, the system software controls the laser scanning distance measuring module and the flaw detection module to start up and prepare for work through instructions.
The laser scanning ranging module is located on the transverse sliding rail assembly and used for calculating the distance between a laser emitting point and a workpiece feature point to acquire the workpiece position coordinate data.
The laser scanning range finding module is specifically a laser scanning range finder and is positioned on the transverse sliding rail. The laser scanning distance measuring instrument is an instrument for measuring the size, the shape and the like of a workpiece by utilizing a time flight principle, and a laser scanning measuring system is based on the laser distance measuring principle. The two-dimensional scanning surface is formed by emission of the rotating optical component, so that the functions of area scanning and profile measurement are realized.
The system software sends out an instruction which is sent to the longitudinal rail servo motor through the central computer and the servo motor controller, and the longitudinal rail servo motor drives the transverse sliding rail beam assembly to move from a zero position along the longitudinal rail. The laser scanning distance measuring instrument scans and acquires wheel set workpieces on the workbench, the distance between a laser emission point and a workpiece characteristic point is detected and calculated, position coordinate data of the wheel set workpieces are acquired, the data are sent to the data processing module, and the data processing module sends data information back to the central computer through the wireless communication module. The distance measurement of the laser scanning distance measurement module is completed through the steps so as to obtain the wheel set workpiece position coordinate data.
The flaw detection module is positioned on the transverse sliding rail assembly and used for carrying out integral flaw detection on the workpiece and obtaining health data of the workpiece;
the central computer continuously transmits the wheel set workpiece position coordinate data to the system software, the system software receives the wheel set position coordinate information and then sends an instruction to the servo motor controller, the servo motor controller sends a signal to the longitudinal rail servo motor, the transverse sliding rail assembly is driven to come to a position right above the acquired wheel set workpiece position coordinate data, and braking is carried out.
The system software receives a brake signal returned by the servo motor controller, sends an instruction, sends the instruction to the flaw detection module through the signal transceiver processor and the wireless communication module, starts the flaw detection module, carries out integral flaw detection on the wheel set workpiece through ray scanning, records the position, the size, the width and the depth data of the flaw, and sends the data to the central computer through the data processor.
And after the data are sent to the central computer, the central computer identifies and compares the data, if the data are unqualified, the central computer stops the machine, and if the data are qualified, other steps of intelligent processing of the robot are continued.
And the data processing module summarizes the workpiece position coordinate data and the workpiece health data and feeds back the data to the central processing module.
When the laser scanning ranging module obtains the coordinate data of the wheel set workpiece position, the data are fed back to the central processing module through the data processing module. When the flaw detection module obtains the position, size, width and depth data of the wheel set workpiece, the data are fed back to the central processing module through the data processing module. Its role is to aggregate and transfer data.
The invention provides an automatic addressing system applied to intelligent robot machining, which comprises: the system comprises a central processing module, a wireless communication module, a data processing module, a laser scanning ranging module and a flaw detection and detection module, wherein the central processing module issues instructions to the laser scanning ranging module and the flaw detection and detection module through the wireless communication module, the laser scanning ranging module is positioned on a transverse sliding rail assembly and used for calculating the distance between a laser emission point and a workpiece characteristic point to acquire workpiece position coordinate data, the flaw detection and detection module is positioned on a transverse sliding rail and used for carrying out integral flaw detection on a workpiece and obtaining workpiece health data, and the data processing module collects the workpiece position coordinate data and the workpiece health data and feeds the workpiece position coordinate data and the workpiece health data back to the central processing module. By the technical scheme, the automatic addressing system applied to the intelligent robot machining is formed, and the automatic addressing efficiency and precision during the intelligent robot machining are improved.
Example two
Referring to fig. 3, a flow chart of an automatic addressing method applied to robot intelligent processing is provided for the present invention, and specifically:
s10: acquiring a first execution instruction;
s20: scanning the workpiece and detecting the distance between the laser emission point and the workpiece characteristic point to obtain the position coordinate data of the wheel set workpiece and feeding the position coordinate data back to the central computer;
s30: acquiring a second execution instruction;
s40: carrying out flaw detection on the workpiece to obtain health data of the workpiece;
s50: and sending the workpiece health data to the central processing module.
Wherein, S10: acquiring a first execution instruction;
the step of obtaining the first execution instruction refers to obtaining an instruction sent by system software to start the laser scanning ranging module, and the instruction is issued to the laser scanning ranging module through the wireless communication module.
S20: scanning the workpiece and detecting the distance between the laser emission point and the workpiece characteristic point to obtain the position coordinate data of the wheel set workpiece and feeding the position coordinate data back to the central computer;
after receiving the starting instruction, a laser scanning distance meter in the laser scanning distance measuring module scans and acquires the wheel set workpiece on the workbench, the distance between the laser emission point and the characteristic point of the workpiece is detected and calculated, the position coordinate data of the wheel set workpiece is acquired, and the data is transmitted back to the central computer through the data processing module.
S30: acquiring a second execution instruction;
the second execution instruction is an instruction sent by the system software to the flaw detection module to start flaw detection. The system software sends out an instruction, the instruction is transmitted to the flaw detection module through the signal receiving and transmitting processor and the communication module, and the flaw detection module starts to be started.
S40: carrying out flaw detection on the workpiece to obtain health data of the workpiece;
and starting the flaw detection module, carrying out integral flaw detection on the wheel set workpiece through ray scanning, and recording the position, size, width and depth data of the flaw.
S50: and sending the workpiece health data to the central processing module.
And summarizing the wheel set workpiece health data obtained in the step S40 through a data processing module, and sending the data to a central computer. And the central computer identifies and compares the data, stops the machine if the data is unqualified, and intelligently processes other steps of the robot if the data is qualified.
Before step S20, the method further includes sending an instruction to start the longitudinal rail servo motor through the central processing module to drive the lateral slide rail assembly to move from the zero position along the longitudinal rail, so as to prepare for the laser scanning ranging module to acquire the workpiece position coordinate data.
Before step S40, the method further includes driving the transverse slide rail assembly to move to a position right above the workpiece by the longitudinal rail servo motor according to the workpiece position coordinate data, and starting the flaw detection module. It will be appreciated that this step is to move the inspection detection module to the appropriate position in preparation for the inspection job.
The invention provides an automatic addressing method applied to intelligent robot machining, which comprises the following steps: acquiring a first execution instruction; scanning the workpiece and detecting the distance between the laser emission point and the workpiece characteristic point to obtain the position coordinate data of the wheel set workpiece and feeding the position coordinate data back to the central computer; acquiring a second execution instruction; carrying out flaw detection on the workpiece to obtain health data of the workpiece; and sending the workpiece health data to the central processing module. By the technical scheme, the automatic addressing method applied to the intelligent robot machining is formed, and the automatic addressing efficiency and precision during the intelligent robot machining are improved.
EXAMPLE III
As shown in fig. 4, this embodiment provides an automatic addressing device applied to robot intelligent processing, which specifically includes:
a memory for storing a computer program;
a processor, configured to execute the computer program stored in the memory, and configured to perform the following steps:
acquiring a first execution instruction;
scanning the workpiece and detecting the distance between the laser emission point and the workpiece characteristic point to obtain the position coordinate data of the wheel set workpiece and feeding the position coordinate data back to the central computer;
acquiring a second execution instruction;
carrying out flaw detection on the workpiece to obtain health data of the workpiece;
and sending the workpiece health data to the central processing module.
It is to be understood that, when the processor in the above-described device executes the computer program, the functions in the above-described corresponding system embodiments may also be implemented, and are not described herein again. Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the memory system.
The device may be a desktop computer, a notebook, a palm top computer, a cloud server, or other computing device. The apparatus may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the processor, memory are merely examples of computer apparatus and do not constitute a limitation of the device, and may include more or fewer components, or some components in combination, or different components, for example, the device may also include input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center for the computer apparatus and connects the various parts of the overall apparatus using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory mainly comprises a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one function and the like; the storage data area may store data created according to the use of the terminal, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Example four
The present invention also provides a computer-readable storage medium for implementing a storage system or method, having a computer program stored thereon, which, when executed by a processor, the processor is operable to perform the steps of:
acquiring a first execution instruction;
scanning the workpiece and detecting the distance between the laser emission point and the workpiece characteristic point to obtain the position coordinate data of the wheel set workpiece and feeding the position coordinate data back to the central computer;
acquiring a second execution instruction;
carrying out flaw detection on the workpiece to obtain health data of the workpiece;
and sending the workpiece health data to the central processing module.
The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method of storing data.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM), and includes instructions for causing a terminal (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The present invention is described in connection with the accompanying drawings, but the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make various changes without departing from the spirit and scope of the invention as defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification and drawings that are obvious from the description and the attached claims are intended to be embraced therein.
Claims (9)
1. An automatic addressing system applied to robot intelligent processing is characterized by comprising: a central processing module, a wireless communication module, a data processing module, a laser scanning distance measuring module and a flaw detection module, wherein
The central processing module issues instructions to the laser scanning distance measurement module and the flaw detection module through the wireless communication module;
the laser scanning ranging module is positioned on the transverse sliding rail and used for calculating the distance between a laser emission point and a workpiece characteristic point to acquire workpiece position coordinate data;
the flaw detection module is positioned on the transverse sliding rail assembly and used for carrying out integral flaw detection on the workpiece and obtaining health data of the workpiece;
the data processing module collects the workpiece position coordinate data and the workpiece health data and feeds the workpiece position coordinate data and the workpiece health data back to the central processing module, and the central processing module controls the robot to act according to the workpiece position coordinate data and the workpiece health data to realize automatic addressing of the workpiece;
carrying out integral flaw detection on the workpiece by ray scanning;
carrying out flaw detection on the workpiece to obtain health data of the workpiece;
starting a flaw detection module, carrying out integral flaw detection on the wheel set workpiece through ray scanning, and recording the position, size, width and depth data of the flaw;
sending the workpiece health data to the central processing module;
and summarizing the acquired wheel set workpiece health data through a data processing module, and then sending the data to a central computer, identifying and comparing the data by the central computer, stopping the machine if the data is unqualified, and intelligently processing the robot if the data is qualified.
2. The system of claim 1, wherein the central processing module issues commands to the automatic addressing module and the flaw detection module via the wireless communication module, and the system comprises:
the system software issues an instruction to the wireless communication module through a signal transceiving processor in the central computer;
and the wireless communication module transmits the instruction to the automatic addressing module and the flaw detection module.
3. The automatic addressing system applied to the robot intelligent processing is characterized in that,
the central processing module comprises system software and a central computer;
the central computer includes a signal transceiver processor.
4. The automatic addressing system applied to the intelligent robot machining is characterized in that,
the workpiece health data comprises workpiece position, size, width, and depth data;
accordingly, the data processing module summarizing the workpiece position coordinate data and the workpiece health data and feeding back the data to the central processing module comprises:
and the data processing module summarizes the workpiece position coordinate data and the workpiece position, size, width and depth data and feeds back the data to the central processing module.
5. An automatic addressing method applied to robot intelligent processing is characterized by comprising the following steps:
acquiring a first execution instruction;
scanning the workpiece and detecting the distance between the laser emission point and the workpiece characteristic point to obtain the position coordinate data of the wheel set workpiece and feeding the position coordinate data back to the central computer;
acquiring a second execution instruction;
carrying out flaw detection on the workpiece to obtain health data of the workpiece;
sending the workpiece health data to the central processing module;
carrying out integral flaw detection on the workpiece by ray scanning;
carrying out flaw detection on the workpiece to obtain health data of the workpiece;
starting a flaw detection module, carrying out integral flaw detection on the wheel set workpiece through ray scanning, and recording the position, size, width and depth data of the flaw;
sending the workpiece health data to a central processing module;
and summarizing the acquired wheel set workpiece health data through a data processing module, and then sending the data to a central computer, identifying and comparing the data by the central computer, stopping the machine if the data is unqualified, and intelligently processing the robot if the data is qualified.
6. The automatic addressing method applied to intelligent robot machining according to claim 5, wherein the step of scanning the workpiece and detecting the distance between the laser emission point and the workpiece feature point further comprises the step of, before obtaining the position coordinate data of the wheel set workpiece:
and the central processing module sends an instruction to start the longitudinal rail servo motor so as to drive the transverse sliding rail to move from the zero position along the longitudinal rail.
7. The automatic addressing method applied to intelligent robot machining according to claim 5, wherein the flaw detection of the workpiece and the acquisition of the health data of the workpiece further comprise:
according to the position coordinate data of the workpiece, the longitudinal rail servo motor drives the transverse sliding rail to move right above the workpiece, and the flaw detection module is started.
8. An automatic addressing equipment for robot intelligent processing is characterized by comprising:
a memory for storing a computer program;
processor for implementing the steps of the automatic addressing method according to any one of claims 5 to 7 when executing said computer program.
9. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the auto-addressing method according to one of claims 5 to 7.
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| CN110362100A (en) * | 2019-07-03 | 2019-10-22 | 武汉科技大学 | A kind of autonomous method for inspecting of large-scale storage tank based on quadrotor drone |
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