CN111380457A - Positioning method and system for material tray - Google Patents
Positioning method and system for material tray Download PDFInfo
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- CN111380457A CN111380457A CN201811639884.XA CN201811639884A CN111380457A CN 111380457 A CN111380457 A CN 111380457A CN 201811639884 A CN201811639884 A CN 201811639884A CN 111380457 A CN111380457 A CN 111380457A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a positioning method and a system of a material tray, wherein the positioning method comprises the following steps: s1, obtaining a tray image; s2, acquiring each tray grid in the tray image and the center point coordinate of each tray grid, and positioning each tray grid according to the center point coordinate; and S3, grabbing the target products in the tray grids according to the positioned tray grids. According to the invention, all the products of the material tray are positioned at one time, so that the robot can be guided to continuously and repeatedly and directly grab the target product according to the positioning, the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
Description
Technical Field
The invention relates to the technical field of automation control, in particular to a positioning method and a positioning system for a material tray.
Background
With the increasing automation level of the manufacturing industry in China, robots are used by many factories in many manufacturing links to replace manpower. In the process of using the robot to cooperate with actual production, visual positioning Mark points (position identification points) are usually used to guide the robot to grab target products on a material tray at the Mark point positions.
However, after the vision positioning guiding robot is used for positioning once, the target product can be grabbed only once, and if other products on the material tray need to be grabbed, the vision positioning guiding robot needs to be reused for positioning, so that the defects of complex operation, low production efficiency and the like are caused.
Disclosure of Invention
The invention aims to overcome the defects that in the prior art, a vision positioning guide robot is used for positioning to grab target products on a material tray, the target products can only be grabbed once at one time in positioning, the operation is complicated, the production efficiency is low and the like, and the positioning method and the positioning system for the material tray are provided.
The invention solves the technical problems through the following technical scheme:
the invention provides a positioning method of a material tray, which comprises the following steps:
s1, obtaining a tray image;
s2, acquiring each tray grid in the tray image and the center point coordinate of each tray grid, and positioning each tray grid according to the center point coordinate;
the central point coordinates are used for representing the position of a target product in each tray grid on the tray;
and S3, grabbing the target products in the tray grids according to the positioned tray grids.
Preferably, the step of obtaining the coordinates of each tray grid and the center point of each tray grid in the tray image specifically includes:
s21, acquiring each tray grid in the tray image;
the tray grids in the tray are arranged in a rectangular array;
s22, randomly selecting two tray grids in the transverse direction of the rectangular array, and acquiring the transverse center distance between two adjacent tray grids according to the center point coordinates of the two tray grids;
randomly selecting two tray grids in the longitudinal direction of the rectangular array, and acquiring the longitudinal center distance between two adjacent tray grids according to the center point coordinates of the two tray grids;
s23, randomly selecting the center point coordinates of a material tray as a reference point, and then obtaining the center point coordinates of all the material trays except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
Preferably, step S22 specifically includes:
selecting the first tray grid and the last tray grid of any row in the rectangular array to obtain the transverse center distance, wherein the specific calculation formula is as follows:
RowDistance＝(x2-x1)/(m-1)
wherein RowDistance represents the transverse center distance between two adjacent tray grids, the center point coordinates (x1, y1) of the first tray in any row, the center point coordinates (x2, y2) of the last tray in any row, the rectangular array is m x n, m represents the row number of the matrix array, and n represents the column number of the matrix array;
selecting a first tray grid and a last tray grid in any column in the rectangular array to obtain the longitudinal center distance, wherein a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein, the column distance represents the longitudinal center distance between two adjacent tray grids, the center point coordinates (x3, y3) of the first tray in any column, and the center point coordinates (x4, y4) of the last tray in any column.
Preferably, step S23 specifically includes:
selecting the coordinates of the center points of the material trays in the first row and the first column in the rectangular array as reference points, and acquiring the coordinates of the center points of all the material trays except the reference points according to the reference points, the transverse center distance and the longitudinal center distance, wherein the specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
the coordinate of the center point of the tray in the first row and the first column in the rectangular array is (X, Y), M represents the coordinate of the center point of all trays, and i is 1, 2, …, n, j is 1, 2, …, M.
The invention also provides a positioning system of the material tray, which comprises an image acquisition module, a coordinate acquisition module, a positioning module and a grabbing module;
the image acquisition module is used for acquiring a tray image;
the coordinate acquisition module is used for acquiring coordinates of each tray grid and each center point of each tray grid in the tray image and calling the positioning module;
the positioning module is used for positioning each tray grid according to the central point coordinate;
the central point coordinates are used for representing the position of a target product in each tray grid on the tray;
the grabbing module is used for grabbing the target products in the tray grids according to each positioned tray grid.
Preferably, the coordinate acquisition module comprises a tray grid acquisition unit, a transverse center distance acquisition unit, a longitudinal center distance acquisition unit and a center point coordinate acquisition unit;
the tray grid acquiring unit is used for acquiring each tray grid in the tray image;
the tray grids in the tray are arranged in a rectangular array;
the transverse center distance acquisition unit is used for randomly selecting two material tray grids in the transverse direction of the rectangular array and acquiring the transverse center distance between two adjacent material tray grids according to the center point coordinates of the two material tray grids;
the longitudinal center distance acquisition unit is used for randomly selecting two material tray grids in the longitudinal direction of the rectangular array and acquiring the longitudinal center distance between two adjacent material tray grids according to the center point coordinates of the two material tray grids;
the central point coordinate acquisition unit is used for randomly selecting the central point coordinates of a material tray as reference points, and acquiring the central point coordinates of all the material trays except the reference points according to the reference points, the transverse central distance and the longitudinal central distance.
Preferably, the transverse center distance obtaining unit is configured to select a first tray grid and a last tray grid of any row in the rectangular array, and obtain the transverse center distance, where a specific calculation formula is as follows:
RowDistance＝(x2-x1)/(m-1)
wherein RowDistance represents the transverse center distance between two adjacent tray grids, the center point coordinates (x1, y1) of the first tray in any row, the center point coordinates (x2, y2) of the last tray in any row, the rectangular array is m x n, m represents the row number of the matrix array, and n represents the column number of the matrix array;
the longitudinal center distance obtaining unit is used for selecting a first tray grid and a last tray grid in any column in the rectangular array to obtain the longitudinal center distance, and a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein, the column distance represents the longitudinal center distance between two adjacent tray grids, the center point coordinates (x3, y3) of the first tray in any column, and the center point coordinates (x4, y4) of the last tray in any column.
Preferably, the central point coordinate obtaining unit is configured to select a central point coordinate of the material tray in the first row and the first column in the rectangular array as a reference point, and obtain the central point coordinates of all the material trays except the reference point according to the reference point, the horizontal central distance, and the vertical central distance, where a specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
the coordinate of the center point of the tray in the first row and the first column in the rectangular array is (X, Y), M represents the coordinate of the center point of all trays, and i is 1, 2, …, n, j is 1, 2, …, M.
The positive progress effects of the invention are as follows:
according to the invention, all the products of the material tray are positioned at one time, so that the robot can be guided to continuously and repeatedly and directly grab the target product according to the positioning, the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
Drawings
Fig. 1 is a flowchart of a positioning method of a tray according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a tray in example 1 of the present invention;
fig. 3 is a flowchart of a positioning method of a tray according to embodiment 2 of the present invention;
fig. 4 is a flowchart of a positioning method of a tray according to embodiment 3 of the present invention;
fig. 5 is a module schematic view of a positioning system of a tray according to embodiment 4 of the invention;
fig. 6 is a module schematic diagram of a positioning system of a tray according to embodiment 5 of the invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the positioning method of the tray of the present embodiment includes:
s101, obtaining a tray image;
in the actual production process, a top camera can be arranged on the robot to shoot and collect the material tray image corresponding to the whole material tray.
S102, obtaining the coordinates of each material tray grid and the center point of each material tray grid in the material tray image, and positioning each material tray grid according to the coordinates of the center point;
the central point coordinates are used for representing the position of a target product in each tray grid on the tray;
s103, grabbing the target products in the tray grids according to the positioned tray grids.
Specifically, as shown in fig. 2, the trays are arranged in the shape of a rectangular array of 3 rows and 3 columns. Assuming that the time to photograph the tray each time is 100ms, the time to locate the target product in the tray grid is 200 ms. If the vision positioning guide robot in the prior art is adopted to capture a target product only once after shooting and positioning once, the corresponding vision processing time is (100+200) × 9 ═ 2700 ms; by adopting the positioning method of the material tray, all material tray grids on the whole material tray can be photographed at one time, and all target products on each material tray grid can be positioned at one time, namely, the corresponding visual processing time is 100+ 200-300 ms, so that 2400ms can be saved in the embodiment compared with the prior art, thereby effectively saving the processing time and improving the working efficiency.
According to the embodiment, all products of the material tray are positioned at one time, the robot can be guided to directly grab target products continuously and repeatedly according to positioning, so that the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
Example 2
As shown in fig. 3, the present embodiment is further improved on the basis of embodiment 1, specifically:
step S102 specifically includes:
s1021, obtaining each tray grid in the tray image;
the tray grids in the tray are arranged in a rectangular array shape;
meanwhile, the transverse center distances between two adjacent material tray grids in the rectangular array are equal, and the longitudinal center distances between two adjacent material tray grids in the rectangular array are equal.
S1022, randomly selecting two tray grids in the transverse direction of the rectangular array, and acquiring the transverse center distance between two adjacent tray grids according to the center point coordinates of the two tray grids;
randomly selecting two material tray grids in the longitudinal direction of the rectangular array, and acquiring the longitudinal center distance between two adjacent material tray grids according to the center point coordinates of the two material tray grids;
and S1023, randomly selecting the center point coordinates of one material tray as a reference point, and acquiring the center point coordinates of all material trays except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
And S1024, positioning each tray grid according to the coordinates of the central point.
In the embodiment, the transverse center distance and the longitudinal center distance between two adjacent material tray grids are respectively calculated through each material tray grid arranged in a rectangular array shape, the center point coordinate of each material tray grid is obtained by randomly selecting the center point coordinate of each material tray grid as a reference point, and each material tray grid is positioned according to the center point coordinate of each material tray grid, so that all products of the material tray can be positioned at one time, the robot can be guided to directly grab target products for multiple times according to positioning, the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
Example 3
As shown in fig. 4, the present embodiment is further improved on the basis of embodiment 2, specifically:
step S1022 specifically includes:
s10221, selecting a first tray grid and a last tray grid in any row in the rectangular array, and obtaining the transverse center distance between two adjacent tray grids, wherein a specific calculation formula is as follows:
RowDistance＝(x2-x1)/(m-1)
wherein RowDistance represents the transverse center distance between two adjacent tray grids, the center point coordinates (x1, y1) of the first tray in any row, the center point coordinates (x2, y2) of the last tray in any row, the rectangular array is m x n, m represents the row number of the matrix array, and n represents the column number of the matrix array;
selecting a first material tray grid and a last material tray grid in any column in the rectangular array, and obtaining the longitudinal center distance between two adjacent material tray grids, wherein the specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein, the column distance represents the longitudinal center distance between two adjacent tray grids, the center point coordinates (x3, y3) of the first tray in any column, and the center point coordinates (x4, y4) of the last tray in any column.
Step S1023 specifically includes:
s10231, selecting the center point coordinates of the material trays in the first row and the first column in the rectangular array as reference points, and acquiring the center point coordinates of all the material trays except the reference points according to the reference points, the transverse center distance and the longitudinal center distance, wherein the specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
the coordinate of the center point of the tray in the first row and the first column in the rectangular array is (X, Y), M represents the coordinate of the center point of all trays, and i is 1, 2, …, n, j is 1, 2, …, M.
In this embodiment, for each tray grid arranged in the rectangular array, the transverse center distance between two adjacent tray grids is calculated by selecting the first tray grid and the last tray grid in any row in the rectangular array; the method comprises the steps of selecting a first material tray grid and a last material tray grid of any column in a rectangular array, calculating the longitudinal center distance between two adjacent material tray grids, selecting the center point coordinates of material trays of the first row and the first column in the rectangular array as reference points, obtaining the center point coordinates of each material tray grid, and positioning each material tray grid according to the center point coordinates of each material tray grid, so that all products of the material trays can be positioned at one time, a robot can be guided to directly grab target products for multiple times according to positioning, the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
Example 4
As shown in fig. 5, the positioning system for a tray of the present embodiment includes an image acquisition module 1, a coordinate acquisition module 2, a positioning module 3, and a grasping module 4.
The image acquisition module 1 is used for acquiring a tray image;
in the actual production process, a top camera can be arranged on the robot to shoot and collect the material tray image corresponding to the whole material tray.
The coordinate acquisition module 2 is used for acquiring coordinates of each tray grid and a center point of each tray grid in the tray image and calling the positioning module;
the positioning module 3 is used for positioning each tray grid according to the coordinates of the central point;
the central point coordinates are used for representing the position of a target product in each tray grid on the tray;
the grabbing module 4 is used for grabbing the target products in the tray grids according to each positioned tray grid.
Specifically, as shown in fig. 2, the trays are arranged in the shape of a rectangular array of 3 rows and 3 columns. Assuming that the time to photograph the tray each time is 100ms, the time to locate the target product in the tray grid is 200 ms. If the vision positioning guide robot in the prior art is adopted to capture a target product only once after shooting and positioning once, the corresponding vision processing time is (100+200) × 9 ═ 2700 ms; by adopting the positioning method of the material tray, all material tray grids on the whole material tray can be photographed at one time, and all target products on each material tray grid can be positioned at one time, namely, the corresponding visual processing time is 100+ 200-300 ms, so that 2400ms can be saved in the embodiment compared with the prior art, thereby effectively saving the processing time and improving the working efficiency.
According to the embodiment, all products of the material tray are positioned at one time, the robot can be guided to directly grab target products continuously and repeatedly according to positioning, so that the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
Example 5
As shown in fig. 6, the present embodiment is further improved on the basis of embodiment 4, specifically:
the coordinate acquisition module 2 includes a tray grid acquisition unit 21, a transverse center distance acquisition unit 22, a longitudinal center distance acquisition unit 23, and a center point coordinate acquisition unit 24.
The tray grid acquiring unit 21 is used for acquiring each tray grid in the tray image;
the tray grids in the tray are arranged in a rectangular array shape;
meanwhile, the transverse center distances between two adjacent material tray grids in the rectangular array are equal, and the longitudinal center distances between two adjacent material tray grids in the rectangular array are equal.
The transverse center distance obtaining unit 22 is configured to randomly select two tray grids in the transverse direction of the rectangular array, and obtain a transverse center distance between two adjacent tray grids according to center point coordinates of the two tray grids;
the longitudinal center distance obtaining unit 23 is configured to randomly select two tray grids in the longitudinal direction of the rectangular array, and obtain a longitudinal center distance between two adjacent tray grids according to center point coordinates of the two tray grids;
the central point coordinate obtaining unit 24 is configured to arbitrarily select a central point coordinate of one tray as a reference point, and obtain the central point coordinates of all the trays except the reference point according to the reference point, the horizontal central distance, and the vertical central distance.
In the embodiment, the transverse center distance and the longitudinal center distance between two adjacent material tray grids are respectively calculated through each material tray grid arranged in a rectangular array shape, the center point coordinate of each material tray grid is obtained by randomly selecting the center point coordinate of each material tray grid as a reference point, and each material tray grid is positioned according to the center point coordinate of each material tray grid, so that all products of the material tray can be positioned at one time, the robot can be guided to directly grab target products for multiple times according to positioning, the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
Example 6
As shown in fig. 6, the present embodiment is further improved on the basis of embodiment 5, specifically:
the transverse center distance obtaining unit 22 is configured to select a first tray grid and a last tray grid of any row in the rectangular array, and obtain a transverse center distance between two adjacent tray grids, where a specific calculation formula is as follows:
RowDistance＝(x2-x1)/(m-1)
wherein RowDistance represents the transverse center distance between two adjacent tray grids, the center point coordinates (x1, y1) of the first tray in any row, the center point coordinates (x2, y2) of the last tray in any row, the rectangular array is m x n, m represents the row number of the matrix array, and n represents the column number of the matrix array;
the longitudinal center distance obtaining unit 23 is configured to select a first tray grid and a last tray grid in any column of the rectangular array, and obtain a longitudinal center distance between two adjacent tray grids, where a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein, the column distance represents the longitudinal center distance between two adjacent tray grids, the center point coordinates (x3, y3) of the first tray in any column, and the center point coordinates (x4, y4) of the last tray in any column.
The central point coordinate obtaining unit 24 is configured to select a central point coordinate of the first row and the first column of the tray in the rectangular array as a reference point, and obtain the central point coordinates of all the trays except the reference point according to the reference point, the horizontal central distance, and the vertical central distance, where a specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
the coordinate of the center point of the tray in the first row and the first column in the rectangular array is (X, Y), M represents the coordinate of the center point of all trays, and i is 1, 2, …, n, j is 1, 2, …, M.
In this embodiment, for each tray grid arranged in the rectangular array, the transverse center distance between two adjacent tray grids is calculated by selecting the first tray grid and the last tray grid in any row in the rectangular array; the method comprises the steps of selecting a first material tray grid and a last material tray grid of any column in a rectangular array, calculating the longitudinal center distance between two adjacent material tray grids, selecting the center point coordinates of material tray grids of a first row and a first column in the rectangular array as reference points, obtaining the center point coordinates of each material tray grid, and positioning each material tray grid according to the center point coordinates of each material tray grid, so that all products of the material trays can be positioned at one time, a robot can be guided to continuously and repeatedly grab target products according to positioning, the positioning time is saved, the operation is simple, and the production efficiency is effectively improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (8)
1. A positioning method of a tray is characterized by comprising the following steps:
s1, obtaining a tray image;
s2, acquiring each tray grid in the tray image and the center point coordinate of each tray grid, and positioning each tray grid according to the center point coordinate;
the central point coordinates are used for representing the position of a target product in each tray grid on the tray;
and S3, grabbing the target products in the tray grids according to the positioned tray grids.
2. The tray positioning method according to claim 1, wherein the step of obtaining coordinates of each tray grid and a center point of each tray grid in the tray image specifically comprises:
s21, acquiring each tray grid in the tray image;
the tray grids in the tray are arranged in a rectangular array;
s22, randomly selecting two tray grids in the transverse direction of the rectangular array, and acquiring the transverse center distance between two adjacent tray grids according to the center point coordinates of the two tray grids;
randomly selecting two tray grids in the longitudinal direction of the rectangular array, and acquiring the longitudinal center distance between two adjacent tray grids according to the center point coordinates of the two tray grids;
s23, randomly selecting the center point coordinates of a material tray as a reference point, and then obtaining the center point coordinates of all the material trays except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
3. The tray positioning method according to claim 2, wherein the step S22 specifically includes:
selecting the first tray grid and the last tray grid of any row in the rectangular array to obtain the transverse center distance, wherein the specific calculation formula is as follows:
RowDistance＝(x2-x1)/(m-1)
wherein RowDistance represents the transverse center distance between two adjacent tray grids, the center point coordinates (x1, y1) of the first tray in any row, the center point coordinates (x2, y2) of the last tray in any row, the rectangular array is m x n, m represents the row number of the matrix array, and n represents the column number of the matrix array;
selecting a first tray grid and a last tray grid in any column in the rectangular array to obtain the longitudinal center distance, wherein a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein, the column distance represents the longitudinal center distance between two adjacent tray grids, the center point coordinates (x3, y3) of the first tray in any column, and the center point coordinates (x4, y4) of the last tray in any column.
4. The tray positioning method according to claim 3, wherein the step S23 specifically comprises:
selecting the coordinates of the center points of the material trays in the first row and the first column in the rectangular array as reference points, and acquiring the coordinates of the center points of all the material trays except the reference points according to the reference points, the transverse center distance and the longitudinal center distance, wherein the specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
the coordinate of the center point of the tray in the first row and the first column in the rectangular array is (X, Y), M represents the coordinate of the center point of all trays, and i is 1, 2, …, n, j is 1, 2, …, M.
5. A positioning system of a material tray is characterized by comprising an image acquisition module, a coordinate acquisition module, a positioning module and a grabbing module;
the image acquisition module is used for acquiring a tray image;
the coordinate acquisition module is used for acquiring coordinates of each tray grid and each center point of each tray grid in the tray image and calling the positioning module;
the positioning module is used for positioning each tray grid according to the central point coordinate;
the central point coordinates are used for representing the position of a target product in each tray grid on the tray;
the grabbing module is used for grabbing the target products in the tray grids according to each positioned tray grid.
6. The tray positioning system according to claim 5, wherein the coordinate acquisition module comprises a tray grid acquisition unit, a transverse center distance acquisition unit, a longitudinal center distance acquisition unit and a center point coordinate acquisition unit;
the tray grid acquiring unit is used for acquiring each tray grid in the tray image;
the tray grids in the tray are arranged in a rectangular array;
the transverse center distance acquisition unit is used for randomly selecting two material tray grids in the transverse direction of the rectangular array and acquiring the transverse center distance between two adjacent material tray grids according to the center point coordinates of the two material tray grids;
the longitudinal center distance acquisition unit is used for randomly selecting two material tray grids in the longitudinal direction of the rectangular array and acquiring the longitudinal center distance between two adjacent material tray grids according to the center point coordinates of the two material tray grids;
the central point coordinate acquisition unit is used for randomly selecting the central point coordinates of a material tray as reference points, and acquiring the central point coordinates of all the material trays except the reference points according to the reference points, the transverse central distance and the longitudinal central distance.
7. The tray positioning system according to claim 6, wherein the transverse center distance obtaining unit is configured to select a first tray cell and a last tray cell in any row in the rectangular array, and obtain the transverse center distance between two adjacent tray cells, and the specific calculation formula is as follows:
RowDistance＝(x2-x1)/(m-1)
wherein RowDistance represents the transverse center distance between two adjacent tray grids, the center point coordinates (x1, y1) of the first tray in any row, the center point coordinates (x2, y2) of the last tray in any row, the rectangular array is m x n, m represents the row number of the matrix array, and n represents the column number of the matrix array;
the longitudinal center distance obtaining unit is used for selecting a first material tray grid and a last material tray grid in any column in the rectangular array to obtain the longitudinal center distance between two adjacent material tray grids, and a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein, the column distance represents the longitudinal center distance between two adjacent tray grids, the center point coordinates (x3, y3) of the first tray in any column, and the center point coordinates (x4, y4) of the last tray in any column.
8. The tray positioning system according to claim 7, wherein the central point coordinate obtaining unit is configured to select a central point coordinate of the trays in the first row and the first column in the rectangular array as a reference point, and obtain the central point coordinates of all the trays except the reference point according to the reference point, the transverse central distance, and the longitudinal central distance, and a specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
the coordinate of the center point of the tray in the first row and the first column in the rectangular array is (X, Y), M represents the coordinate of the center point of all trays, and i is 1, 2, …, n, j is 1, 2, …, M.
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